JPH08301250A - Robot system for attaching sticker to binding hoop - Google Patents

Abstract

PURPOSE: To automate the process of attaching a sticker, with a shipping destination, weight, etc., printed on it, onto the binding hoop of a coil of wire at the time of shipping the coil of wire for use in steel facilities. CONSTITUTION: The process of attaching a sticker 27 is sequentially performed in such a way that the position where the sticker 27 is to be attached to the binding hoop 2 is introduced by using: a means for positioning the binding hoop 2, which comprises a laser beam projector 15 and a number of uncontacted sensors 13 including a vision sensor 14 comprising a camera device; a function means which selects a detection requirement from data on the diameter of a coil of wire 1 or the like and measurement data obtained by each sensor; and another function means which carries out redetection based on the result of the detection of the binding hoop 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot system for detecting the position of a bundling hoop such as a bundle of wire rod coils and sticking a sticker on which a shipping address and weight are printed for shipping control.

[0002]

2. Description of the Related Art Conventionally, a bundled wire rod coil has been weighed at a weighing station and then manually attached with a seal at a predetermined position on the bundled hoop. When automating this, three-dimensional detection of the binding hoop near the sticking position is required, but the fixed state / position / shape of the wire coil and the position / state (twisting / bending) of the binding hoop are unstable. Since there are many problems such as that, it was difficult to automate it. By the way, in recent years, Japanese Patent Publication No. 4-4681 is one of the examples of automation of sticking a sticker on a binding hoop.
No. 4 publication [hereinafter referred to as "conventional example 1"] and Japanese Examined Patent Publication No. 3-23416 [hereinafter referred to as "conventional example 2"] are combined to detect using a contact sensor and a vision sensor, The sticker was applied using a special sticker roller [hereinafter referred to as "Conventional example 3"]
There is. That is, in the prior art example 1, when the contact type detector and the camera device for detecting the video signal to the image processing device are operated by the robot hand provided at the tip of the arm to detect the position of the binding band of the wire rod coil, The contact type detector is moved toward the outer diameter surface of the wire rod coil toward the center thereof to detect the contact of the outer diameter surface of the wire rod coil, obtain the center axis from the outer diameter of the wire rod coil, and the camera device An operation path for performing a search operation on the circumference with the central axis of the wire rod coil as a base axis is determined, and then an image is taken while intermittently moving the camera device according to the operation path. A two-dimensional video signal is subjected to image binarization processing by the image processing device, and Y parallel to the central axis of the wire rod coil is provided at a plurality of points on the X axis along the circumferential surface of the wire rod coil.
The number of black-and-white intersections is obtained by scanning in the axial direction, the position where the number of black-and-white intersections is small is used as binding band position information, and then, based on the binding band position information, a plurality of points on the Y axis in the longitudinal direction are set as the X-axis. Direction, the number of black and white intersections is obtained in the same manner as described above, and a plurality of points having two intersections and an interval between the intersections corresponding to the binding band width are extracted, and the central coordinates of the plurality of locations in the binding band width direction are extracted. This is a wire rod binding band position detecting method for detecting the actual position of the binding band by detecting the inclination of the binding band from the value. Further, in Conventional Example 2, the circular curved top formed on a part of the outer peripheral surface of the flat roller is brought into contact with the central portion of the label length on the backing sheet, and the label is peeled off from the backing sheet by a suction force and sucked. And a step of attaching the label by controlling the position of the curved top to contact the label sticking surface and contacting it, blowing out compressed air from both sides in the circumferential direction of the curved top, and releasing the suction force. It is a method of attaching a label mount. Furthermore, a hollow circular flat roller is rotatably provided on the mounting bracket, and a part of the flat roller outer peripheral surface is formed into a circular curved surface. Each suction hole is attached with a hose, and the length of the suction hole passing through the curved surface of the roller and the suction hole is set to be slightly shorter than the length of the label, and the space between the curved surface and each suction hole is set. The method for attaching a label mount is characterized in that a blowout hole is provided. Then, the means as the conventional example 3 makes the wire rod coil contact with the contact type sensor, obtains the wire rod coil diameter and its center position, and moves the pigeon sensor on the circumference around the obtained center position, and The position is detected. As the image processing, a two-dimensional video signal obtained from a camera is binarized by an image processing device, the number of black and white intersections is obtained, and the position and inclination of the hoop are obtained by detecting the positions of two places. Regarding the sticking of the sticker, the sticker is sucked on the circumference of the special roller, the sticking is released at the time of sticking the sticker, and the sticker sticking operation is performed while being pressed by the roller itself.

[0003]

By the way, in the prior art example 3, the coil diameter, the coil shape, the position and the state of the binding hoop are largely changed depending on the method of transporting the coil, the binding state, the coil wire diameter, the coil weight and the like. Come on. On the other hand, in order to attach the seal to a predetermined position on the binding hoop, it is necessary to three-dimensionally detect the position and state of the coil and the binding hoop. In the case of detection by a contact sensor, a change in position is measured by contact with an object to be detected, so that there is a problem that the detection operation time varies if the diameter size of the coil or the positional deviation greatly changes. Further, when the detection is performed only by the vision sensor, only the two-dimensional detection on the screen can be performed, and the states such as the twist and the unevenness of the binding hoop cannot be detected. In Conventional Example 1 and Conventional Example 2, the problem of vision detection is dealt with by devising the shape of a special roller, but the roller itself has a complicated mechanism having a suction function. Therefore, in order to solve the above-mentioned problems, the present invention flexibly responds to the three-dimensional positional deviation and the change of state of the coil and the binding hoop by developing a detecting means and various functions, and a simple seal. An object of the present invention is to provide a robot system capable of performing fast and stable binding hoop detection and sticker sticking by sticking operation by a sticking mechanism.

[0004]

In order to solve the above problems, the present invention relates to an industrial robot for sticking a seal to a binding hoop of a wire rod coil, and a supporting member attached to the tip of an arm of the robot. A suction pad attached to the support member, a slide mechanism for the suction pad, and a binding hoop seal attaching mechanism including a pressing roller and the slide mechanism,
A laser projector and a vision sensor, which is a camera device mounted on a supporting member at a position where the projected laser is reflected and incident on the wire rod coil, and a coil diameter mounted on the supporting member at a position facing the outer peripheral surface of the wire rod coil. Directional distance measurement sensor, coil end surface position measurement sensor installed facing the end surface of the wire rod coil on a fixed part that forms part of the path of the wire rod coil conveyed on the floor, coil diameter given in advance, etc. Function means for correcting the detection position of the vision sensor and selecting the detection condition based on the binding material data of the sensor and the sensor measurement data obtained from the sensor, and the selected detection condition is switched again according to the detection result of the vision sensor. It is a robot system for attaching bundling hoop seals that consists of functional means for detection, and the sensor for measuring the distance in the coil radial direction is a laser displacement sensor. Yes, the coil end surface position measurement sensor is an ultrasonic sensor, which is the binding hoop seal sticking robot system described in the preceding paragraph, and one or more suction pads for vacuum suctioning the surface of the seal are attached to the suction pad slide mechanism. , Seal sticking mechanism that can be moved up and down by the suction pad position changing cylinder, and rotating pressing roller is attached to the pressing roller slide mechanism, and can be moved up and down by the pressing roller position changing cylinder The binding hoop seal sticking robot system according to item 1, which constitutes a binding hoop seal sticking mechanism from the mechanism, wherein the laser slit light is applied so as to cross the binding hoop diagonally with respect to the binding hoop. Display the image of the laser slit light on the vision sensor The binding hoop seal sticking robot system according to the first item for detecting the position of the bundle hoop, and measuring the distance of the wire end coil end face of the binding hoop with a coil end face position measuring sensor, and measuring the coil radial direction distance measuring sensor. Move the bundling hoop a certain distance in the bundling direction, measure the shortest distance with the coil radial distance measurement sensor, correct the detection position of the vision sensor from the data obtained by the measurement of both sensors, and The bundling hoop seal sticking robot system according to the first item for position detection, which is further classified into several patterns such as thin / medium / thick from the wire diameter data of the wire coil given in advance to detect the vision sensor. Select the conditions and detect when the binding hoop and wire rod coil are not clearly identified in the detection image of the binding hoop vision sensor The united hoop-seal sticking robot system according to the first aspect, which slightly shifts the position or changes the binarization level of the detected image and re-detects it. Equipped with an industrial robot, one of the industrial robots applies the sticker of the binding hoop outside the wire coil, and the other industrial robot applies the sticker of the binding hoop inside the wire coil. The binding hoop seal attaching robot system according to item 1.

[0005]

With the above means and functions, the present invention is capable of high-speed and stable response to position detection, for changes in the position, shape, state, etc. of the wire rod coil and binding hoop, and for images that are difficult to detect with vision. Further, by simplifying the sticker sticking mechanism, control becomes easy, and by devising the sticking operation, fast and stable sticking can be performed.

[0006]

Embodiments of the present invention will be described below with reference to the drawings. In each drawing, the same reference numerals represent the same or corresponding members. In this one embodiment of the present invention, the bundled wire rod coils are transferred from the upstream process by a transfer hanger, and two robots are used at the automatic sticker sticking station to stick seals on the outside and inside of the wire stick coils. It is something. FIG. 1 is a block diagram of a robot system according to an embodiment of the present invention. 1 is a wire coil, 2 is a binding hoop, 3 is a transfer hanger, 4 is a hanger transfer device, and 5 is a weighing machine. The bundled wire rod coil 1 is weighed by the weighing machine 5 at the weighing station, passed through the standby station, and carried into the automatic sticker sticking station. The carried-in wire rod coil 1 has two robots 10a and 10a.
At b, seals are attached to the outside and inside of the wire rod coil 1.

Reference numeral 6 denotes a coil end face position measuring sensor [laser displacement sensor]. Installed in the weighing station,
While the wire rod coil 1 is weighed by the weighing machine 5, the distance to the end face portion of the wire rod coil is measured. In this embodiment, a laser displacement sensor is used. Reference numerals 7a and 7b are manual sticker printers, and 8a and 8b are robot sticker printers. Each of them is installed for sticking outside and inside the wire coil 1. Normally, the stickers are issued by the robot sticker printers 8a and 8b,
The robot peels off the stickers and then attaches them. When the robot or the sticker peripheral for the robot malfunctions,
By switching to issuing stickers using a hand-applying sticker printer as a backup and attaching stickers by the operator, it is possible to prevent the transport line from being stopped for a long time.

Reference numerals 9a and 9b are robot controllers, 10a and 10b are sticker robots, and 11a.
And 11b are slide carriages. The sticker sticking robots 10a and 10b put stickers on the binding hoops outside and inside the wire rod coil 1, respectively, and are installed on a slide carriage. The slide carriages 11a and 11b are for coping with a shortage of the operation range of the sticker robots 10a and 10b with respect to the change of the wire rod coil position. Judgment and control as to whether or not the slide carriages 11a and 11b have moved are performed based on the data measured by the coil end surface position measuring sensor 6. Reference numeral 12 is a fixed lifter. When the wire rod coil 1 is carried into the automatic sticker sticking station, it is a device that fixes the wire rod coil 1 hung on the transfer hanger 3 by the fixed lifter 12 and stops the coil swing.

FIG. 2 is a front view showing each device mounted on the robot hand jig [support member] according to the embodiment of the present invention. 13 is a sensor for measuring the distance in the coil radial direction [ultrasonic sensor], 14 is a pigeon sensor [camera device], 15 is a laser projector, 16 is a suction pad, 17 is a pressing roller, 18 is a cylinder for changing the position of the suction pad 16, 19 is a cylinder for changing the position of the pressing roller 17,
Reference numeral 20 is a slide mechanism for the suction pad 16, 21 is a slide mechanism for the pressing roller 17, 22a and 22b are protective boxes, and 23 is a robot hand jig [a support member attached to the tip of the robot arm].

The coil radial distance measuring sensor 13 is
In the present embodiment, an ultrasonic sensor is used to measure the distance in the radial direction of the wire rod coil 1. The laser projector 15 has one
The slit light of a book can be projected, and in combination with the vision sensor 14, three-dimensional position detection is possible. In this embodiment, the vision sensor 14 and the laser projector 15 are mounted in the protection boxes 22a and 22b, respectively, and air is blown into the protection boxes 22a and 22b to prevent dust and heat. The suction pad 16 and the pressing roller 17 are attached to the slide mechanisms 20 and 21, and the suction pad position changing cylinder 18 is provided.
The position of the pressing roller can be changed in the vertical direction by the position changing cylinder 19. This prevents mutual interference with the wire rod coil 1 by changing the mutual positional relationship during sticking of the seal and pressing of the roller.

FIG. 3 is a diagram showing a procedure for detecting the bundling hoop position of the wire rod coil. The present embodiment is a measurement procedure for detecting the binding hoop position outside the wire rod coil by the robot 10a. FIG. 3 (a) is a diagram showing a method for detecting the position of the end surface of the wire coil by the coil end surface position measuring sensor, FIG.
FIG. 3B is a diagram showing a method for measuring the radial distance of the wire rod coil by the coil end face position measuring sensor, and FIG. 3C is a diagram showing a method for detecting the position of the binding hoop by the vision sensor. In FIG. 3 (a), the wire rod coil 1 is being weighed by the weighing machine 5 at the weighing station, and the end face position detection sensor 6 is being used.
The end face of the wire coil 1 and the end face position detection sensor 6
The distance L ₁ between them is measured. And the distance when measuring the reference coil seal joining operation teaching of the robot 10a and L _01, the deviation amount of the coil end surface position is calculated by (L ₁ -L _01). The detection time can be ignored for the sticker robot system because it is performed during coil weighing.

In FIG. 3B, the robot hand jig 23
The coil radial distance measuring sensor 13 attached to the [supporting member] is moved by a certain distance in the binding direction of the wire rod coil 1, and the shortest distance L to the surface (bundling hoop 2) of the wire rod coil 1 within the moving section. Seeking ₂ This time,
Since the position of the coil end face changes each time the wire rod coil 1 changes, the starting point during measurement is corrected by the amount (L ₁ −L ₀₁ ) found in Fig. 3 (a), and the detection operation is always performed from the same position on the coil end face. To be able to. In addition, since the coil diameter also changes from lot to lot, it is necessary to correct the detection operation in the coil radius direction. Therefore, the diameters of the reference wire coil and the wire coil to be measured are compared based on the wire coil diameter data given in advance, and the detection operation is corrected in the radial direction to perform the detection operation.

This prevents the robot 10a and the robot hand jig 23 from interfering with the wire rod coil 1 during the detection operation even if the diameter of the wire rod coil 1 changes significantly. As described above, the detection operation is corrected in the above two directions. However, since the detection start position is corrected and a fixed distance is detected and moved, there is an advantage that the detection operation time does not vary. Further, since the non-contact type sensor is used, there is an advantage that high-speed detection can be performed and detection can be performed in a short time. Let L _{2 be} the shortest distance to the binding hoop 2 measured by the detection. The distance when teaching with the teaching reference coil is L ₀₂ . At this time, the actual diameter of the wire rod coil 1 varies largely with respect to the diameter data of the wire rod coil 1 given in advance. Thus, than when it is taught (L ₂ -L ₀₂₎
Only, the positional relationship in the radial direction between the sensor, that is, the robot hand jig 23 and the wire rod coil 1 is deviated.

In FIG. 3C, the vision detection position is corrected based on the data obtained in FIG. 3A and FIG.
1 is a perspective view showing a state in which the position of the binding hoop 2 can be detected while maintaining a substantially constant positional relationship. FIG. 4 is an explanatory diagram of a method of projecting a laser slit light on a wire coil and a detection image diagram when the projected laser slit light is viewed by a vision sensor. FIG. 4 (a) is an explanatory view when the laser slit light is applied so as to cross the bundling hoop 2 vertically when the system is introduced, FIG.
FIG. 4 (b) is a vision sensor detection image in the case of FIG. 4 (a). 24 is an image of the laser slit light when hitting the hoop (hereinafter referred to as "hoop image"), 25 is an image when hitting the wire (hereinafter referred to as "wire image"),
26 is a detection point in the hoop image.

Initially, detection was performed by the way of applying of FIG. 4 (a), but since there are many similar images, there are many problems such as long detection time, many detection NG (no good), and erroneous detection. . Therefore, by applying the laser slit light so that it crosses diagonally as shown in FIG. 4 (c), the wire rod image 25 becomes finer, and it becomes easier to distinguish from the hoop image 24, and the detection time is shortened and detected. The ability is improved. Figure 4 (e)
4C is an image when a thin wire coil is detected by the method of FIG. 4C, and FIG. 4F is an image when a thick wire coil is detected by the method of FIG. 4C. In the vision detection, the smaller the wire diameter, the thinner the wire image 25, and the easier it is to distinguish from the hoop image 24.

However, in the coil 1 having a small wire diameter, there are many portions where the binding hoop 2 and the wire material are in close contact with each other.
As in (e), there are many images in which the hoop image 24 and the wire rod image 25 are attached. In this case, depending on the detection condition, as shown in FIG. 4 (e), one side detects the end of the hoop image 24 [left side in the drawing] and the other side [right side in the drawing] detects the end of the wire rod image 25. The sticking accuracy of the sticker may be poor, or the detected image may be NG. on the other hand,
When the wire diameter becomes thicker, the hoop image 24 becomes larger as shown in Fig. 4 (f).
The wire image 25 and the wire image 25 are similar in length and shape in many cases, and are often NG due to erroneous detection and a large number of candidate points.

With respect to these problems, the wire rod diameter size is classified into several patterns such as thin, medium, and thick, and the detection condition by the vision sensor 14 is selected. Of the detected NG, in the case of NG by the image check,
By adding two functions of re-detecting by shifting the detection position by several millimeters (hereinafter referred to as "retry operation"), the detection problem due to the difference in wire diameter is solved. FIG.
FIG. 4G is a diagram of a phenomenon in which the hoop image is diffusely reflected (halation), and FIG. 4H is a diagram of a phenomenon in which the hoop image 24 is blurred at the lower right of the image. FIG. 4 (g) is generated when the laser slit light hits the bend of the binding hoop 2 and the reflected light enters the vision sensor 14, and when the surface of the binding hoop 2 is scratched. 4 (h) is the vision sensor 1
It is known that this occurs when the positions of the binding hoops 2 are apart from each other in the detection range of No. 4, and detection NG occurs.

On the other hand, in order to suppress the phenomenon of FIG. 4G, detection is performed at the binarization processing level, and in the case of detection NG, in the phenomenon of FIG. A processing function was added to perform re-detection by changing the digitization processing level. As a result, the detected NG is reduced and the detection capability is improved even in the phenomenon of FIGS. 4 (e) and 4 (f). Figure 5
Diagram showing the detection processing flow of vision sensor detection, FIG.
6 (a) is a view showing the detection position of the vision sensor, FIG. 6 (b) is an end view of the wire rod coil showing the detection field of view, FIG. 6 (c) is a perspective view showing the retry operation, and FIG. 6 (d) is a normal detection Detection image diagram,
FIG. 6 (e) is a diagram showing image processing by re-detection of the hoop image in FIG. 6 (d), and FIG. 6 (f) is an explanatory diagram of a coordinate system created for hoop image detection. Hereinafter, the detection operation will be described with reference to the flow chart of FIG.

First, the coil radial distance measuring sensor 1
The detection position of the vision sensor 14 is corrected according to the measurement result of No. _3, and the vision sensor 14 comes to a position where the wire rod coils 1 maintain substantially constant distances L ₃ and L ₄ as shown in FIG. 6 (a). . This is the P1 detection position in the first visual field. When the binding hoop 2 is detected at this position, the vision sensor 1 is moved to the position advanced by L _{5 in the} coil binding direction.
Move 4 This is the P2 detection position in the first visual field. If the binding hoop 2 cannot be detected at the P1 detection position in the first field of view, as shown in FIG. 6 (b), the angle θ around the coil center is set in the coil winding direction.
Then, change the detection position. This is the P1 detection position in the 2nd and 3rd visual fields.

As described above, the detection is performed by selecting from several patterns of wire rod diameter-based detection conditions based on the wire rod diameter data given in advance. The detection conditions are classified into P1 detection, P2 detection, and re-detection in addition to the wire diameter, and various detection conditions are automatically switched according to the coil information, the detection position, and the detection result. It can handle various conditions. In addition, as shown in FIG. 6 (c), by the retry detection operation function of detecting by shifting the detection position by a fixed amount L ₆ , the bundling hoop 2 and the wire rod coil 1 adhere (overlap) [see FIG. 4 (e)]. Eliminate detection NG,
Detectability is enhanced.

FIG. 6 (e) is an image when re-inspecting, and this is a binary image for suppressing the diffuse reflection of the hoop image in order to cope with the blurred phenomenon of the hoop image in the normal detection of FIG. 6 (d). The conversion processing level is set, and the re-inspection operation is performed before the visual field is changed by the detection NG at the P1 detection position of each visual field. That is, FIG. 6 (e) shows the vision sensor 14
Only the lower right part of the monitor screen is changed by changing the binarization processing level and re-detected.This re-detection time narrows the image processing range. Has little effect on time.

When the binding hoop 2 is detected at the P1 detection position of each visual field, the distance L ₅ from that position is detected [FIG.
(See (a)], and move to a position away. This is the P2 detection position in each visual field. At the P2 detection position,
When the binding hoop 2 is detected, a coordinate system as shown in FIG. 6 (f) is created by calculation and processing with the detection result at the P1 detection position. Based on this coordinate system, the robot performs the sticker sticking operation while relatively converting the sticker sticking teaching operation. At this time, the orientation of each component of the created coordinates is determined by the detection results at the P1 detection and P2 detection positions. The position of the origin of the coordinate system is the three-dimensional position component data (X, Y, Z, T _X ,
Since a partial component of T _Y , T _Z ) is used, the position of the coordinate origin can be set at a substantially constant position for each coil end surface. The three-dimensional position component data of the robot at the P1 detection position includes X, Y and Z as position data (distance component) and T _X and T _Y when the tilt (angle component) around each axis is represented by T. , T _Z.

With this, the robot can attach the seal at a substantially constant position on the binding hoop regardless of changes in the shapes of the wire rod coil 1 and the binding hoop 2. Figure 7
[Fig. 6] is a rear view showing the operation for pressing and sticking a seal according to the embodiment of the present invention. FIG. 7A is a rear view showing a state at the time of sticking a sticker, in which the pressing roller 17 is raised by the pressing roller slide mechanism 21 and the suction pad 16 is lowered by the suction pad slide mechanism 20, Seal 27
Paste operation.

FIG. 7B is a rear view showing a state of the seal pressing operation by the pressing roller according to the embodiment of the present invention.
After the sticker 27 is attached, the pressing roller 17 is lowered and the suction pad 16 is raised, and the sticker pressing operation is performed at high speed. The pressing action is the sticker 2 when sticking the sticker.
This is performed to prevent wrinkles 7 and also serves to retract the robot 10a from the wire rod coil 1. Therefore, there is an advantage that the robot tact time is not affected. Further, since the suction pad 16 and the pressing roller 17 can be raised and lowered instantaneously, the sticking operation of the seal 27 and the pressing operation can be switched in a short time.

As described above, in this embodiment of the present invention, the wire coil 1 that is opposed to the wire rod coil 1 to be conveyed is
One of the industrial robots 10a and 10b is provided, one of the industrial robots 10a sticks the seal 27 to the binding hoop 2 on the outer peripheral surface of the wire rod coil 1, and the other industrial robot 10b attaches the wire rod coil 2 The sticker 27 of the bundling hoop 2 is attached to the inner peripheral surface side [The sticking of the seal 27 on the outer peripheral surface by the industrial robot 10a is described, but the seal on the inner peripheral surface by the industrial robot 10b is described. The same applies to pasting. ] Then, the industrial robot 10a for sticking the seal 27 to the bundling hoop 2 of the wire rod coil 1, the support member 23 [robot hand jig] attached to the tip of the arm of the robot, and the support member 23 A mechanism for attaching a bundling hoop seal, which includes the attached suction pad 16 and its sliding mechanism 20, and a pressing roller 17 and its sliding mechanism 21, and a support for a position where a laser projector 15 and its projected laser are incident after being reflected on the wire rod coil 1. The vision sensor 14 which is a camera device mounted on the member 23, the coil radial distance measuring sensor 13 mounted on the support member 23 at a position facing the wire coil 1 and the outer peripheral surface, and the sensor are conveyed on the floor. A coil end face position measuring cell installed on the fixed portion forming part of the path of the wire rod coil 1 so as to face the end face of the wire rod coil 1. Sensor 6, and functional means for correcting the detection position of the vision sensor 14 and selecting the detection condition based on the binding material data such as the wire rod coil diameter given in advance and the sensor measurement data obtained from the sensors 6 and 13. According to the detection result of the vision sensor 14, it can be said that the binding hoop seal sticking robot system is composed of a functional unit that switches the previously selected detection condition and performs re-detection.

Further, the coil radial direction distance measuring sensor 13 is a laser displacement sensor, and the coil end surface position measuring sensor 6 is an ultrasonic sensor. Further, one or more suction pads 16 for vacuum-sucking the surface of the seal 27 are attached to the suction pad slide mechanism 20, and a seal sticking mechanism that can be moved up and down by the suction pad position changing cylinder 18 and a rotation mechanism. The pressing roller 17 is attached to the pressing roller slide mechanism 21, and a sealing wrinkle preventing mechanism that can be moved up and down by the pressing roller position changing cylinder 19 constitutes a binding hoop seal attaching mechanism.

Moreover, the laser slit light from the laser projector 15 is applied so as to cross the bundling hoop 2 obliquely with respect to the bundling direction of the bundling hoop 2, and an image of the laser slit light of the bundling hoop 2 is projected on the vision sensor 14 to cause the bundling hoop 2 to move. The position is being detected. The distance between the end faces of the wire rods bound by the binding hoop 2 is measured by the coil end face position measuring sensor 6, and the coil radial direction distance measuring sensor 13 is moved by a certain distance in the binding direction of the binding hoop 2. The shortest distance L ₂ is measured by the coil radial direction distance measuring sensor 13, the detected position of the vision sensor 14 is corrected from the data obtained by the measurement of both the sensors 6 and 13, and the position of the binding hoop 2 is detected. I have to. Then, the wire rod diameter data of the wire rod coil 1 given in advance is classified into several patterns such as thin wire diameter, medium wire diameter, and thick wire wire, and the detection condition of the vision sensor 14 is selected. When the bundling hoop 2 and the wire rod coil 1 are unclear in the detection image of the sensor 14, the detection position is slightly shifted, or the binarization level of the detection image is changed to detect again.

[0028]

As described above, according to the present invention, means for using three non-contact type sensors including a laser projector and a vision sensor, and binding material data such as wire diameter given in advance and sensor measurement data are used. By providing the functional means for correcting the detection operation and selecting the detection condition and the functional means for switching the detection condition according to the detection result and performing the re-detection, it is possible to quickly and quickly respond to changes in various states of the wire rod coil and the binding hoop. A particular effect that stable detection is possible can be achieved. Also, since the state of the binding hoop near the sticking position can be detected three-dimensionally, the sticker sticking mechanism can be simplified to only the suction pad, the pressing roller, and the sliding mechanism of both, and high-speed sticking is possible with simple control. Has the effect of becoming. In addition, the present invention is not limited to the wire rod coil, and can be applied to the sticking of a seal to a binding hoop such as a steel bar coil.

[Brief description of drawings]

FIG. 1 is a plan view showing the configuration of a robot system according to an embodiment of the present invention.

FIG. 2 is a front view showing each device mounted on a robot hand jig [support member] according to an embodiment of the present invention.

FIG. 3 is a diagram showing a detection operation procedure in one embodiment of the present invention, (a) is an explanatory diagram of distance measurement to a coil end face, (b) is an explanatory diagram of shortest distance measurement in a coil binding direction, and (c) is (a) ) And (b) are used to correct the position of the vision sensor and detect the position of the binding hoop.

FIG. 4 is an explanatory view of a method of projecting laser slit light on a wire coil according to an embodiment of the present invention and a detection image view of the projected laser slit light with a vision sensor. (B) is a perspective view of the detection image of (a) when the laser slit light is crossed perpendicularly to the baffle. Figure (d) is the detection image of the case of (c). (E) is the detection image of the thin wire coil detected by the method of (c) [Overlap detection] (f) is the method of (c). Detection image when a coil of thick wire is detected [erroneous detection] (g) is a detection image of the phenomenon that the image of the binding hoop is irregularly reflected [Halation] (h) is detection when the binding hoop is far Image diagram [image blur]

FIG. 5 is a flowchart showing the flow of processing of vision sensor detection in one embodiment of the present invention.

6A and 6B are explanatory views for detecting a binding hoop by the vision sensor according to the embodiment of the present invention. FIG. 6A is a perspective view for explaining the first visual field and the second visual field for the vision sensor detection. FIG. Side view showing the end face of the wire rod coil for explaining the 1st and 2nd fields of view (c) is a perspective view of the re-inspection with the vision sensor shifted by L6 and (d) is the detection of the first normal inspection in the case of (c) Image view (e) is a detected image when re-detection is performed in the case of (c). (F) is a perspective view explaining the relationship between the coordinate systems of the first and second fields of view.

FIG. 7 is a sticker attaching operation according to an embodiment of the present invention.
(A) is a rear view when the sticker is applied. (B) is a rear view when the sticker is pressed by the press roller.

[Explanation of symbols]

1 wire rod coil 2 bundling hoop 3 transfer hanger 4 hanger transfer device 5 weigher 6 coil end face position measurement sensor [laser displacement sensor] 7a, 7b hand sticker seal printer 8a, 8b robot seal printer 9a, 9b robot controller 10a , 10b Sticker sticking robot 11a, 11b Slide cart 12 Fixed lifter 13 Coil radial distance measurement sensor [ultrasonic sensor] 14 Vision sensor [camera device] 15 Laser projector 16 Suction pad 17 Pressing roller 18 Cylinder for changing suction pad position 19 Presser roller position changing cylinder 20 Suction pad slide mechanism 21 Presser roller slide mechanism 22a, 22b Protective box 23 Robot hand jig [Support member attached to the end of robot arm] 24 Hoop image 25 wire material image 26 detection points 27 seals

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[Procedure amendment]

[Submission date] June 12, 1995

[Procedure Amendment 1]

[Document name to be amended] Statement

[Name of item to be corrected] 0002

[Correction method] Change

[Correction content]

[0002]

2. Description of the Related Art Conventionally, a bundled wire rod coil has been weighed at a weighing station and then manually attached with a seal at a predetermined position on the bundled hoop. When automating this, three-dimensional detection of the binding hoop near the sticking position is required, but the fixed state / position / shape of the wire coil and the position / state (twisting / bending) of the binding hoop are unstable. Since there are many problems such as that, it was difficult to automate it. By the way, in recent years, Japanese Patent Publication No. 4-4681 is one of the examples of automation of sticking a sticker on a binding hoop.
No. 4 publication [hereinafter referred to as "conventional example 1"] and Japanese Examined Patent Publication No. 3-23416 [hereinafter referred to as "conventional example 2"] are combined to detect using a contact sensor and a vision sensor, The sticker was applied using a special sticker roller [hereinafter referred to as "Conventional example 3"]
There is. That is, in the prior art example 1, when the contact type detector and the camera device for detecting the video signal to the image processing device are operated by the robot hand provided at the tip of the arm to detect the position of the binding band of the wire rod coil, The contact type detector is moved toward the outer diameter surface of the wire rod coil toward the center thereof to detect the contact of the outer diameter surface of the wire rod coil, obtain the center axis from the outer diameter of the wire rod coil, and the camera device An operation path for performing a search operation on the circumference with the central axis of the wire rod coil as a base axis is determined, and then an image is taken while intermittently moving the camera device according to the operation path. A two-dimensional video signal is subjected to image binarization processing by the image processing device, and Y parallel to the central axis of the wire rod coil is provided at a plurality of points on the X axis along the circumferential surface of the wire rod coil.
The number of black-and-white intersections is obtained by scanning in the axial direction, the position where the number of black-and-white intersections is small is used as binding band position information, and then, based on the binding band position information, a plurality of points on the Y-axis in the longitudinal direction are set on the X-axis. Direction, the number of black and white intersections is obtained in the same manner as described above, and a plurality of points having two intersections and an interval between the intersections corresponding to the binding band width are extracted, and the central coordinates of the plurality of locations in the binding band width direction are extracted. This is a wire rod binding band position detecting method for detecting the actual position of the binding band by detecting the inclination of the binding band from the value. Further, in Conventional Example 2, the circular curved top formed on a part of the outer peripheral surface of the flat roller is brought into contact with the central portion of the label length on the backing sheet, and the label is peeled off from the backing sheet by a suction force and sucked. And a step of attaching the label by controlling the position of the curved top to contact the label sticking surface and contacting it, blowing out compressed air from both sides in the circumferential direction of the curved top, and releasing the suction force. It is a method of attaching a label mount. Furthermore, a hollow circular flat roller is rotatably provided on the mounting bracket, and a part of the flat roller outer peripheral surface is formed into a circular curved surface. Each suction hole is attached with a hose, and the length of the suction hole passing through the curved surface of the roller and the suction hole is set to be slightly shorter than the length of the label, and between the curved surface and each suction hole. The method for attaching a label mount is characterized in that a blowout hole is provided. And means as conventional example 3 is brought into contact with the contact sensor to the wire coil, determine the wire coil diameter and its center position, moves in a circle around the center position where vision sensor is determined, the hoop The position of is detected. As the image processing, a two-dimensional video signal obtained from the camera is binarized by an image processing device to obtain the number of black and white intersections, and the position and inclination of the hoop are obtained by detecting the positions of two points. Regarding sticking of the sticker, the sticker is sucked on the circumference of the special roller, the sticking is released at the time of sticking the sticker, and the sticker sticking operation is performed while pressing the sticker by the roller itself.

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Masao Nakamura No. 2 Kurosaki Shiroishi, Yawatanishi-ku, Kitakyushu, Fukuoka Prefecture Yasukawa Electric Co., Ltd. (72) Inventor Masahiro Sakamoto No. 2 Kurosaki Shiroishi, Yawatanishi-ku, Kitakyushu, Fukuoka Prefecture Yasukawa Electric Co., Ltd. (72) Inventor Tadao Yoshida 1 Kunomi-cho, Kokurakita-ku, Kitakyushu City, Fukuoka Prefecture Sumitomo Metal Industries, Ltd. Kokura Works (72) Inventor Ken Mori 1-Konomi-cho, Kitakyushu, Kitakyushu, Fukuoka Sumitomo Metal Industries, Ltd., Kokura Steel Works (72) Inventor, Toyoharu Akemi, Kokurakita-ku, Kitakyushu, Kitakyushu, Fukuoka Prefecture, Sumitomo Metal Industries, Ltd., Kokura Steel Works (72) Inventor, Takeshi Matsuo, Kokura Kita, Kitakyushu, Fukuoka No. 1 Konomi-cho, Tokyo Sumitomo Metal Industries, Ltd. Kokura Works

Claims (7)

[Claims] 1. An industrial robot for performing a sticking operation of a sticker on a bundling hoop of a wire coil, a support member attached to a tip of an arm of the robot, a suction pad attached to the support member, a slide mechanism thereof, and a pressing member. A binding hoop seal sticking mechanism composed of a roller and its slide mechanism, a laser projector and a vision sensor, which is a camera device mounted on the support member at a position where the projected laser is incident after being reflected on a wire coil, and the wire. A coil radial distance measuring sensor mounted on the support member at a position facing the coil and the outer peripheral surface, and a fixed portion forming a part of the route of the wire rod coil conveyed on the floor portion, on the end face of the wire rod coil. Coil end face position sensor installed facing each other, data of binding material such as coil diameter given in advance and obtained from the sensor Functional means for correcting the detection position of the vision sensor and selecting the detection condition based on the obtained sensor measurement data; and functional means for switching the selected detection condition and performing re-detection according to the detection result of the vision sensor. A robot system for attaching unity hoop seals, which consists of 2. The binding hoop seal sticking robot system according to claim 1, wherein the coil radial distance measuring sensor is a laser displacement sensor, and the coil end face position measuring sensor is an ultrasonic sensor. 3. A sticker mechanism for sticking, wherein one or more suction pads for vacuum-sucking the surface of the seal are attached to a slide mechanism for the suction pad, and the seal sticking mechanism can be moved up and down by a suction pad position changing cylinder, and a rotating pressing roller. 2. The bundling hoop seal attaching mechanism is constituted by a seal wrinkle preventing mechanism that is attached to a press roller slide mechanism and can be moved up and down by a press roller position changing cylinder. Robot system for attaching hoop stickers. 4. The position of the binding hoop is detected by applying a laser slit light so as to cross the binding hoop obliquely with respect to the binding direction and displaying an image of the laser slit light of the binding hoop on the vision sensor. The bundling hoop seal sticking robot system according to claim 1. 5. The distance between the end surfaces of the wire rods of the bundling hoop is measured by the coil end surface position measuring sensor, and the coil radial direction distance measuring sensor is moved by a certain distance in the bundling direction of the bundling hoop. The shortest distance is measured by the coil radial direction distance measuring sensor, the detection position of the vision sensor is corrected from the data obtained by the measurement of both sensors, and the position of the binding hoop is detected. 1. The binding hoop seal attaching robot system according to 1. 6. The detection image of the vision sensor of the unity hoop is selected by classifying the wire rod diameter data of the wire rod coil given in advance into several patterns such as thin, medium, and thick, and selecting the detection conditions of the vision sensor. 2. When the discrimination between the binding hoop and the wire rod coil in FIG. 2 is unclear, the detection position is slightly shifted or the binarization level of the detected image is changed and re-detection is performed. Robot system for sticking stickers. 7. The two facing the wire coil to be transported
One of the industrial robots is provided, one of the industrial robots attaches a sticker hoop on the outside of the wire rod coil, and the other industrial robot attaches a binder hoop on the inside of the wire rod coil. The bundling hoop seal sticking robot system according to claim 1, wherein the sticker sticking is performed.