JPH1015865A - Feeding device of assembly parts - Google Patents

Abstract

PROBLEM TO BE SOLVED: To feed various sorts of parts at a high speed and stably, as well as to reduce the time and the labor of feeding parts on an assembly line. SOLUTION: A robot 2 controlled at a desired position and posture in the movable scope is provided on a linear motor 1. This robot 2 can be moved in the horizontal direction. Both at the left side and the right side of the robot 2, part box feeding units 3a to 3j to feed part boxes, and to recover empty boxes after parts are fed, are provided. While the part box feeding units 3a to 3j are composed of part box feeding parts 4 and empty box recovery parts 5, the numbers corresponding to the part sorts fed to an assembly line 8 are provided. Furthermore, at the outer sides of the part box feeding units, part box conveying lines 6a and 6b to feed and exhaust the part boxes to the part box feeding units 3a to 3j are provided. As a result, the degree of freedom of moving in the horizontal direction, and the moving amount are increased.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an assembly component supply apparatus for supplying various components to an automatic assembly machine or an assembly robot used in an automatic assembly system having an assembly line.

[0002]

2. Description of the Related Art Conventionally, an automatic assembling machine or an assembling robot used in this kind of automatic assembling system generally supplies various kinds of parts by using an assembling parts supply device such as a parts pallet or a parts feeder. Met. When such a component-dedicated pallet is used, the time and labor required for arranging the components on the pallet becomes large. Further, a dedicated pallet for parts must be prepared for each type of parts, which increases the number of parts and increases the cost.
In addition, for example, a material such as a sheet to which an adhesive solvent is applied tends to change with time and the accuracy is likely to deteriorate.

As a solution to these problems, a visual recognition technique and a handling technique for randomly placing components on a component pallet and supplying the components have been proposed. For example, Japanese Patent Application Laid-Open No. Sho 61-55016, "Part Supply Alignment System" and Japanese Patent Application Laid-Open No. Sho 62-292377, "Visual system for picking up scattered objects by a robot"
It has been known.

In the former Japanese Patent Application Laid-Open No. 61-55016, a part sensor is recognized by a visual sensor, the handling of the robot is determined, and the parts are arranged in a predetermined direction in a parts arrangement box and stored. The latter JP-A-62-292377
In the publication, a robot performs three-dimensional recognition of a positional relationship of a piled-up object, identifies a space around the recognized object, and handles the robot to pick up the object.

[0005]

In the above-mentioned prior art, the former publication discloses a method in which parts are arranged in a predetermined direction of a parts arrangement box and stored. In this case, there is no point in applying the present invention to medium-sized and large-sized parts for precision equipment such as a copying machine, which are arranged and stored in a returnable box at a distribution stage.

In the latter publication, three-dimensional image measurement using a laser beam, which is used for visual recognition technology, involves an increase in the interference when the detector is attached to the end of a robot arm or the like due to the large size of the detection device. It is conceivable that the resolution is increased, the resolution system is deteriorated, and the cost is not increased.

[0007] Further, there is a drawback that an assembly component supply device such as a parts feeder is difficult to supply large components, and cannot be used to supply components that require careful handling due to frequent damage during transportation.

SUMMARY OF THE INVENTION The present invention solves the above-mentioned problems in the prior art. The time and labor for supplying components on an assembly line are reduced, and an assembly that can supply various components at high speed and in a stable manner. The purpose is to provide a component supply device.

[0009]

SUMMARY OF THE INVENTION To achieve the above object, an invention according to claim 1 is directed to an automatic assembling system in which various kinds of parts are supplied in an aligned state in a parts box and which moves on an assembly line. In the assembly component supply device, component box supply means for supplying a component box to an assembly line, component box collection means for collecting an empty component box after component supply, and controlled to an arbitrary position and orientation within a movable range, and A robot provided with a horizontal moving unit, a component gripping unit capable of gripping various types of components, a visual sensor for imaging the object, and an object position recognizing unit for recognizing the position and orientation of the object imaged by the visual sensor. .

According to a second aspect of the present invention, there is provided an assembly component supplying apparatus according to the first aspect, further comprising a gripping mechanism for gripping a partition plate of a component box at an end of the arm of the robot.

According to a third aspect of the present invention, in the configuration of the first aspect, the depalletizing surface for correcting the posture of the component by recognizing at least three pieces of component height information is calculated. doing.

According to a fourth aspect of the present invention, there is provided the assembly component supply apparatus, wherein the type of the component is identified from the characteristic points of the image of the object captured by the visual sensor.

According to a fifth aspect of the present invention, there is provided an assembly component supply apparatus according to the first aspect, further comprising a reading unit for reading a component number given to a component.

According to a sixth aspect of the present invention, there is provided an assembly component supply apparatus according to the fourth or fifth aspect, further comprising: component gripping means having a grip corresponding to the recognized component; and storage means for storing operation information in advance. It is provided.

According to a seventh aspect of the present invention, there is provided the assembly component supply apparatus according to the first aspect, wherein the component gripping means is replaceable corresponding to the component, and grips the component near the component box supply means. It is provided with component gripping means for performing the above.

According to an eighth aspect of the present invention, there is provided an assembly component supply apparatus having the configuration of the first aspect, further comprising component gripping means corresponding to various types of components.

According to a ninth aspect of the present invention, there is provided an assembly component supply apparatus according to the first aspect, further comprising a plurality of robots moving in one horizontal direction.

According to a tenth aspect of the present invention, there is provided the assembly component supplying apparatus according to the first aspect, further comprising a visual sensor for visually recognizing a component alignment state.

According to the assembly component supply apparatus of the present invention having the above-described configuration, when components are supplied on the assembly line, the components arranged in the returnable box are aligned on another component-dedicated pallet. The time and labor for supplying the parts are reduced without requiring any work such as making the parts. Further, it becomes possible to supply various components to the assembly line at high speed and stably without relying on three-dimensional image measurement by laser light. The details will be described below.

According to the first aspect of the present invention, it is possible to supply various kinds of parts supplied to the assembly line to the robot. Further, since the parts box supply unit is unitized for each part, it is possible to freely cope with a model change or a process change, thereby improving workability. The robot arm is equipped with a general-purpose hand, and AH
By providing C, the band can be exchanged for another dedicated band. As a result, it is possible to handle more types of components. Further, since the robot is arranged on the linear motor, the robot can be moved in the horizontal direction, and a wide movable range can be obtained. Also, the position and orientation of the object are estimated, the robot is notified of the estimated position and orientation of the target component, and the robot can move the tip of the arm to the estimated position to grasp the target component, and the object can be grasped. Differences can also be detected.

According to the second aspect of the present invention, the partition plate can be sucked by the partition plate, and the partition plate and the empty box are detected by the visual sensor, and the sequence of the component box supply unit is processed. Parts boxes can be supplied quickly and reliably.

According to the third aspect of the present invention, the inclination (posture) of the plane viewed from the robot coordinate system can be obtained, the depalletizing surface can be calculated, and the posture of the component can be finely corrected. It becomes possible. In addition, it is possible to calculate the depalletizing surface of a component having no flat surface or a component having a surface property with few flat surfaces.

According to the fourth aspect of the present invention, the assembly component supply device automatically recognizes components and can freely respond to a change in the model or a process of the component. Detection and component inspection are also possible at the same time.

According to a fifth aspect of the present invention, when the robot moves to the front of the parts box, the part number can be automatically read and the part can be recognized. And the workability is improved. At the same time, it is possible to detect a component difference.

In the assembly component supply apparatus according to the sixth aspect, the operation information can be used only by changing the storage contents even when the model is changed or the process is changed. And the workability is improved.

In the assembly component supply device according to the present invention, the hand table corresponding to the component is disposed near the component box supply unit, and when the hand needs to be replaced, the hand can be replaced on the spot. become.

According to the eighth aspect of the present invention, the hand can be selected immediately after the recognition of the component, and the hand can be held and transferred by the operation program, so that the hand exchange time can be reduced. Further, the turret is provided with the AHC, which can be exchanged, so that a wider variety of parts can be handled.

According to the ninth aspect of the present invention, the two robots can simultaneously handle the left and right parts, and the tact time is greatly reduced.

In the assembly component supply device according to the tenth aspect, since the component position and orientation on the component tray can be estimated even when the component tray is a flat plate, the assembly robot can grip and assemble the component. In this case, since the tray shape is simplified, the cost can be significantly reduced. In addition, when the component tray has a simple positioning groove that matches the component shape, it is possible to obtain tray information to detect a supply error, a position shift, and the like.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Next, an embodiment of an assembly component supply apparatus according to the present invention will be described in detail with reference to the drawings. FIG. 1 is a top view showing a configuration of an embodiment of an assembly component supply device of the present invention, and FIG. 2 is a side view showing configurations of a robot, a component box supply unit, and a component box transport line in FIG. FIG.
In FIG. 2 and FIG. 2, a robot 2 controlled to an arbitrary position and orientation within a movable range is disposed on a linear motor 1 in the assembly component supply device. The robot 2 can move in the horizontal direction, and has a movable range M shown in the figure.

A plurality of parts box supply units 3a, 3b, 3c, 3d, 3e, 3f, 3g, 3 for supplying parts boxes to the left and right sides of the robot 2 and collecting empty boxes after parts are supplied.
h, 3i and 3j are arranged. Parts box supply unit 3
Each of a to 3j includes a component box supply unit 4 and an empty box collection unit 5 and arranges quantities corresponding to the types of components supplied to the assembly line 8. Further, outside the component box supply units 3a to 3j, the component box supply units 3a to 3j
Component box transport lines 6a and 6b for supplying or discharging a component box to j. In addition, a hand rest 7 is provided in a lower direction of the linear motor 1 in the drawing. Further, a component tray 9 is transported on the assembly line 8. As a result, the degree of freedom and the amount of movement in the horizontal direction increase.

It should be noted that an AGV (automatic guided vehicle) can be used instead of the linear motor 1. In addition, the linear motor 1
May be arranged above, and the robot 2 may be arranged so as to be hung therebelow to reduce the arrangement area of the robot 2.

In FIG. 2, the parts box is conveyed on the parts box supply line 6a1 in the upper part of the parts box conveyance line 6a (6b), and supplied to each of the parts box supply units 3a to 3j. Further, it is supplied to the robot 2 by the component box supply units 3a to 3j. The empty boxes after the parts are supplied are discharged and conveyed and collected on the empty box collection line 6a2 below the parts box conveyance line 6a. Thus, various parts supplied to the assembly line 8 can be supplied to the robot 2.

The parts box may be supplied by a worker (carrier) or an AGV (automatic carrier) instead of the parts box transport lines 6a and 6b.

A general-purpose hand 18 is provided at the end of the arm of the robot 2 so that similar parts can be gripped by a common hand, and an AHC 19 is provided so that it can be replaced with another dedicated hand. The hand rest 7 is arranged behind the robot 2 to accommodate a replacement hand.

Further, a CCD camera (visual sensor) 20 and one or more laser displacement meters are further provided at the end of the arm of the robot 2 so that a two-dimensional image of a target object such as a part and the arm of the robot 2 can be obtained. The distance from the tip is measured.

FIG. 3 is a flowchart showing a processing procedure for estimating an object position and orientation from a two-dimensional image and a measured distance. 2 and 3, a target component is extracted from the two-dimensional image captured by the CCD camera 20 by region division, and its features are extracted (steps S1, S2, S
3). The model of the target component created in advance from the CAD data and the feature amount obtained here is selected and collated (steps S4, S5, S6, S7). If the collation is the same (Step S7: Yes), the position and orientation in the plane are estimated (Step S8). A part difference is detected when the models are collated, and if there is a part difference (step S7:
No), the part difference error is processed, and a warning is issued to the worker to notify the worker (steps S9 and S10).

For height information, detection information from a laser displacement meter is used. The detection information is transmitted to the robot 2 by communication, and the robot 2 moves the tip of the arm to the estimated position and grips the target component.

The component tray 9 flowing on the assembly line 8 is
There is a simple positioning groove that matches the part shape.
The component gripped by is placed at this position. Also at this time, the robot 2 moves the tip of the arm to the upper part of the component tray 9 and captures an image of the component tray 9 with the CCD camera 20. The component placement position is estimated based on the information of the component tray 9 obtained from this, and the robot 2 is operated to supply the component. Furthermore, the robot 2 retracted to the upper part can detect again a supply mistake or a position shift of the component tray 9.

In this way, various kinds of parts in the automatic assembly system, in which various kinds of parts in the parts box are supplied to some extent in an aligned state, can be supplied to the parts tray 9 on the assembly line 8.

Next, a second embodiment will be described. FIG. 4 is a side view showing the configuration of the second embodiment. In FIG. 4, when the components in the component box are stacked in multiple stages in an aligned state, a partition plate such as cardboard may be inserted and arranged at the boundary of each of the multiple stages. When the processing is performed by gripping the partition plate of the component box, for example, an ejector 23 and a silencer 24 are provided on the hand 18 in FIG. A vacuum is generated by these, and the partition plate is attached to the suction pads 25a, 25b,
It is sucked and gripped at 25c.

The CCD camera (visual sensor) 20 in FIG.
Thus, when the partition plate is detected, the operation of gripping the partition plate is executed, and the partition plate is transferred to the empty box stocked in the empty box collection unit 5 of the component box supply units 3a to 3j. When detecting that the component box of the component box supply unit 4 of the component box supply units 3a to 3j is empty, the empty box disposed in the empty box collection unit 5 is discharged. Then, the empty box of the parts box supply section 4 is moved to the empty box collection section 5, and a new parts box is supplied to the parts box supply section 4.

Next, a third embodiment will be described. FIG. 5 is a diagram for explaining the third embodiment. In FIG. 5, the third embodiment delicately corrects the posture of a component, and uses three or more laser displacement meters described in the first embodiment. For example, the robot 2 is disposed at a right angle on the coordinate system XY plane at the tip of the arm of the robot 2 to obtain height information Lo, LA, LB at three points on the plane. This height information Lo,
Since the distance L between LA and the height information Lo and LB is known, the rotation angles φ and θ of the plane formed by these three points around the X axis and Y axis are expressed by the following [Equation 1] [Equation 2]. It is represented by

[0044]

## EQU1 ## φ = tan ⁻¹ {(LA−LO) / L}

[0045]

## EQU2 ## θ = tan ^-1 {(LB -LO) / L}

The composite RPl of the rotation matrices Rφ and Rθ of φ and θ is obtained by the following [Equation 3]. Where S = sin φ, C
= Cosφ, S = sinθ, and C = cosθ.

[0047]

(Equation 3)

Where Sφ = sinφ, Cφ = cosφ,
Sθ = sin θ, Cθ = cos θ. This [Equation 3]
Thus, the inclination of the plane viewed from the robot coordinate system is obtained. As described above, the depalletizing surface is calculated from the height information of the three points on the flat part on the article or on the partition plate, and the posture of the component is finely corrected.

Next, a fourth embodiment will be described. FIG. 6 is a flowchart illustrating a processing procedure according to the fourth embodiment. In FIG. 6, in the fourth embodiment, a part is automatically recognized, a model is determined, a difference between parts is detected, a position and orientation are estimated, and a warning is issued. First, a model of a part created in advance from CAD data is stored in a database, and a model is selected from the model (steps S11, S12, S13).

The model is compared with a feature obtained from the two-dimensional image (steps S14, S15, S16, S16).
17). The model is determined from the result of the collation in step S17 (step S18). If the model is not determined in step S18 (No), the process returns to step S12. If the model is determined (Yes), it is determined whether or not the component is the same (step S19). If the component is the same (Yes), the position and orientation are estimated (step S2).
0). If there is a component difference in step S19 (N
o), a part difference error is processed and a warning is issued to the operator to notify the worker (steps S21 and S22).

Next, a fifth embodiment will be described. FIG. 7 is a side view showing the configuration of the fifth embodiment. In FIG. 7, the fifth embodiment is a process in the case where a part number slip 31 in which a part number and a barcode are described is attached to a parts box for the same configuration as in FIG. First, the part number slip 31 faces the robot 2 and the parts box supply unit 3a
3, a barcode sensor 32 is provided on the body of the robot 2 having the same height as the component slip 31. When the robot 2 moves to the front of the parts box by the barcode sensor 32, the part number is automatically read to recognize the part. At this time, a difference in parts is detected, and if there is a difference in parts, the worker is notified.

Next, a sixth embodiment will be described. FIG. 8 is a diagram for explaining the sixth embodiment. In FIG. 8, information on hands 1, 2, 3... And operations 1, 2, 3... Corresponding to components 1, 2, 3,. By doing so, the hand and the operation program corresponding to the component recognized in the fourth and fifth embodiments are read, and the hand exchange, gripping and transfer are performed according to this operation.

Next, a seventh embodiment will be described. In the seventh embodiment, a hand table 7 corresponding to the components in FIG. 1 is arranged near the component box supply units 3a to 3j. As a result, if hand replacement is required after component recognition in the fourth and fifth embodiments, the hand is replaced on the spot in a short time.

Next, an eighth embodiment will be described. FIG. 9 is a side view showing the configuration of the eighth embodiment. 9, a turret 33 is provided at the tip of the arm of the robot 2 as various kinds of component gripping means in the configuration of FIG. As a result, the hand 18 is immediately selected after component recognition in the fourth and fifth embodiments, and gripping and transfer are performed according to the operation program. The turret 33 is provided with the AHC 19, and when the hand needs to be replaced, the turret 33 is replaced with another turret (32) placed on the hand rest 7 in FIG. As a result, it becomes possible to handle various parts.

Next, a ninth embodiment will be described. FIG. 10 is a top view showing the configuration of the ninth embodiment. FIG.
, A robot is added to the configuration of the first embodiment shown in FIG. The robots 2a and 2b simultaneously hold and transfer components supplied from both left and right sides.

Next, a tenth embodiment will be described.
FIG. 11 is a perspective view showing the configuration of the tenth embodiment. In FIG. 11, a three-dimensional visual sensor 20a
Has been arranged. When the component tray 8 is a flat plate, the components 34a and 34 on the component tray 8 have the same configuration as shown in FIG.
The position and orientation of b and 34c are estimated. By transmitting this information to the robot 2, the components 34a to 34c are gripped and assembled. If the component tray 8 has a simple positioning groove that matches the component shape, it is also possible to obtain this information and detect a supply error, a position shift, or the like.

[0057]

As is apparent from the above description, according to the assembly part supply apparatus of the first aspect, it is possible to supply more various kinds of parts to the robot to be supplied to the assembly line. It is possible to freely cope with a process change, etc., thereby improving workability. Further, the robot on the linear motor can move in a wide range in the horizontal direction. In addition, the robot can move the tip of the arm to the estimated position and hold the target component, and can also detect a difference between the articles.

According to the second aspect of the present invention, the partition plate can be suctioned.

According to the third aspect of the present invention, it is possible to finely correct the posture of the component. In addition, it is possible to calculate the depalletizing surface of a component having no flat surface or a component having a surface property with few flat surfaces.

According to the assembly component supply device of the fourth aspect, it is possible to automatically recognize the component and freely respond to the change of the model and the process, thereby improving the workability, and Part difference detection and part inspection can be performed simultaneously.

According to the assembly component supply apparatus of the fifth aspect, it is possible to freely cope with a model change or a process change, and the workability is improved. At the same time, it is possible to detect a component difference.

According to the assembly component supply device of the sixth aspect, the operation information can be used only by changing the storage contents even when the model is changed or the process is changed, and the model change and the process change are performed. It is possible to respond freely at times, and the workability is improved.

According to the assembly part supply device of the seventh aspect, when the hand needs to be replaced, the hand can be replaced on the spot.

According to the assembly component supply device of the eighth aspect, the hand replacement time can be reduced, and more various types of components can be handled.

According to the ninth aspect, the two robots can simultaneously handle the left and right parts, and the tact time is greatly reduced.

According to the assembling component supply device, since the position and orientation of the components on the component tray can be estimated even when the component tray is a flat plate, the assembling robot can grip and assemble the component. Become. In this case, since the tray shape is simplified, the cost can be significantly reduced.

[Brief description of the drawings]

FIG. 1 is a top view showing a configuration of an embodiment of an assembly component supply device of the present invention.

FIG. 2 is a side view showing a configuration of a robot, one component box supply unit, and a component box transport line in the embodiment.

FIG. 3 is a flowchart illustrating a processing procedure of an operation for estimating an object position and orientation in the embodiment.

FIG. 4 is a side view showing the configuration of the second embodiment.

FIG. 5 is an explanatory diagram for describing a third embodiment.

FIG. 6 is a flowchart illustrating a processing procedure according to a fourth embodiment.

FIG. 7 is a side view showing the configuration of the fifth embodiment.

FIG. 8 is an explanatory diagram for explaining a sixth embodiment.

FIG. 9 is a side view showing the configuration of the eighth embodiment.

FIG. 10 is a top view showing the configuration of the ninth embodiment.

FIG. 11 is a perspective view showing a configuration of a tenth embodiment.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Linear motor 2, 2a, 2b Robot 3a-3j Parts box supply unit 4 Parts box supply part 5 Empty box collection part 6a, 6b Parts box conveyance line 6a1 Parts box supply line 6a2 Empty box collection line 8 Assembly line 7 Hand stand 9 Parts tray 18 Hand 19 AHC 20, 20a CCD camera (visual sensor) 23 Ejector 24 Silencer 25a-25c Suction pad 32 Barcode sensor 33 Turret 34a, 34b, 34c Parts

Claims (10)

[Claims] 1. An assembly component supply device in an automatic assembly system in which a variety of components are supplied in an aligned state in a component box and moves on an assembly line. A component box supply means for supplying the component box to the assembly line. Component box collection means for collecting an empty component box after component supply; component holding means and an object controlled to any position and orientation within the movable range, and capable of holding a horizontal direction moving means and various types of components. An assembly component supply device, comprising: a robot including a visual sensor that captures an image of the object; and an object position and orientation unit that recognizes the position and orientation of the object captured by the visual sensor. 2. The assembly component supply device according to claim 1, further comprising a gripping mechanism for gripping a partition plate of a component box at a tip end of the arm of the robot. 3. The assembly component supply apparatus according to claim 1, wherein at least three pieces of component height information are recognized to calculate a depalletizing surface for correcting a component attitude. Feeding device. 4. The assembly component supply device according to claim 1, wherein a type of the component is identified from a feature point of an image of the object captured by the visual sensor. 5. The assembly component supply device according to claim 1, further comprising a reading unit that reads a component number assigned to the component. 6. The assembly component supply device according to claim 4, further comprising: a component gripping unit having a grip corresponding to the recognized component; and a storage unit for storing operation information in advance. To supply assembly parts. 7. The assembly component supply device according to claim 1, wherein the component gripping means is configured to be replaceable corresponding to the component, and further provided with component gripping means for gripping the component near the component box supply means. An assembly component supply device characterized by the above-mentioned. 8. The assembly component supply device according to claim 1, further comprising component gripping means corresponding to various types of components. 9. The assembly component supply device according to claim 1, further comprising a plurality of robots moving in one horizontal direction. 10. The assembly component supply device according to claim 1, further comprising a visual sensor for visually recognizing a component alignment state.