JPS63115205A - Robot controller - Google Patents

Abstract

PURPOSE:To perform accurate control in accordance with a work object by detecting the attitude of parts gripped with a robot hand to correct the attitude of the hand in the building-in position of the parts. CONSTITUTION:A chip supply mechanism 5 places two kinds of chip on a chip base 2, and robots 11 and 12 grip them successively and bring them to prescribed positions on a camera bases 41 and 42 on which three cameras the arranged at 90 deg. to the attitude detection position of chips. Pictures taken by cameras the sent to a vision system to extract classifications and attitudes of chips gripped with hands, and correction data is generated with respect to moving loci of hands programmed in a robot controller and building-in positions and attitudes of chips, and robots 11 and 12 insert chips to prescribed positions on a printed circuit board, which is regularly moved on a printed circuit board base 3, in accordance with correction data.

Description

DETAILED DESCRIPTION OF THE INVENTION (Field of Industrial Application) The present invention relates to a robot control device that controls automatic assembly of parts by a robot using a visual sensor.

(Conventional technology) Conventionally, robot control devices that control robots using CAD/CAM (computer-aided design/computer-aided manufacturing) systems in CNC factories, etc., have an interface between the robot and the system. This has become an important issue. Conventionally,
The robot to be controlled is taught the position of the work object and the working posture, and then the robot repeats the actual work.

(Problem that the invention attempts to solve) By the way, how can you do this kind of work smoothly?

In particular, it is essential to control the hand posture and recognize the three-dimensional shape of the workpiece using a visual sensor. However, in the process of automatically inserting and assembling an LSI chip onto a printed circuit board, for example, the chip must be accurately positioned in advance, the robot must grasp it, and then move it to a predetermined position and hold it in a predetermined posture. Although it is necessary to teach the robot to perform the insertion operation, it is generally necessary to make the robot move differently depending on the parts, such as the placement of pins (legs) differing depending on the chip, or to accurately correct errors in the posture of the parts during assembly. It was difficult to correct.

Therefore, the introduction of robots in factories has the problem of requiring cost and time, especially for the interface between robots and work systems.

The present invention aims to solve the problems of the conventional technology and provides a robot control system that uses a visual sensor to control the automatic assembly of parts by a robot, thereby making it possible to easily and accurately control the workpiece. It provides equipment.

(Means for Solving the Problems) A robot control device of the present invention is a robot control device for assembling parts in a predetermined position, and includes a robot hand that grasps the part and moves it to a predetermined position according to a set operation program; The robot hand is equipped with a visual sensor that detects the posture of a component gripped by the robot hand during movement by the robot hand, and a control means that calculates correction data for the hand posture at the assembly position of the component based on the detection data of the visual sensor. It is characterized by the fact that

(Operation) According to the present invention, when automatic assembly of parts is controlled by a visual sensor, the hand posture at the part assembly position is corrected based on the posture of the part gripped by the hand, and the work target is corrected. Accurate control according to the object can be easily performed.

(Example) Hereinafter, one embodiment of the present invention will be described with reference to the drawings.

FIG. 1 shows the planar arrangement of unit cells in which LSI chips are assembled using two robots 11 and 12. A chip stand 2 and a printed board stand 3 are arranged on the left and right sides of the robot) 11.12, and a camera stand 41.42 is arranged in the rotation range of an arm (not shown) of the robot) 11.12. 5 is a chip supply mechanism that supplies LSI chips to the chip stand 2; 6 is a printed board exchange mechanism that exchanges printed boards with the printed board stand 3; These robots 11 and 12, cameras arranged on camera stands 41 and 42, chip supply mechanism 5, and printed board exchange mechanism 6 are connected to a robot control device (not shown) and a vision sensor to which data detected by a visual sensor is transferred. connected to the system.

The camera stands 41 and 42 have a T-shape as shown in FIG. 2, for example, and three cameras are mounted thereon at positions indicated by circles in the figure, each making an angle of 90 degrees with respect to the chip attitude detection position P. It is located in

Figures 3 (&) and (b) are perspective views from the back of two types of LSI chips A and B supplied to the chip stand 2, with chip A having 8-wood pins and chip B having 5-wood pins. have. The diameter of each pin is a little less than 1×1.

In the system configured in this way, first, the chip supply mechanism 5 places the chips A and B at predetermined positions, and the robots 11 and 12 sequentially grab them and place them on the camera stands 41 and 42.
to a predetermined position P. Next, the image taken by the camera is sent to the vision system, which detects the type of chip held by the hand and its orientation, and then sends correction data regarding the movement trajectory of the hand and the assembly position and orientation of the chip programmed into the robot control device. create. Lopop) 11.1
2 inserts the chip into a predetermined position on the printed board that is regularly moving on the printed board stand 3.

Next, the procedure for installing the above system in a factory and making adjustments will be explained with reference to FIG.

Installed 6 cameras 1. Connect each cable to the vision system (step a), adjust the camera (
In step b), a calibration jig serving as a reference is set at the chip attitude detection position P, a coordinate definition jig is attached, the camera is positioned, and then the camera is focused.

Thereafter, the robot (11.12) causes the hand to grasp the definition jig and defines coordinates in an interactive manner according to the setting program built into the robot control device (step C). At this time, the coordinate system of the robot is defined based on the relationship between the grasping direction and the insertion direction in accordance with the coordinates assumed for each chip. In the vision system calibration (step d), the size of the chip, the position of the pins,
The pixel size is determined by the diameter, etc., and the coordinate system for each camera is also defined at the same time.

Next, parameters regarding each chip A and H are set by a teaching operation on the robot hand (step e
-g and step h-D. In teaching the gripping position and insertion position of the chip (steps e and h), the robot grips the simulated chip and teaches the position. camera stand 4
After the position teaching and lighting determination at 1.42 (steps f, i), the bin images at each camera are taught (steps g, j). By teaching the position of the nominal point set to each chip, editing programs such as error handling (step k), and saving the taught parameters to the robot control device (step Il), the pins from the three cameras can be By processing the image, it becomes possible to calculate correction data regarding the movement trajectory of the hand and the assembly position and orientation of the chip.

It should be noted that the description of the embodiment described above is a preferred example of the device of the present invention, and it is known to those skilled in the art that various modifications and applications can be made to the present invention without departing from the spirit and gist thereof. Anyone with this technology can understand this.

(Effects of the Invention) As explained above, according to the robot control device of the present invention, when the automatic assembly of parts is controlled by a visual sensor, the position of the part to be assembled is determined based on the posture of the part held by the hand. By correcting the hand posture, you can easily control accurately according to the workpiece, so CNC
It will be easier to introduce robots in factories.

[Brief explanation of the drawing]

FIG. 1 is a plan layout showing an embodiment of the present invention, FIG. 2 is a diagram showing the relationship between the robot and the camera stand, and FIG. 3 (L)
, Cb) are perspective views showing two examples of parts to be worked on, and FIG. 4 is a flowchart showing the adjustment procedure of the system. 11.12...Robot, 2...Chip stand, 3...
・Printed board stand, 41.42...Camera stand. Patent applicant Representative of FANUC Co., Ltd. Patent attorney Minoru Tsuji A (b)

Claims (1)

[Claims] A robot control device that assembles parts into a predetermined position includes a robot hand that grasps the part and moves it to a predetermined position according to a set operation program, and detects the posture of the part gripped by the hand during movement by the robot hand. A robot control device comprising: a visual sensor; and a control means for calculating correction data for hand posture at a component assembly position based on data detected by the visual sensor.