WO2017094107A1

WO2017094107A1 - Workpiece transfer device and workpiece transfer system

Info

Publication number: WO2017094107A1
Application number: PCT/JP2015/083741
Authority: WO
Inventors: 森　一明
Original assignee: 富士機械製造株式会社
Priority date: 2015-12-01
Filing date: 2015-12-01
Publication date: 2017-06-08
Also published as: JPWO2017094107A1; JP6626124B2

Abstract

In this workpiece transfer device (20), a transfer control unit causes an imaging unit (25) to capture an image of a placement area (63) for collection and causes a collector (22) to move to a predetermined position (38) on a workpiece (37) recognized on the basis of the captured image of the placement area (63) for collection. The transfer control unit subsequently uses the collector (22) to attract the predetermined position on the workpiece (37), collect the workpiece (37), and transfer the collected workpiece (37) to a placement area (36) for work.

Description

Work transfer device and work transfer system

The present invention relates to a workpiece transfer device and a workpiece transfer system.

2. Description of the Related Art Conventionally, as a workpiece transfer device, for example, a device that takes out a billet material from a container and supplies the billet material onto a transport conveyor. There has been proposed an electromagnet moving means that mounts a billet material on a transport conveyor by releasing the suction of each electromagnet along the transport direction (see, for example, Patent Document 1). In this apparatus, the generation of noise can be suppressed. In addition, as a workpiece transfer device, when chip components picked up by a magnet are transported through a transport path in an aligned state, a positioning electromagnet is disposed at the end of the transport path, and a chip component is collected by a pickup device. Has been proposed to turn off the electromagnet (see, for example, Patent Document 2). In this apparatus, for example, it is possible to suppress a pickup defect that may occur when a permanent magnet is used.

JP 2002-68472 A Japanese Patent Laid-Open No. 11-266098

By the way, in the apparatus described in Patent Document 1, one component is not necessarily attracted to each electromagnet, and there is an electromagnet in which a plurality of components are attached to one electromagnet or parts are not attached. In some cases, countermeasures were required accordingly. In addition, the apparatuses described in Patent Documents 1 and 2 are provided with a transport path such as a transport conveyor for aligning parts, and the structure sometimes becomes large when the work is moved and placed. Thus, there has been a demand for a new workpiece transfer device capable of moving and mounting each workpiece more reliably.

The present invention has been made in view of such problems, and it is a main object of the present invention to provide a novel workpiece transfer device and workpiece transfer system that can move and place workpieces one by one more reliably. Objective.

The present invention adopts the following means in order to achieve the main object described above.

The workpiece transfer apparatus of the present invention is
A workpiece transfer device for moving and placing the workpiece from the collection placement portion on which one or more workpieces are placed to the work placement portion,
An imaging unit that captures an image;
A sampling part for attracting and sampling a predetermined position of the workpiece;
A transfer control unit that moves the sampling unit to a predetermined position of a workpiece recognized based on a captured image of the sampling mounting unit captured by the imaging unit;
It is equipped with.

In this apparatus, the transfer control unit moves the sampling unit to a predetermined position of the workpiece recognized based on the captured image of the sampling mounting unit. Thereafter, the transfer control unit collects the workpiece by attracting a predetermined position of the workpiece by the sampling unit, and moves and places the collected workpiece on the work mounting unit. In this apparatus, since a work that can be picked up and a predetermined position of the work are recognized based on the picked-up image of the picking-up placement part, it is possible to move and place each work more reliably. Here, examples of the work include one or more fastening members among bolts, nuts, washers, screws, nails, rivets, and the like.

In the workpiece transfer apparatus according to the present invention, the transfer control unit images the sampling mounting unit on which the workpiece is mounted in an indefinite posture, and aligns the workpiece mounting unit in a predetermined posture so as to align the working mounting unit. The imaging unit and the sampling unit may be controlled so that the workpiece is placed thereon. In this device, a workpiece can be placed without considering the position and direction of the workpiece in the sampling placement unit, and the workpiece is arranged in a predetermined posture on the work placement unit. It's easy to do. Here, “undefined posture” refers to a state in which the position and direction of the workpiece are not unified.

In the workpiece transfer apparatus of the present invention, at least the predetermined position of the workpiece may be formed of a magnetic material, and the sampling unit may collect the predetermined position of the workpiece by magnetic force. In this apparatus, a workpiece can be collected more easily using magnetic force. In this apparatus, the work placement unit may be a pallet having a magnetic force. In this apparatus, the work can be simply fixed and arranged using magnetic force.

In the workpiece transfer apparatus of the present invention, the transfer control unit may control the sampling unit with an attractive force that attracts one workpiece. In this apparatus, for example, when there are a plurality of workpieces having different sizes and weights, by using the attractive force suitable for each workpiece, each of the workpieces can be surely moved and placed. Can do.

In the workpiece transfer apparatus according to the present invention, the transfer controller identifies a workpiece region that matches the reference shape data of the workpiece included in the captured image of the sampling placement unit, so that the captured image includes It is also possible to recognize a certain workpiece that can be collected and to recognize the predetermined position of the workpiece that can be collected. In this apparatus, by using the reference shape data of the workpiece, it is possible to move and place each workpiece more reliably.

The workpiece transfer device of the present invention may include an arm unit in which the imaging unit and the sampling unit are arranged on one end side and the other end side is supported by a base unit. In this apparatus, each of the workpieces can be moved and placed more reliably by the arm mechanism robot. Alternatively, the workpiece transfer device may be an XY robot in which a sampling head provided with the imaging unit and the sampling unit moves in the front-rear and left-right directions.

In the workpiece transfer apparatus according to the present invention, the sampling unit includes an attracting unit that attracts the workpiece, and a sandwiching unit that sandwiches and supports the workpiece in a posture after the attracting unit attracts the workpiece. It is good also as what you are doing. In this apparatus, the workpiece can be reliably held and moved by the attracting part and the clamping part.

A workpiece transfer system according to the present invention includes the workpiece transfer device according to any one of the above-described ones, and a workpiece supply device including a supply unit that supplies a plurality of the workpieces to the sampling placement unit in an undefined posture. It is provided. Since this workpiece transfer system includes any of the workpiece transfer devices described above, it is possible to obtain an effect corresponding to the adopted device. In addition, since the work can be supplied by the work supply device, the work of moving placement can be performed more continuously.

In the workpiece transfer system of the present invention, the workpiece may be provided with at least the predetermined position made of a magnetic material, and the workpiece supply device may include a supply unit that supplies a plurality of the workpieces by magnetic force. Good. In this system, a plurality of workpieces can be easily supplied using magnetic force.

1 is a schematic explanatory diagram of a workpiece transfer system 10. FIG. FIG. 2 is a schematic explanatory diagram of a workpiece transfer device 20. FIG. 2 is a schematic explanatory diagram of a workpiece supply device 40. The perspective view of the workpiece | work accommodating member 60. FIG. Explanatory drawing of the workpiece | work accommodating member 60. FIG. FIG. 2 is a block diagram showing an electrical connection relationship of the workpiece transfer system 10. The flowchart which shows an example of a workpiece processing routine. The top view of the workpiece | work accommodating member 60 which mounted and stored the workpiece | work 37. FIG. Explanatory drawing of the workpiece | work supply process which the workpiece | work supply apparatus 40 performs. Explanatory drawing of the workpiece | work process which the workpiece transfer apparatus 20 performs. Explanatory drawing of the workpiece | work collection | recovery process which the workpiece supply apparatus 40 performs.

Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram of a workpiece transfer system 10 which is an example of the present invention. FIG. 2 is a schematic explanatory diagram of the workpiece transfer device 20 provided in the workpiece transfer system 10. FIG. 3 is a schematic explanatory diagram of the workpiece supply device 40 included in the workpiece transfer system 10. FIG. 4 is a perspective view of the workpiece housing member 60. 5A and 5B are explanatory views of the work housing member 60, in which FIG. 5A is a front view, FIG. 5B is a side view, and FIG. 5C is a plan view. FIG. 6 is a block diagram showing an electrical connection relationship of the workpiece transfer system 10. The workpiece transfer system 10 includes a system control unit 12, a workpiece transfer device 20, a workpiece supply device 40, and a workpiece storage member 60. The system control unit 12 controls the entire system, and is configured as a microprocessor centered on the CPU 14 (see FIG. 6). The system control unit 12 is electrically connected to the workpiece transfer device 20 and the workpiece supply device 40, outputs signals to these devices, and inputs signals from these devices. In the workpiece transfer system 10, the left-right direction (X-axis), the front-rear direction (Y-axis), and the up-down direction (Z-axis) will be described below as shown in FIGS.

The workpiece transfer system 10 is configured as a device for moving and placing a work target workpiece 37 accommodated in the workpiece accommodating member 60 to a work placement portion 36 used for subsequent work (see FIG. 1). . For example, the workpiece transfer system 10 aligns the workpiece 37 placed on the sampling placement portion 63 of the workpiece housing member 60 in an undefined posture in a predetermined posture so that the worker can easily work in a later process. It is good also as what is mounted in the mounting part 36 for work in the state. Here, the “undefined posture” refers to a state in which the position and direction of the workpiece 37 are not unified. The workpiece 37 is not particularly limited, and examples thereof include mechanical parts, electrical parts, electronic parts, chemical parts, and the like. For example, one or more fastening members among bolts, nuts, washers, screws, nails, rivets, etc. Good. The workpiece 37 may be at least partially (predetermined position 38) formed of a magnetic material. The workpiece 37 moves by being attracted by an electromagnet included in the workpiece transfer device 20 and the workpiece supply device 40 at a predetermined position 38 formed of a magnetic material. The work placement unit 36 is a member on which the workpieces 37 are placed. The work placement unit 36 has a magnetic force, and is configured as a pallet that fixes the magnetic work piece 37 with a magnetic force. The work placement unit 36 has the work 37 disposed and fixed at a position determined according to the type of the work 37. The worker uses the work placement unit 36 on which the work 37 is disposed and fixed by the work transfer system 10, and assembles the work 37 while identifying the work 37 based on the position where the work is fixed. . The workpiece transfer system 10 may execute, for example, a step of arranging bolts as the workpiece 37 on the workpiece 37, a step of attaching a washer as the workpiece 37 to the arranged bolts, and the like. Here, the workpiece 37 is a bolt having a magnetic body as a whole, the predetermined position 38 is the tip of the screw shaft, and the bolt head is directed downward, and is arranged on the work mounting portion 36 at a predetermined interval. A specific example will be described.

The workpiece transfer device 20 collects the workpiece 37 from the workpiece accommodating member 60 on which one or more workpieces 37 are placed, and moves and places the collected workpieces 37 on the work placement unit 36 in a predetermined arrangement. The unit 21 is provided. The workpiece transfer device 20 includes a transport unit 34 that transports the work placement unit 36 and a transfer control unit 35 (see FIG. 6) that controls the entire device. As shown in FIGS. 2 and 6, the transfer unit 21 includes a sampling unit 22, an imaging unit 25, an arm unit 28, a first drive unit 31, a second drive unit 32, and a base 33. is doing.

The collection unit 22 is a member that attracts and collects the predetermined position 38 of the work 37, and is rotatably attached to the tip of the arm unit 28 (see FIG. 2). The collection unit 22 includes a pulling unit 23, a clamping unit 24, two plates 70, a fixing member 71, and a clamping pin 72. The attracting part 23, the sandwiching part 24, and the fixing member 71 are disposed between the two plates 70. The plate 70 is a plate-like member disposed at the tip of the arm portion 28. The plate 70 is formed with a groove 73 as a guide for guiding the pin 72. The attracting part 23 has an electromagnet and a shaft member connected to the electromagnet, and attracts and collects a magnetic work 37 to the tip of the shaft member. The attracting portion 23 is fixed below the plate 70. The attracting unit 23 is configured to generate a plurality of steps (for example, three steps) of magnetic force (attracting force) according to the supplied power. The sandwiching part 24 is a member that sandwiches and supports the work 37 in the posture after the attracting part 23 attracts it. In the sampling unit 22, the workpiece 37 is clamped by the two clamping units 24, but the workpiece 37 may be clamped by three or more clamping units. The clamping part 24 is pivotally supported at both ends of the fixing member 71 so as to be rotatable. Further, a clamping pin 72 is fixed to the surface of the clamping unit 24 on the plate 70 side. The clamping pin 72 is inserted into a groove 73 formed in the plate 70. The fixing member 71 is disposed on the plate 70 so as to be movable up and down, and is moved up and down by an air cylinder. The initial position of the fixing member 71 is above the plate 70 and moves downward when the work 37 is sandwiched. When the fixing member 71 is in the initial position (the left figure of the blowout in FIG. 2), the clamping unit 24 is accommodated in the plate 70. Further, when the fixing member 71 moves downward, the holding portion 24 is exposed from the plate 70 while the holding pin 72 is guided to a predetermined track by the groove portion 73. When the fixing member 71 is positioned at the lowermost position (clamping position), the clamping unit 24 comes into contact with the tip of the clamping unit 24 to clamp the work 37 (right view of the blowout in FIG. 2).

The imaging unit 25 is a unit that captures an image, and is fixed to the tip side of the plate 70. The imaging unit 25 includes an illumination unit 26 and an imaging element 27. The illumination unit 26 is illumination arranged in a circular shape on the outer peripheral side of the imaging element 27, and irradiates light on an imaging target below. The illumination unit 26 is disposed in the imaging unit 25 so as to irradiate light to the entire collection mounting unit 63 that is an imaging target. The imaging element 27 is an element that generates charges by receiving light and outputs the generated charges. The image sensor 27 may be a CMOS image sensor. The imaging unit 25 generates image data based on the electric charges output from the imaging element 27, and outputs the generated image data to the transfer control unit 35.

As shown in FIG. 2, the arm unit 28 includes a sampling unit 22 and an imaging unit 25 disposed on one end side, a base unit 33 disposed on the other end side, and is supported by the base unit 33. The arm unit 28 includes a first arm 29 and a second arm 30. The first arm 29 is a longitudinal member in which the collection unit 22 that operates on the workpiece 37 is disposed. The first arm 29 is provided with a drive unit (not shown) for rotating the sampling unit 22 therein. The second arm 30 is a longitudinal member in which the first arm 29 is disposed. The second arm 30 is provided with a first drive unit 31 that rotationally drives the first arm 29 on the distal end side thereof. The first drive unit 31 includes a bevel gear mechanism in which the first arm 29 is disposed, and a motor that rotationally drives the bevel gear mechanism. The base 33 is provided with the second arm 30. The base 33 supports the second arm 30 via a support shaft formed in the vertical direction. The base 33 is provided with a motor, and the support shaft is rotated by the motor. The base 33 is provided with a second drive unit 32 that rotationally drives the second arm 30 on the distal end side thereof. The second drive unit 32 includes a bevel gear mechanism in which the second arm 30 is disposed and a motor that rotationally drives the bevel gear mechanism.

The transport unit 34 is a unit that carries in and transports the work placement unit 36 and fixes and unloads the work 37 at the transfer position. The transport unit 34 has a pair of conveyor belts provided at intervals in the front and rear direction of FIG. 1 and spanned in the left-right direction. The work placement unit 36 is conveyed by the conveyor belt.

The transfer control unit 35 controls the entire workpiece transfer device 20 (see FIG. 6). The transfer control unit 35 outputs signals to the collection unit 22, the imaging unit 25, the first drive unit 31, the second drive unit 32, and the transport unit 34. In addition, the transfer control unit 35 receives a signal from the imaging unit 25. The first drive unit 31 and the second drive unit 32 are equipped with position sensors (not shown), and the transfer control unit 35 inputs the position information from these position sensors while the motors of the respective drive units. To control. The transfer control unit 35 moves the sampling unit 22 to a predetermined position 38 of the workpiece 37 recognized based on the captured image of the sampling mounting unit 63 on which the workpiece 37 is mounted in an indefinite posture, and aligns in a predetermined posture. Thus, the sampling unit 22 and the imaging unit 25 are controlled so that the work 37 is placed on the work placement unit 36.

The workpiece supply device 40 collects one or more workpieces 37 stored in the storage unit 62 (see FIGS. 4 and 5) of the workpiece storage member 60 so that the workpiece transfer device 20 can collect the workpiece, and the workpiece supply device 40 in an indefinite posture. A supply unit 41 for supplying the collection member 63 for collection of the housing member 60 is provided (see FIG. 3). The workpiece supply device 40 includes a workpiece storage member 60, a moving unit 54, and a supply control unit 55 (see FIG. 6). As shown in FIGS. 3 and 6, the supply unit 41 includes a collection unit 42, an arm unit 48, a first drive unit 51, a second drive unit 52, and a base 53.

The collecting part 42 is a member that attracts and collects a large number of workpieces 37, and is rotatably attached to the tip of the arm part 48 (see FIG. 3). The collection unit 42 includes a pulling unit 43 and a support shaft 44. The attracting part 43 is a relatively strong electromagnet fixed to the lower end of the support shaft 44 and attracts and collects a plurality of workpieces 37 as much as possible. The support shaft 44 is supported at the tip of the arm portion 48 in a state in which the support shaft 44 can freely move in the up-and-down direction (a blow-out view in FIG. 3). Since the attracting part 43 can freely move up and down, the work 37 in various postures can be collected by a magnetic force. As shown in FIG. 3, the arm portion 48 has the sampling portion 42 disposed on one end side, the base portion 53 disposed on the other end side, and supported by the base portion 53. The arm unit 48 includes a first arm 49, a second arm 50, and a first drive unit 51. In addition, the base 53 includes a second drive unit 52. The first arm 49, the second arm 50, the first drive unit 51, the second drive unit 52, and the base 53 are the first arm 29, the second arm 30, the first drive unit 31, and the second drive unit of the arm unit 28. The detailed description of the configuration is the same as that of the base 32 and the base 33.

As shown in FIG. 1, the moving unit 54 moves the storage table 56 on which one or more workpiece storage members 60 are placed, and the storage table 56 between the retracted position (see the dotted line in FIG. 1) and the transfer processing position. A rail 57 and a drive unit (not shown) for moving the storage table 56 are provided. The operator moves the storage table 56 to the retracted position, and then adds a new work 37 to the work storage member 60.

The supply control unit 55 controls the entire work supply device 40 (see FIG. 6). The supply control unit 55 outputs a signal to the sampling unit 42, the first driving unit 51, the second driving unit 52, and the moving unit 54. The supply control unit 55 collects a plurality of workpieces 37 from the storage unit 62 at a timing when there is no longer the workpiece 37 that can be collected in the collection placement unit 63 and supplies the collected workpieces to the collection placement unit 63. The unit 41 is controlled. The supply control unit 55 controls the supply unit 41 so as to collect one or more workpieces 37 placed on the collection placement unit 63 at a predetermined timing and send the collected workpieces 37 to the storage unit 62.

The work accommodating member 60 is a member that stores the work 37 and is used in the work transfer device 20 that moves and places the work 37 on the work placement unit 36. As shown in FIGS. 4 and 5, the workpiece housing member 60 includes an inclined surface 61, a storage unit 62, a collection mounting unit 63, and a housing 64. 37 is a surface that can slide down, and one is formed on the workpiece housing member 60. The storage unit 62 is a part that is provided below the inclined surface 61 and stores one or more workpieces 37. The collection placement unit 63 is a member on which the work 37 placed on the upper surface of the inclined surface 61 and transferred from the storage unit 62 is placed. The housing 64 constitutes the outer wall of the workpiece housing member 60, and includes an inclined surface 61, a storage portion 62, and a collection placement portion 63. The work accommodating member 60 is a box body whose upper side is opened. That is, a supply space 65 in which the work 37 can be moved from the storage unit to the collection mounting unit 63 is formed above the storage unit 62. Further, a sampling space 66 in which the workpiece 37 can be sampled by the workpiece transfer device 20 is formed above the sampling mounting unit 63. The inclined surface 61 is an inclined surface that guides the workpiece 37 dropped from the collection mounting portion 63 to the storage portion 62. The inclined surface 61 is disposed directly below the collection mounting portion 63. The storage part 62 is a part for storing a large number of workpieces 37, and is formed below the housing 64 so as to be adjacent to the collection mounting part 63 when viewed from above (see FIG. 5C). The collection placement unit 63 is a rectangular plate-like body, and is supported by a columnar support member 68 from the side surface side of the housing 64. In this work accommodating member 60, there is no support member 68 in the front-rear direction of the housing 64 (see FIG. 4). An opening 67 through which the work 37 drops onto the inclined surface 61 is formed between the edge of the collection placement part 63 and the housing 64 in the work housing member 60.

Next, the operation of the workpiece transfer system 10 of the present embodiment configured as described above, in particular, the process of fixing the workpieces 37 to the work placement unit 36 will be described. FIG. 7 is a flowchart illustrating an example of a work processing routine executed by the system control unit 12 of the work transfer system 10. FIG. 8 is a plan view of the work accommodating member 60 on which the work 37 is placed and stored. FIG. 9 is an explanatory diagram of a workpiece supply process executed by the workpiece supply device 40. FIG. 9A is a diagram for collecting the workpiece 37 from the storage unit 62, and FIG. FIG. 9C is a view of moving the workpiece 37 onto the collection mounting portion 63. FIG. 10A and 10B are explanatory diagrams of the workpiece process executed by the workpiece transfer device 20, in which FIG. 10A is an image of the sampling placement unit 63, and FIG. 10B is a diagram of sampling the workpiece 37. FIG. 10C is a diagram in which the work 37 is fixed by the clamping unit 24. FIG. 10D is a diagram in which the workpiece 37 is attracted to the attracting portion 23, FIG. 10E is a diagram in which the clamping portion 24 is moved, and FIG. 10F is a diagram in which the workpiece 37 is fixed by the clamping portion 24. FIG. 10G is a diagram in which the work is placed on the work placement unit 36. FIG. 11 is an explanatory diagram of a workpiece collection process executed by the workpiece supply apparatus 40. FIGS. 11A and 11B are diagrams for collecting the workpiece 37 on the collection mounting unit 63, and FIG. FIG. 11 is a diagram for returning the collected work 37 to the storage unit 62. Here, although details are omitted for convenience of explanation, when there are a plurality of workpiece accommodating members 60 and a plurality of types of workpieces 37 are arranged and placed on the work placement portion 36, the steps described below are performed. The processes of S100 to S200 may be performed for each work accommodating member 60.

The work processing routine is stored in the system control unit 12 and is executed in response to a start instruction by the worker. When this routine is started, the CPU 14 of the system control unit 12 loads and transports the work placement unit 36 by the transport unit 34, and fixes the work placement unit 36 at the transfer position (step S100). Next, the CPU 14 causes the work supply device 40 to execute a work supply process (step S110). In the workpiece supply process, the supply control unit 55 of the workpiece supply device 40 moves, for example, the attracting unit 43 of the sampling unit 42 to the storage unit 62 and collects a large number of workpieces 37 in the attracting unit 43 (FIG. 9 ( a)). Next, the supply control unit 55 moves the attracting unit 43 to the upper center of the sampling placement unit 63 (FIG. 9B), demagnetizes the electromagnet, and places the workpiece 37 on the sampling placement unit 63. The sowing process is executed (FIG. 9C). The work 37 is distributed and placed in an indefinite posture on the collection placement unit 63, and a part of the work 37 may drop downward from the opening 67 and return to the storage unit 62 via the inclined surface 61. In the workpiece supply process, the workpiece supply device 40 does not consider the posture of the workpiece 37 accommodated in the storage unit 62 and moves the sampling unit 42 along a predetermined trajectory.

After step S110, the CPU 14 causes the image pickup unit 25 to pick up an image of the picking up placement unit 63 (step S120), recognizes the picked up work 37 and picks up the picked up work piece 37, and at a predetermined position 38 of the work 37. Is recognized (step S130). The workpiece transfer device 20 moves the imaging unit 25 to the upper center of the collection mounting unit 63 and performs an imaging process (see FIG. 10A). The captured image is sent to the system control unit 12 and the workpiece 37 is recognized. The recognition process of the workpiece 37 is prepared in advance by distinguishing the region of the collection placement unit 63 in the captured image from the other region (region of the workpiece 37) by, for example, binarization processing or pattern matching processing. This can be done by identifying a work area that matches the reference shape data of the work 37 that has been made. For example, as shown in FIG. 8, the CPU 14 recognizes, as a workable area 81, an area that matches the reference shape data of the work 37 out of the area of the work 37 of the captured image 80, and converts the area into the reference shape data of the work 37. The non-conforming area may be recognized as the uncollectable work area 82. The reference shape data may include, for example, a shape when the work 37 is viewed from a plurality of angles. From the viewpoint of collecting the workpiece 37 more reliably, the workpiece 37 that can be collected can be, for example, one that is not complicatedly overlapped or one that is not placed on the edge of the collection placement portion 63. . In the recognition processing of the predetermined position 38, after the work 37 that can be picked up is recognized, the tip portion of the work 37 that can be picked up is recognized (see FIG. 8).

Next, the CPU 14 sets an attractive force according to the type of the work 37 (step S140). The workpiece transfer device 20 controls the attracting unit 23 to the set attracting force. For example, the attractive force may be set to a value that allows only one workpiece 37 to be collected. In this way, the workpiece transfer apparatus 20 can attract and collect one workpiece 37 even from the workpieces 37 that overlap each other. Next, the CPU 14 determines whether or not there is a work that can be collected based on the result of step S130 (step S150). When there is a work 37 that can be collected, the CPU 14 sets the work 37 to be collected (step S160), and causes the work transfer device 20 to execute the work movement placement process (step S170). The work 37 to be collected can be set in any order such as the order from the left to the right of the image, the order from the top to the bottom of the image, and the like. The transfer control unit 35 of the workpiece transfer device 20 moves the attracting unit 23 to the position of the predetermined position 38 of the set workpiece 37 to be collected in the workpiece movement placement process, and pulls the workpiece 37 to be collected. It attracts to the attaching part 23 (FIG.10 (b)). Next, the transfer control unit 35 moves the sampling unit 22 upward to bring the workpiece 37 into a state of hanging from the tip of the attracting unit 23 (FIG. 10D). Subsequently, the transfer control unit 35 moves the fixing member 71 downward (FIG. 10E), and clamps the work 37 by the clamping unit 24 (FIGS. 10C and 10F). Thereafter, the transfer control unit 35 moves the sampling unit 22 onto the work placement unit 36, demagnetizes the electromagnet, opens the clamping unit 24, and places the workpieces 37 in a position where they should be placed ( FIG. 10 (g)).

Subsequently, the CPU 14 determines whether or not the transfer of the current work placement unit 36 is completed based on the progress of the work (step S180), and the transfer of the work placement unit 36 is completed. If not, the processing after step S150 is executed. On the other hand, when there is no work that can be picked up on the picking-up placement unit 63 in step S150, the CPU 14 causes the work supply device 40 to execute the work collecting process (step S190), and the processes after step S110 are executed. In the workpiece collection process, the supply control unit 55 of the workpiece supply device 40 moves, for example, the attracting unit 43 of the sampling unit 42 on the sampling mounting unit 63 and the workpiece remaining on the sampling mounting unit 63. 37 is collected by the attracting part 43 (FIGS. 11A and 11B). Next, the supply control unit 55 moves the attracting unit 43 above the opening 67, demagnetizes the electromagnet, and drops the workpiece 37 (FIG. 11C). The dropped work 37 returns to the storage unit 62 via the inclined surface 61. In the workpiece recovery process, the workpiece supply device 40 may move the sampling unit 42 in a predetermined path without considering the position of the workpiece 37 remaining on the sampling mounting unit 63. On the other hand, when the transfer of the work placement unit 36 is completed in step S180, the CPU 14 ejects the work placement unit 36 by the transport unit 34, and transports and fixes the new work placement unit 36 ( Step S200), the processing after step S150 is executed. Thus, in the workpiece transfer system 10, the workpieces 37 can be arranged and placed on the work placement unit 36 by the workpiece transfer device 20 and the workpiece supply device 40. There may be a work transfer system in which a washer is assembled to a bolt arranged on the work placement unit 36 downstream of the work transfer system 10. An operator shall produce a product using the work 37 arranged and placed on the work placement unit 36.

Here, the correspondence between the components of the present embodiment and the components of the present invention will be clarified. In this embodiment, the imaging unit 25 corresponds to the imaging unit, the sampling unit 22 corresponds to the sampling unit, the transfer control unit 35 corresponds to the transfer control unit, the base 33 corresponds to the base, and the arm unit 28 It corresponds to an arm part, the attracting part 23 corresponds to a attracting part, and the clamping part 24 corresponds to a clamping part. Further, the collection placement unit 63 corresponds to the collection placement unit, the work placement unit 36 corresponds to the work placement unit, and the supply unit 41 corresponds to the supply unit.

In the workpiece transfer apparatus 20 according to the present embodiment described above, the transfer control unit 35 causes the imaging unit 25 to image the sampling mounting unit 63 and recognizes the workpiece 37 based on the captured image of the sampling mounting unit 63. The sampling unit 22 is moved to the predetermined position 38. Thereafter, the transfer control unit 35 attracts the predetermined position 38 of the work 37 by the collection unit 22 to collect the work 37, and moves and places the collected work 37 on the work placement unit 36. In this apparatus, since the work 37 that can be picked up and the predetermined position 38 of the work 37 are recognized based on the picked-up image of the picking-up placement part 63, it is possible to move and place each work piece more reliably. it can.

In addition, the transfer control unit 35 images the collection mounting unit 63 on which the work 37 is placed in an undefined posture, and places the work 37 on the work placement unit 36 by aligning in a predetermined posture. . In this apparatus, the work placement unit 63 can place the work 37 without considering the position and direction of the work 37, and the work placement unit 36 arranges the work 37 in a predetermined posture. Then, it is easy to use the work 37. Furthermore, at least a predetermined position 38 of the work 37 is formed of a magnetic material, and the sampling unit 22 collects the predetermined position 38 of the work 37 by magnetic force. In this apparatus, a workpiece can be collected more easily using magnetic force. Moreover, in this apparatus, since the work mounting portion 36 is a pallet having a magnetic force, the work 37 can be simply fixedly arranged using the magnetic force.

Furthermore, since the transfer control unit 35 controls the sampling unit 22 with an attractive force that attracts one workpiece 37, for example, when there are a plurality of workpieces having different sizes and weights, the transfer control unit 35 was in each workpiece. By using the attractive force, it is possible to reliably move and place each of the workpieces one by one. Then, the transfer control unit 35 recognizes the work 37 that can be collected in the captured image by identifying the work area that matches the reference shape data of the work 37 included in the captured image of the collection placement unit 63. At the same time, a predetermined position 38 of the work 37 that can be collected is recognized. In this apparatus, by using the reference shape data of the workpiece, it is possible to move and place each workpiece more reliably.

Further, the workpiece transfer device 20 includes an arm unit 28 in which the imaging unit 25 and the sampling unit 22 are arranged on one end side and the other end side is supported by the base unit 33, and more reliably by the arm mechanism robot. It is possible to move and place each work piece. Further, the sampling unit 22 includes a drawing unit 23 that attracts the workpiece 37 and a clamping unit 24 that sandwiches and supports the workpiece 37 in a posture after the drawing unit 23 attracts the workpiece 37. In this apparatus, the work 37 can be reliably held and moved by the attracting part 23 and the clamping part 24.

Since the workpiece transfer system 10 can supply the workpiece 37 from the workpiece supply device 40, the workpiece transfer system 10 can perform the moving mounting operation more continuously. Further, the workpiece supply device 40 can easily supply a plurality of workpieces using the magnetic force by the supply unit 41.

It should be noted that the present invention is not limited to the above-described embodiment, and it goes without saying that the present invention can be implemented in various modes as long as it belongs to the technical scope of the present invention.

For example, in the above-described embodiment, the workpiece 37 is formed of a magnetic material, and the

sampling units

22 and 42 are attracted by magnetic force to collect the workpiece 37. However, the

sampling units

22 and 42 attract the workpiece. If it collects, it will not specifically limit to this. For example, the collection unit may attract the work 37 using an ER (Electro-rheological) gel whose electric viscosity can be controlled by electricity. The ER gel may be, for example, a silicone gel containing ER particles. Also in this apparatus, it is possible to move and place each work piece more reliably. The work placement unit 36 may also fix the work 37 using ER gel.

In the embodiment described above, the transfer control unit 35 controls the attracting unit 23 of the sampling unit 22 to the attracting force that attracts one workpiece 37, but is not particularly limited thereto. For example, if the workpiece 37 that is placed alone on the collection placement unit 63 is identified as a workpiece 37 that can be collected, even if it is an attractive force that allows two or more workpieces 37 to be collected, Only one workpiece 37 can be collected.

In the above-described embodiment, the workpiece transfer device 20 has been described as a device including the arm unit 28. However, the present invention is not particularly limited thereto, and for example, a sampling head provided with an imaging unit 25 and a sampling unit 22 is provided. It is good also as an apparatus provided with the XY robot which moves to the front-back, left-right direction. Also with this device, each of the workpieces can be moved and placed more reliably. The work supply device 40 is the same.

In the above-described embodiment, the sampling unit 22 includes the attracting unit 23 and the clamping unit 24. However, the sampling unit 22 is not particularly limited as long as the workpiece 37 is sampled by attracting, and the clamping unit 24 is not limited thereto. May be omitted or the attracting part 23 may be omitted.

In the above-described embodiment, the workpiece 37 is placed on the collection mounting portion 63 formed on the workpiece accommodating member 60. However, if the workpiece 37 is placed on the collection placement portion, the workpiece 37 is inclined. The surface 61, the housing 64, the support member 68, and the like may be omitted, and the surface 61, the housing 64, and the support member 68 may be placed.

In the above-described embodiment, the system control unit 12 executes the work processing routine. However, the present invention is not particularly limited to this, and the transfer control unit 35 and the supply control unit 55 share the execution of the work processing routine. It may be a thing. For example, the transfer control unit 35 may execute a workpiece processing routine, and the supply control unit 55 may execute a workpiece supply process or a workpiece collection process in response to a command from the transfer control unit 35.

In the embodiment described above, the workpiece transfer system 10 includes one workpiece transfer device 20 and one workpiece supply device 40. However, the embodiment is not particularly limited thereto, and includes one or more devices. It is good.

In the above-described embodiment, the workpiece transfer system 10 including the workpiece transfer device 20 and the workpiece supply device 40 has been described. However, only the workpiece transfer device 20 may be used.

The present invention can be used in the technical field of an apparatus that performs processing such as workpiece collection and arrangement.

10 workpiece transfer system, 12 system control unit, 14 CPU, 20 workpiece transfer device, 21 transfer unit, 22 sampling unit, 23 attracting unit, 24 clamping unit, 25 imaging unit, 26 illumination unit, 27 imaging device, 28 arm part, 29 first arm, 30 second arm, 31 first drive part, 32 second drive part, 33 base part, 34 transport part, 35 transfer control part, 36 work placement part, 37 work, 38 Predetermined position, 40 workpiece supply device, 41 supply unit, 42 sampling unit, 43 attracting unit, 44 support shaft, 48 arm unit, 49 first arm, 50 second arm, 51 first drive unit, 52 second drive unit 53 base part, 54 moving part, 55 supply control part, 56 storage base, 57 rail, 60 work storage member, 61 inclined surface, 62 storage part, 63 for sampling Place, 64 housing, 65 supply space, 66 collection space, 67 opening, 68 support member, 70 plate, 71 fixing member, 72 clamping pin, 73 groove, 80 captured image, 81 workable area, 82 Unworkable work area.

Claims

A workpiece transfer device for moving and placing the workpiece from the collection placement portion on which one or more workpieces are placed to the work placement portion,
An imaging unit that captures an image;
A sampling part for attracting and sampling a predetermined position of the workpiece;
A transfer control unit that moves the sampling unit to a predetermined position of a workpiece recognized based on a captured image of the sampling mounting unit captured by the imaging unit;
Workpiece transfer device with
The transfer control unit images the sampling placement unit on which the workpiece is placed in an indefinite posture, aligns the workpiece in a predetermined posture, and places the workpiece on the work placement unit. The workpiece transfer apparatus according to claim 1, wherein the workpiece transfer device controls the imaging unit and the sampling unit.
The workpiece has at least the predetermined position formed of a magnetic material,
The workpiece transfer device according to claim 1, wherein the sampling unit is configured to attract and collect a predetermined position of the workpiece by a magnetic force.
The workpiece transfer apparatus according to any one of claims 1 to 3, wherein the transfer control unit controls the sampling unit with an attractive force that attracts one workpiece.
The transfer control unit recognizes the work that can be picked up in the picked-up image by identifying a work region that matches the reference shape data of the work included in the picked-up image of the picking-up placement unit. The workpiece transfer apparatus according to any one of claims 1 to 4, wherein the predetermined position of the workpiece that can be collected is recognized.
A workpiece transfer apparatus according to any one of claims 1 to 5,
A workpiece transfer device comprising: an arm unit in which the imaging unit and the sampling unit are arranged on one end side and the other end side is supported by a base unit.
The sampling unit includes an attracting unit that attracts the workpiece, and a clamping unit that sandwiches and supports the workpiece in a posture after the attracting unit attracts the workpiece. The workpiece transfer apparatus according to any one of the above.
A workpiece transfer device according to any one of claims 1 to 7,
A workpiece supply device including a supply unit that supplies the plurality of workpieces to the collection mounting unit in an undefined posture;
Work transfer system equipped with.
The workpiece has at least the predetermined position formed of a magnetic material,
The workpiece transfer system according to claim 8, wherein the workpiece supply device includes a supply unit that supplies a plurality of the workpieces by magnetic force.