WO2017094112A1

WO2017094112A1 - Workpiece recovery device and workpiece transfer system

Info

Publication number: WO2017094112A1
Application number: PCT/JP2015/083746
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: JP6625136B2; JPWO2017094112A1

Abstract

Provided are a workpiece recovery device and a workpiece transfer system that make it possible to remove a workpiece from a placement area for collection when said workpiece cannot be transferred to a placement area for work. The workpiece transfer system (10) performs processing for transferring a workpiece to an placement area (36) for work from a placement area (63) for collection on which one or more workpieces (37) are placed in an indeterminate orientation. A workpiece supply device (40) places a workpiece (37) that was stored in a storage section (62) on the placement area (63) for collection in an indeterminate orientation. The workpiece supply device (40) also performs processing for moving a collector (42) that attracts and collects a workpiece (37) along a predetermined recovery track on the placement area (63) for collection and recovering one or more workpieces (37) which remain in an indeterminate orientation on the placement area (63) for collection.

Description

Work collection device and work transfer system

The present invention relates to a workpiece collection 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. Further, as a supply device for supplying a workpiece, for example, a device that includes a stick magazine in which loose parts are aligned and accommodated in a groove and supplies the loose parts has been proposed (for example, see Patent Document 2).

JP 2002-68472 A JP-A 61-199697

However, in the workpiece transfer apparatus described in Patent Document 1, it is said that the workpiece can be moved more reliably by providing an actuator in the vicinity of the hopper. The collection was not considered. Moreover, in the workpiece supply apparatus described in Patent Document 2, it is necessary to perform an operation of accommodating loose parts in a stick magazine by some method. As described above, in the apparatuses described in Patent Documents 1 and 2, for example, work processing for aligning and placing works placed in an undefined posture is not considered. Some workpieces placed in an indefinite posture cannot be moved.

The present invention has been made in view of such problems, and includes a workpiece collection device and a workpiece transfer system that can remove a workpiece that cannot be moved and placed on the work placement portion from the placement placement portion. The main purpose is to provide.

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

The workpiece collection device of the present invention is
A workpiece collection device used in a workpiece transfer system for moving and placing a workpiece from a collection placement portion on which one or more workpieces are placed to a work placement portion,
A sampling unit that attracts and collects the workpiece is moved along a predetermined recovery trajectory on the sampling mounting unit, and the sampling mounting unit collects one or more workpieces remaining in an indefinite posture. Collection control unit,
It is equipped with.

In this apparatus, a sampling unit that attracts and collects a workpiece is moved along a predetermined recovery trajectory on the sampling mounting unit, and one or more workpieces remaining in an indefinite posture on the sampling mounting unit are recovered. . For this reason, the workpiece | work which cannot be moved and mounted to the work mounting part can be removed from the mounting mounting part. For this reason, in the workpiece transfer system, the workpiece can be placed on the collection placement section in a state where the collection is easier. Here, “undefined posture” refers to a state in which the position and direction of the workpiece are not unified. Examples of the work include one or more fastening members among bolts, nuts, washers, screws, nails, rivets, and the like.

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. 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 which sets the collection | recovery track | orbit 46 in a workpiece | work collection process. Explanatory drawing of the workpiece | work collection | recovery process which the workpiece supply apparatus 40 performs. Explanatory drawing of another collection track.

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. 4A and 4B are explanatory views of the work accommodating member 60, in which FIG. 4A is a front view, FIG. 4B is a side view, and FIG. 4C is a plan view. FIG. 5 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. 5). 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 FIG.

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 control device 35 (see FIG. 5) that controls the entire device. As shown in FIGS. 2 and 5, 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 unit 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 control device 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 control device 35 controls the entire workpiece transfer device 20 (see FIG. 5). The control device 35 outputs a signal 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 control device 35 inputs a signal from the imaging unit 25. Note that the first drive unit 31 and the second drive unit 32 are equipped with position sensors (not shown), and the control device 35 controls the motors of the respective drive units while inputting position information from these position sensors. To do. The control device 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 it in a predetermined posture. 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. 1 and 4) of the workpiece storage member 60 so that the workpiece transfer device 20 can collect the workpieces in an indefinite posture. A supply unit 41 that supplies 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 control device 55 (see FIG. 5). As shown in FIGS. 3 and 5, 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 control device 55 controls the entire workpiece supply device 40 (see FIG. 5). The control device 55 outputs a signal to the sampling unit 42, the first drive unit 51, the second drive unit 52, and the moving unit 54. The control device 55 collects a plurality of workpieces 37 from the storage unit 62 at a timing when there are no workpieces 37 that can be collected in the collection placement unit 63, and supplies the collected workpieces to the collection placement unit 63. 41 is controlled. Further, the control device 55 collects one or more workpieces 37 placed on the collection placement unit 63 at a predetermined timing, and controls the supply unit 41 to 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 FIG. 4, the workpiece accommodating member 60 includes an inclined surface 61, a storage unit 62, a collection mounting unit 63, and a housing 64. The workpiece 37 slides down on the inclined surface 61. One surface is formed on the work accommodating 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. 4C). 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 the work accommodating member 60, there is no support member 68 in the front-rear direction of the housing 64. 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 arranging and fixing the workpieces 37 on the work placement unit 36 will be described. FIG. 6 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. 7 is a plan view of the work accommodating member 60 on which the work 37 is placed and stored. FIG. 8 is an explanatory diagram of a workpiece supply process executed by the workpiece supply device 40. FIG. 8A is a diagram for collecting the workpiece 37 from the storage unit 62, and FIG. FIG. 8C is a view of moving the workpiece 37 onto the collection mounting portion 63. FIG. FIG. 9 is an explanatory diagram of a workpiece process executed by the workpiece transfer device 20, in which FIG. 9A is an image of the sampling placement unit 63, and FIG. 9B is a diagram of sampling the workpiece 37. FIG. 9C is a diagram in which the work 37 is fixed by the clamping unit 24. FIG. 9D is a diagram in which the workpiece 37 is attracted to the attracting portion 23, FIG. 9E is a diagram in which the clamping portion 24 is moved, and FIG. 9F is a diagram in which the workpiece 37 is fixed by the clamping portion 24. FIG. 9G is a diagram in which the work is placed on the work placement unit 36.
10A and 10B are explanatory diagrams for setting the recovery track 46 in the workpiece recovery process, in which FIG. 10A is a diagram of the collection mounting unit 63, FIG. 10B is a diagram of the captured image 80, and FIG. ) Is a diagram for setting the recovery trajectory 46. 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. 11 is a diagram for returning the collected workpiece 37 to the storage unit 62, and FIG. 11D is a diagram for returning the collected workpiece 37 to the collection mounting unit 63. 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 control device 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 causes the attracting unit 43 to collect a large number of workpieces 37 (FIG. )). Next, the control device 55 moves the attracting portion 43 to the upper center of the sampling placement portion 63 (FIG. 8B), demagnetizes the electromagnet, and spreads the workpiece 37 on the sampling placement portion 63. The process is executed (FIG. 8C). The work 37 is distributed and placed in an indefinite posture on the work placement unit 36, 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. 9A). 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. 7, 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. 7).

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, for example, the order from the left to the right of the captured image 80, the order from the top to the bottom of the image, and the like. The control device 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 sampled in the workpiece moving placement process, and causes the sampling target workpiece 37 to be attracted. 23 (FIG. 9B). Next, the control device 35 moves the collection unit 22 upward to suspend the workpiece 37 from the tip of the attracting unit 23 (FIG. 9D). Subsequently, the control device 35 moves the fixing member 71 downward (FIG. 9E) and clamps the work 37 by the clamping unit 24 (FIGS. 9C and 9F). Thereafter, the control device 35 moves the sampling unit 22 onto the work placement unit 36, demagnetizes the electromagnet, opens the clamping unit 24, and places the work 37 in a position where it should be placed (FIG. 9). (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 the work 37 that can be picked up is not 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 in steps S190 to S210. In the workpiece collection process, the CPU 14 acquires the uncollectable workpiece area 82 recognized in step S130 immediately after the workpiece supply process as the remaining area of the workpiece 37 (step S190). Next, the CPU 14 sets a recovery trajectory that passes through the remaining area of the work 37 (step S200). For example, as shown in FIG. 10, when there are a plurality of remaining areas, the CPU 14 sets a collection trajectory 46 through which the attracting unit 43 passes through the plurality of remaining areas as smoothly as possible while suppressing zigzag movement. It is good. Further, the CPU 14 may set a recovery track 46 in which the effective collection area 45 of the attracting unit 43 passes through the remaining area of the work 37. The effective collection area 45 is an area in which the work 37 is attracted by the magnetic force of the attracting portion 43 and can be collected in the attracting portion 43. Note that the CPU 14 preferably sets the recovery trajectory 46 through which the attracting unit 43 passes all the remaining areas, but may set the recovery trajectory 46 with some remaining areas through which the attracting part 43 does not pass. . In the workpiece supply device 40, even if the workpiece 37 that cannot be collected remains on the collection platform 63, the workpiece 37 may be scraped and collected at the next supply of the workpiece 37. This is because it is not essential to collect these. The remaining area where the attracting part 43 does not pass can be determined based on, for example, the movement time of the attracting part 43 or the remaining amount of the work 37 (area of the uncollectable work area 82).

Next, the CPU 14 moves the attracting unit 43 along the set recovery trajectory 46 and causes the attracting unit 43 to collect the workpiece 37 remaining on the collection mounting unit 63 (step S210). In the workpiece collection process, the control device 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 37 remaining on the sampling mounting unit 63. Is collected by the attracting part 43 (FIGS. 11A and 11B). Next, the CPU 14 determines whether or not the remaining amount of the workpiece 37 remaining on the collection mounting unit 63 before the collection process is equal to or greater than a predetermined amount in the uncollectable work region 82 existing in the captured image 80. Based on the determination (step S220). In this determination, for example, the CPU 14 may determine whether or not the number of uncollectable work areas 82 is equal to or greater than a predetermined number as the remaining amount of the work 37 before the collection process. It may be determined whether or not is greater than or equal to a predetermined value, or may be determined in combination. The predetermined amount of the remaining work is a threshold value for determining whether the collected work 37 is placed again on the collection placement unit 63 or returned to the storage unit 62. For example, the processing efficiency of the work movement placement process is increased. Can be determined based on. For example, the predetermined amount may be determined based on a balance between the workpiece amount collected by the workpiece collection processing and the supply amount of the workpiece supply processing. For example, the predetermined amount may be set to 60% or 70% of the supply amount of the workpiece 37. Good. When the remaining amount of the work 37 is equal to or larger than the predetermined amount, that is, when the remaining work is large, the CPU 14 places the collected work 37 again on the collection placing unit 63 (step S230), and performs the processing after step S120. Let it run. That is, in step S120, the CPU 14 images the workpieces 37 that have been placed again, and the workpieces 37 that can be collected on the collection placement unit 63 are arrayed and placed on the work placement unit 36 by the workpiece transfer device 20. Let When the workpiece 37 is placed again on the sampling placement unit 63, the control device 55 moves the attracting unit 43 above the sampling placement unit 63, demagnetizes the electromagnet, and drops the workpiece 37 (see FIG. 11 (d)). The dropped work 37 is distributed and placed in an indefinite posture on the collection placement unit 63. On the other hand, when the remaining work is less than the predetermined amount in step S220, that is, when the remaining work is small, the CPU 14 returns the collected work 37 to the storage unit 62 (step S240), and executes the processes after step S110. That is, the CPU 14 executes the next workpiece supply process in step S110, images the newly placed workpiece 37 in step S120, and moves the workpiece 37 that can be collected on the collection placement unit 63 to the workpiece transfer. The placement device 20 is arranged and placed on the work placement unit 36. When returning the work 37 to the storage unit 62, the control device 55 moves the attracting part 43 above the opening 67, demagnetizes the electromagnet, and drops the work 37 (FIG. 11C). The dropped work 37 returns to the storage unit 62 via the inclined surface 61.

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 S250), 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 system control unit 12 corresponds to a collection control unit, the collection unit 42 corresponds to a collection unit, the work placement unit 36 corresponds to a work placement unit, and the collection placement unit 63 takes a collection. It corresponds to a mounting part. The imaging unit 25 corresponds to the imaging unit, the transfer unit 21 corresponds to the transfer unit, the sampling unit 22 corresponds to the sampling unit, the base 53 corresponds to the base, and the system control unit 12 corresponds to the supply control unit. It corresponds to.

In the workpiece supply apparatus 40 of the present embodiment described above, the collection unit 42 that attracts and collects the workpiece 37 is moved along the predetermined collection path 46 on the collection placement unit 63, and is moved to the collection placement unit 63. One or more workpieces 37 remaining in an undefined posture are collected. In this apparatus, the work 37 that cannot be moved and placed on the work placement unit 36 can be removed from the collection placement unit 63. For this reason, in the workpiece transfer system 10, the workpiece 37 can be placed on the collection placement unit 63 in a state where the collection is easier.

Further, the system control unit 12 causes the collection unit 42 to collect the workpiece 37 and then stores the collected workpiece 37 in the storage unit 62 of the workpiece storage member 60, so that the workpiece 37 that cannot be moved and placed is stored in the storage unit. By returning to 62, the workpiece 37 can be moved and placed. Further, the system control unit 12 allows the workpiece 37 to be moved and placed by causing the collection unit 42 to collect the workpiece 37 and then placing the collected workpiece 37 on the collection placement unit 63 again in an undefined posture. It can be in a state. Furthermore, the system control unit 12 collects based on the remaining amount of the work 37 on the collection mounting unit 63 recognized based on the captured image 80 of the collection mounting unit 63 imaged by the imaging unit 25. Since the work 37 collected by the part 42 is switched to be stored in the storage part 62 or placed again on the sampling placement part 63 in an undefined posture, the supply efficiency of the work 37 can be made more suitable. Then, when the remaining area (the uncollectable work area 82) where the work 37 of the captured image 80 remains is larger than a predetermined value, the system control unit 12 places the collected work 37 again on the collection placement unit in an undefined posture. When the remaining area falls below a predetermined value, the collected work 37 is stored in the storage unit 62, so that the supply efficiency of the work 37 can be made more suitable according to the remaining amount of the work 37.

Further, the system control unit 12 recognizes and recognizes an area where the work remains on the collection placement unit 63 (uncollectable work region 82) based on the captured image 80 of the collection placement unit 63. The recovery track 46 through which the attracting unit 43 of the sampling unit 42 passes through the remaining area of the work 37 is set. In this apparatus, the remaining work 37 can be more reliably collected by using the captured image 80. Further, at least a part of the work 37 is formed of a magnetic material, and the sampling part 42 is supported in a state of having a degree of freedom in the vertical direction and attracts and collects the work 37 by a magnetic force. The workpiece 37 can be collected. Further, the sampling part 42 has a degree of freedom in the vertical direction, and the attracting part 43 freely moves up and down in accordance with the presence of the work 37, so that the work 37 is sampled without controlling the attracting part 43 in the vertical direction. can do. Furthermore, since the system control unit 12 causes the sampling unit 42 to collect the remaining workpiece 37 at the timing when there is no workpiece 37 that can be collected on the collection platform 63, the supply and collection efficiency of the workpiece 37 is improved. Good. The workpiece supply device 40 also serves as the workpiece collection device of the present invention, and the system control unit 12 also serves as a collection control unit that commands and controls the workpiece collection device and a supply control unit that commands and controls the workpiece supply device 40. Therefore, the device configuration can be further simplified.

The workpiece transfer system 10 includes a workpiece transfer device 20 and a workpiece supply device 40 (work collection device), and can remove the workpiece 37 that cannot be moved and placed, so that it is easier to collect. Thus, the workpiece 37 can be placed on the collection placement unit 63. Furthermore, the workpiece transfer device 20 moves the sampling unit 22 to a predetermined position 38 of the workpiece 37 recognized based on the captured image 80 of the sampling mounting unit 63, and then the sampling unit 22 uses the predetermined position of the workpiece 37. The workpiece 37 is collected by attracting 38, and the collected workpiece 37 is moved and placed on the work placement unit 36. In this apparatus, since the work 37 that can be picked up and its predetermined position 38 are recognized based on the picked-up image 80 of the picking-up placement part 63, it is possible to move and place each work 37 more reliably. . Furthermore, the system control unit 12 uses the captured image 80 captured by the imaging unit 25 at the initial stage (immediately after supply of the workpiece 37) when the workpiece 37 is placed on the sampling placement unit 63, to the sampling unit 42. Since the work 37 is collected, the processing can be further simplified, for example, by reducing the imaging frequency. In the workpiece supply device 40, the sampling unit 42 can sample a plurality of workpieces 37 at one time, and one end side is disposed on the other end side of the arm unit 48 supported by the base 53. Thus, the workpiece 37 can be placed on the collection placement unit 63 in a state where the collection is easier. In addition, since the work 37 is at least partly formed of a magnetic material, and the work placement portion 36 is a pallet having a magnetic force, the work 37 can be simply fixedly arranged using the magnetic force. .

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 system control unit 12 re-mounts the collected work 37 on the collection placement unit 63 based on the remaining amount of the work 37 on the collection placement unit 63. The switching to the storage unit 62 is switched, but the switching may be performed based on factors other than the remaining amount of the work 37. For example, the system control unit 12 collects the collected workpieces based on one or more of the types of the workpieces 37 on the collection platform 63 and the movement placement status of the workpieces 37 to the work platform 36. It is good also as what switches back to the storage part 62 or makes it mount again in the mounting part 63 for collection | recovery. For example, when the workpiece 37 is a workpiece type that is equal to or larger than a predetermined size, the system control unit 12 places the workpiece 37 collected by the sampling unit 42 on the sampling placement unit 63 again in an indefinite posture, and the workpiece 37 has a predetermined size. When the work type is less than, the work 37 collected by the collection unit 42 may be stored in the storage unit 62. If the size of the workpiece 37 is large, it is likely that more workpieces such as overlapping can not be moved and placed when the workpiece 37 is placed on the collection placement unit 63 in an undefined posture. On the other hand, if the size of the work 37 is small, it is difficult to overlap, so that the number of the work 37 that cannot be moved and placed becomes smaller. In this apparatus, depending on the type of the work 37, many things that are likely to remain on the collection placement unit 63 are placed again on the collection placement unit 63, and those that do not easily remain are returned to the storage unit 62. Work supply efficiency can be made more suitable. Alternatively, the system control unit 12 causes the workpiece 37 collected by the sampling unit 42 to be mounted again on the sampling mounting unit 63 in an indefinite posture when the moving mounting process progresses to a predetermined degree of progress or more. When the progress state of the placement process does not reach a predetermined degree of progress, the work 37 collected by the collection unit 42 may be stored in the storage unit 62. In the workpiece transfer system 10, there is a case where it is desired to use up the workpiece 37 at the final stage of the movement placement process. In this apparatus, when the moving mounting process is in the final stage according to the progress of the moving mounting process, the collected work 37 is again placed on the sampling mounting unit 63 and used up. If not, the supply efficiency of the work 37 can be made more suitable by returning the collected work 37 to the storage unit 62. In the above-described embodiment, it is determined which of the collection placement unit 63 and the storage unit 62 the workpiece 37 is sent to based on the remaining amount of the workpiece. For example, the workpiece 37 collected by the attracting unit 43 is determined. These may be determined based on the collected amount. For example, the recovered amount may be estimated from the remaining amount of the workpiece and the recovery track 46, or may be measured by the sampling unit 42 using a mass sensor.

In the above-described embodiment, the system control unit 12 mounts the collected work 37 again on the collection placement unit 63 based on the remaining amount of the work 37 on the collection placement unit 63 or stores it. Although switching to return to the unit 62 is performed, this may be omitted. The system control unit 12 may return the collected work 37 uniformly to the storage unit 62 or may uniformly place the collected work 37 again on the collection mounting unit 63. Also in this apparatus, since the workpiece 37 that cannot be collected is collected, the workpiece 37 can be placed (supplied) on the collection placement portion 63 in a state where it is easier to collect.

In the above-described embodiment, the recovery path 46 through which the attracting unit 43 passes the uncollectable work area 82 is set. However, the present invention is not particularly limited thereto. For example, the recovery path is set in advance without considering the work area. It may be determined. At this time, the system control unit 12 may move the collection unit 42 in a collection path that is set in advance so that the effective collection region 45 of the collection unit 42 moves throughout the collection placement unit 63. In this apparatus, by using a predetermined recovery track, the remaining work 37 can be recovered more reliably while simplifying the processing. FIG. 12 is an explanatory diagram of other recovery tracks 46B to 46D. As shown in FIG. 12A, a U-shaped recovery track 46B may be set in advance, and the system control unit 12 may move the attracting unit 43 along the recovery track 46B. Alternatively, as shown in FIG. 12 (b), a recovery track 46C in which the attracting portion 43 moves over almost the entire area of the sampling placement portion 63 while changing the moving direction a plurality of times (six times in the figure) is determined. The system control unit 12 may move the attracting unit 43 along the collection track 46C. Alternatively, as shown in FIG. 12 (c), a recovery track 46D including a portion where the attracting portion 43 moves in an oblique direction is set in advance, and the system control unit 12 attracts along the recovery track 46D. The part 43 may be moved. Note that the recovery trajectory 46 may be such that the effective collection region 45 moves completely over the entire area of the collection placement unit 63 or is not complete (for example, 70% or more of the total area of the collection placement unit 63). Or 80% or more). As described above, since it is only necessary to collect the remaining work, the collection platform 63 may have a blank area where the collection track 46 on which the effective collection area 45 moves does not travel. An efficient trajectory may be set as appropriate according to the travel distance and the like.

In the above-described embodiment, the remaining area of the work 37 (the uncollectable work area 82) is obtained using the captured image 80 taken immediately after the work supply process. However, the present invention is not particularly limited thereto. Any of the picked-up images picked up from the initial stage where the is placed on the picking-up placement unit 63 to immediately before the work 37 is collected may be used. If the captured image closer to the initial stage is used, the system control unit 12 can further reduce the imaging frequency. If the captured image closer to the collection is used, the system control unit 12 can more reliably collect the workpiece. Can do.

In the above-described embodiment, the work 37 is formed of a magnetic material, and the

collection units

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

collection units

22 and 42 attract and collect the work. If it is a thing, 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, the remaining work 37 can be recovered more reliably. The work placement unit 36 may also fix the work 37 using ER gel.

In the above-described embodiment, the workpiece collection process and the workpiece supply process are executed at the timing when the collectable workpiece 37 is exhausted, but the present invention is not particularly limited thereto. For example, the workpiece collection process or the workpiece supply process may be executed after a predetermined time has passed as a predetermined timing, or after the workpiece supply process, the workpiece collection process or the next workpiece supply process is performed according to the number of workpieces 37 that can be collected. The execution time may be determined as a predetermined timing.

In the above-described embodiment, the workpiece supply apparatus 40 has been described as an apparatus including the arm portion 48. However, the present invention is not particularly limited thereto. For example, the collection head on which the collection unit 42 is disposed moves in the front-rear and left-right directions. It is good also as an apparatus provided with XY robot. Also with this apparatus, it is easy to collect each work 37 and replenish the work 37. The workpiece transfer device 20 is the same.

In the above-described embodiment, the workpiece supply device 40 uses the workpiece storage member 60 having the storage unit 62 and the sampling placement unit 63, but is not particularly limited thereto, and the storage unit 62 and the sampling mounting unit are not limited thereto. The placement unit 63 may exist separately.

In the embodiment described above, the workpiece transfer system 10 has been described as including the workpiece supply device 40 that also serves as a workpiece collection device. However, the workpiece transfer system 10 is not limited to this, and the workpiece transfer system 10 is, for example, the workpiece supply device 40. A separate workpiece collection device may be provided. In the above-described embodiment, the system control unit 12 performs command control of the workpiece movement placement process (the process of the workpiece transfer apparatus 20), the workpiece supply process, and the workpiece recovery process (the process of the workpiece supply apparatus 40). However, the present invention is not particularly limited to this, and two or more control units may be in charge of command control of the workpiece movement placement process, the workpiece supply process, and the workpiece collection process. Further, the transfer control unit 35 and the supply control unit 55 may perform one or more processes among the workpiece movement placement process, the workpiece supply process, and the workpiece collection process. In the above-described embodiment, the system control unit 12 executes the work processing routine. However, the present invention is not particularly limited thereto. For example, the control device 35 and the control device 55 share the execution of the work processing routine. It is good. For example, the control device 35 may execute a work processing routine, and the control device 55 may execute a work supply process or a work collection process in response to a command from the control device 35. In the above-described embodiment, the work processing routine includes the work movement placement process, the work supply process, and the work collection process, but these may be separate routines. Further, the system control unit 12 may be disposed in the workpiece transfer device 20 or in the workpiece supply device 40.

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 supply device 40 may be used, or the workpiece recovery device that recovers the remaining workpiece 37. It is good.

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 control device, 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, 45 effective sampling region, 46, 46B-46D recovery track, 48 arm unit, 49 first arm, 50 second arm, 51 1st drive part, 52 2nd drive part, 53 base part, 54 moving part, 55 control device, 56 storage base, 57 rails, 60 workpieces Member, 61 inclined surface, 62 storage unit, 63 sampling placement unit, 64 housing, 65 supply space, 66 sampling 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 collection device used in a workpiece transfer system for moving and placing a workpiece from a collection placement portion on which one or more workpieces are placed to a work placement portion,
A sampling unit that attracts and collects the workpiece is moved along a predetermined recovery trajectory on the sampling mounting unit, and the sampling mounting unit collects one or more workpieces remaining in an indefinite posture. Collection control unit,
Work collection device with
The said collection | recovery control part makes the said collection | recovery workpiece | work collect | recover in the storage part which stores the 1 or more said workpiece | work supplied to the said mounting part for collection, after making the said collection | recovery part collect | recover a workpiece | work. Work collection device.
The workpiece collection device according to claim 1, wherein the collection control unit causes the collection unit to collect the workpiece, and then places the collected workpiece again on the collection mounting unit in an undefined posture.
The collection control unit is configured to recognize the remaining amount of the workpiece on the collection placement unit recognized based on the captured image of the collection placement unit captured by the imaging unit that captures an image, the type of the workpiece, And one or more of the workpieces that supply the workpiece collected by the sampling unit to the sampling placement unit based on one or more of the progress of moving placement of the workpiece to the work placement unit. The workpiece recovery apparatus according to any one of claims 1 to 3, wherein the workpiece recovery apparatus switches between storing in a storage unit for storage and mounting again in an unfixed posture on the sampling mounting unit.
The collection control unit recognizes an area where the work remains on the collection mounting unit based on a captured image of the collection mounting unit captured by an imaging unit that captures an image, The workpiece collection device according to any one of claims 1 to 4, wherein the collection trajectory through which the sampling unit passes the recognized remaining region of the workpiece is set.
The collection control unit moves the collection unit in the collection path predetermined so that an effective collection region of the collection unit that can collect the workpiece is moved throughout the collection placement unit. The workpiece recovery device according to any one of claims 1 to 4, wherein
The workpiece is at least partially formed of a magnetic material,
The workpiece collection device according to any one of claims 1 to 6, wherein the collection unit is supported with a degree of freedom in a vertical direction and collects the workpiece by attracting the workpiece with a magnetic force.
The workpiece collection device according to any one of claims 1 to 7, wherein the collection control unit causes the collection unit to collect the workpiece at a timing when the workpiece that can be collected from the collection platform is exhausted.
The work collection device also serves as a work supply device that supplies one or more of the workpieces stored in a storage unit to the collection mounting unit in an indefinite posture by the collection unit. Item 2. The workpiece collection device according to item 1.
The workpiece collection device according to any one of claims 1 to 9,
A transfer unit that collects the workpiece from the sampling mounting unit on which one or more workpieces are mounted in an undefined posture, and moves and mounts the sampled workpieces to a working mounting unit in a predetermined arrangement; A workpiece transfer device,
Work transfer system equipped with.
The workpiece transfer device includes:
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 the workpiece recognized based on the captured image of the mounting unit captured by the imaging unit,
The workpiece transfer system according to claim 10.