WO2019102577A1

WO2019102577A1 - Work machine

Info

Publication number: WO2019102577A1
Application number: PCT/JP2017/042169
Authority: WO
Inventors: 識西山
Original assignee: 株式会社Ｆｕｊｉ
Priority date: 2017-11-24
Filing date: 2017-11-24
Publication date: 2019-05-31
Also published as: JPWO2019102577A1; JP6840267B2

Abstract

This work machine is provided with: an arm; a camera (42) which is attached to a tip end of the arm; a first light source (51) which illuminates a first area (A1) to be imaged in a direction along an optical axis (43) of the camera; a half mirror (44) which is obliquely disposed between the camera and the first light source so as to intersect the optical axis of the camera; a second light source (52) which illuminates a second area (A2) to be imaged in a direction in which the angle with respect to a normal line of an inclined surface of the half mirror becomes -θ when the angle formed between the optical axis of the camera and the normal line is +θ; a support body (34) which integrally supports the second light source and the half mirror; and a support body rotation driving unit (24) which rotates the support body around the optical axis of the camera.

Description

Work machine

A working machine is disclosed herein.

Conventionally, as a working machine, one having an articulated robot that holds a working head and moves the working head relative to a work target is known. Among such working machines, a working head provided with a working head having a nozzle, a lower camera and a side camera at the tip of an arm has been proposed (see Patent Document 1). The lower camera captures the work object, and the side camera captures a vertical panel surface. Also, the side camera is capable of axial rotation.

International Publication No. 2014/20739 brochure

Although the work machine described in Patent Document 1 can image a wide area, it is necessary to attach two cameras to the tip of the arm.

The present disclosure has been made in view of such problems, and has as its main object to enable imaging of a wide area while having a simple configuration.

The working machine of the present disclosure is
With the arm,
A camera attached to the tip of the arm;
A first light source for illuminating a first imaging target area in a direction along the optical axis of the camera;
A half mirror disposed obliquely between the camera and the first light source so as to intersect the optical axis of the camera;
A second light source that illuminates a second imaging target region in a direction in which the angle with respect to the normal is −θ when the angle formed by the optical axis of the camera with the normal to the inclined surface of the half mirror is + θ;
A support that integrally supports the second light source and the half mirror;
A support rotation drive unit configured to rotate the support around an optical axis of the camera;
Is provided.

In this work machine, when imaging the first imaging target area, the first light source is turned on and the second light source is turned off, and the first imaging target area illuminated by the first light source is photographed via the half mirror. Shoot with When imaging the second imaging target area, the first light source is turned off and the second light source is turned on, and the second imaging target area illuminated by the second light source is imaged by the camera via the half mirror. In addition, the support rotational drive unit rotates the support that integrally supports the second light source and the half mirror about the optical axis of the camera, thereby centering the second imaging target area on the optical axis of the camera. It can be extended to the surroundings. As described above, according to the work machine of the present disclosure, it is possible to image a wide area even with a simple configuration of one camera.

FIG. 2 is a front view of an articulated robot 10; FIG. 2 is an enlarged perspective view within the circle of FIG. 1; FIG. 2 is a longitudinal sectional view of the imaging device 30 and the like. Explanatory drawing which shows the electrical connection relation of the control apparatus 90. FIG. 5 is a flowchart illustrating an example of an imaging processing routine. The longitudinal cross-sectional view of imaging device 30 grade | etc., Of another example.

Next, an embodiment of the present disclosure will be described.

1 is a front view of the articulated robot 10, FIG. 2 is an enlarged perspective view of the circle in FIG. 1, FIG. 3 is a longitudinal sectional view of the imaging device 30, etc. FIG. 4 shows an electrical connection of the control device 90. FIG.

The articulated robot 10 is mounted so as to be capable of horizontal rotation on the vertical axis of a base 12 mounted on the table 11, as shown in FIG. The articulated robot 10 is formed by connecting a plurality of arms 13 via joints (horizontal axis), and each arm 13 can rotate in a vertical plane. The articulated robot 10 has a joint drive motor 14 (see FIG. 4) for driving a plurality of joints, and an encoder 16 (see FIG. 4) for detecting the angles of the plurality of joints. Note that FIG. 4 shows one joint drive motor 14 and one encoder 16 for the sake of convenience.

The articulated robot 10 has a wrist 18, a mechanical interface 26, and an imaging device 30.

The wrist 18 is attached to the end of the distal end arm 13 among the plurality of arms 13. As shown in FIG. 2, a vertically long support cover 22 is attached to the wrist 18 via a stay 20. The support cover 22 supports a θ-axis motor 24 that axially rotates the mechanical interface 26. An encoder 25 (see FIG. 4) for detecting the rotational position of the θ-axis motor 24 is attached to the θ-axis motor 24.

The mechanical interface 26 is a member for detachably attaching various types of end effectors, including an end effector 70 provided with a nozzle 72. A drive pulley 28 is provided above the mechanical interface 26 so as to rotate integrally with the mechanical interface 26.

The imaging device 30 is supported by a bracket 32 bolted to the side surface of the support cover 22. The bracket 32 has a cylindrical hole penetrating in the vertical direction. As shown in FIG. 3, the imaging device 30 includes a cylindrical body 34, a camera 42, a half mirror 44, a first annular light source 51, and a second annular light source 52.

The cylindrical body 34 is rotatably supported on the inner peripheral surface of the bracket 32 via a bearing 36. A lens (not shown) is attached to the inside of the cylindrical body 34. The driven pulley 38 is integrated with the lower portion of the outer peripheral surface of the cylindrical body 34. The driven pulley 38 is bridged by a drive pulley 28 and a looped belt 40. Therefore, when the mechanical interface 26 and the drive pulley 28 are rotated by the θ-axis motor 24, the driven pulley 38 and the cylindrical body 34 also rotate via the belt 40 accordingly. A mirror support 46 having a cylindrical hole 46 a is fixed to the lower surface of the cylindrical body 34.

The camera 42 is a so-called digital camera, and is fixed to the upper portion of the support cover 22. Therefore, even when the cylindrical body 34 is pivoted, the camera 42 is not rotated and remains fixed. The camera 42 is mounted so as to face the hollow interior of the cylindrical body 34 from the top of the cylindrical body 34. The optical axis 43 of the camera 42 is vertically downward and coincides with the axis of the cylindrical body 34.

The half mirror 44 is provided to intersect the optical axis 43 of the camera 42, and is supported by the mirror support 46 in a state of being inclined by an angle θ (θ = 45 °) with respect to the horizontal plane. Therefore, the half mirror 44 is integrated with the cylindrical body 34 via the mirror support 46. An opening 46 b is provided at a position facing the second annular light source 51 on the side surface of the mirror support 46.

The first annular light source 51 is attached to the lower part of the outer surface of the mirror support 46 via a stay 48. The axis of the first annular light source 51 coincides with the optical axis 43 of the camera 42. The annular surface of the first annular light source 51 is a light emitting surface 53 in which a large number of LEDs are juxtaposed, and they are protected by a transparent cover 55. The first annular light source 51 illuminates the first imaging target area A <b> 1 in the direction along the optical axis 43 of the camera 42.

The second annular light source 52 is attached to the side surface of the bracket 32 via a stay 50 (see FIG. 2). The axis of the second annular light source 52 coincides with the horizontal direction. In the present embodiment, the angle formed by the optical axis 43 of the camera 42 with the normal to the inclined surface of the half mirror 44 is + θ (θ = 45 °), and the axis of the second annular light source 52 with respect to the normal. The angle is -θ. The annular surface of the second annular light source 52 is a light emitting surface 54 in which a large number of LEDs are juxtaposed, and they are protected by a transparent cover 56. The second annular light source 52 illuminates the second imaging target area A2 in the direction (here, the horizontal direction) in which the angle with respect to the normal to the inclined surface of the half mirror 44 is −θ (θ = 45 °).

As shown in FIG. 4, the control device 90 is configured as a microprocessor centering on the CPU 91, and includes a storage unit 92 such as a ROM or an HDD in addition to the CPU 91. Various signals from the

encoders

16 and 25 are input to the control device 90. The control device 90 outputs various control signals to the joint drive motor 14, the θ-axis motor 24, the camera 42, the first annular light source 51, the second annular light source 52, and the like.

Next, the operation of the articulated robot 10 on which the end effector 70 is mounted will be described. For example, the articulated robot 10 carries a work at a work supply point on a horizontal surface to a work point and carries out a work of mounting the work at the work point. Specifically, the articulated robot 10 moves the nozzle 72 to the workpiece supply point and supplies a negative pressure to the nozzle 72 to adsorb the workpiece. After that, the articulated robot 10 carries the work sucked by the nozzle 72 to the work point, supplies a positive pressure to the nozzle 72 at the work point, and mounts the work at the work point. During this operation, if it is necessary to change the orientation of the nozzle 72, the mechanical interface 26 is rotated by the θ-axis motor 24 to turn the nozzle 72 into a desired orientation.

The articulated robot 10 captures an image of the workpiece supply point (first imaging target area A1) with the camera 42 from directly above, with the end effector 70 removed from the mechanical interface 26 before performing the work. The peripheral wall (the second imaging target area A2) of the workpiece supply point may be imaged by the camera 42 or the like. The peripheral wall of the workpiece supply point is imaged, for example, when it is necessary to search for a flaw on the peripheral wall.

When the articulated robot 10 performs such imaging, the control device 90 executes an imaging processing routine. FIG. 5 is a flowchart showing an example of the imaging processing routine. The CPU 91 of the control device 90 reads out the program of the imaging processing routine from the storage unit 92 and executes the program when it is necessary to image the target point. The imaging processing routine is executed with the end effector 70 removed from the mechanical interface 26 as described above.

When the CPU 91 starts the imaging process routine, it first recognizes a target point (S100). For example, when the workpiece supply point is the target point, the CPU recognizes the target point by reading the coordinate position stored in advance in the storage unit 92 as the workpiece supply point.

Next, the CPU 91 images a target point (S110). Specifically, the CPU 91 controls the joint drive motor 14 to move each arm 13 so that the target point enters the first imaging target area A1 of the imaging device 30, and the target point is imaged from directly above the target point. Control the imaging device 30. When imaging the target point, the CPU 91 turns on the first annular light source 51 and extinguishes the second annular light source 52 so that the first imaging target area A1 illuminated by the first annular light source 51 is through the half mirror 44. The imaging device 30 is controlled so that the camera 42 shoots. Images captured by the camera 42 are sequentially stored in the storage unit 92.

Next, the CPU 91 captures an image of the surroundings of the target point (S120). Specifically, the CPU 91 turns off the first annular light source 51 and turns on the second annular light source 52 so that the second imaging target area A2 illuminated by the second annular light source 52 can be captured by the camera 42 via the half mirror 44. Controls the imaging device 30 to capture an image. Further, the CPU 91 rotates the cylindrical body 34 by a predetermined angle so that the second imaging target area A2 now imaged contacts with (or slightly overlaps) the second imaging target area A2 to be imaged next. The CPU 91 rotates the cylindrical body 34 by controlling the θ-axis motor 24. That is, the cylindrical body 34 is rotated about the optical axis of the camera 42. After that, the CPU 91 controls the imaging device 30 such that the camera 42 captures a new second imaging target area A2 in the same manner as described above. The CPU 91 images the periphery of the target point by sequentially updating the second imaging target area A2 in this manner. Images captured by the camera 42 are sequentially stored in the storage unit 92.

In the present embodiment, the mechanical interface 26, which is the end effector mounting surface, is provided at a position that interferes with the trajectory path when the imaging device 30 rotates 360 degrees. Therefore, the imaging device 30 is axially rotated within a range that does not interfere with the mechanical interface 26.

Thereafter, the CPU 91 determines whether there is another target point (S130). If there is another target point, the CPU 91 updates the target point (S140), and executes the processing of S100 and thereafter again. On the other hand, if there is no other target point at S130, the CPU 91 ends this routine.

Here, the correspondence between the components of the present embodiment and the components of the work machine of the present disclosure will be clarified. The arm 13 of the articulated robot 10 of the present embodiment corresponds to the arm of the work machine of the present disclosure, the camera 42 corresponds to the camera, the first annular light source 51 corresponds to the first light source, and the second annular light source 52 The half mirror 44 corresponds to a half mirror, the cylindrical body 34 corresponds to a support, and the θ axis motor 24 corresponds to a support rotation driving unit.

In the embodiment described above, when imaging the first imaging target area A1, the first annular light source 51 is turned on, the second annular light source 52 is turned off, and the first annular light source 51 is illuminated. The imaging target area A1 is photographed by the camera 42 through the half mirror 44. When imaging the second imaging target area A2, the first annular light source 51 is turned off, the second annular light source 52 is turned on, and the second imaging target area A2 illuminated by the second annular light source 52 is a half mirror 44 Through the camera 42. In addition, the θ-axis motor 24 rotates the cylindrical body 34 integrally supporting the second annular light source 52 and the half mirror 44 about the optical axis 43 of the camera 42 so that the second imaging target area A2 is the camera 42. It can be extended to the periphery centering on the optical axis 43 of. As described above, according to the present embodiment, it is possible to capture a wide range of area with a simple configuration of one camera.

In addition, since the θ-axis motor 24, which is the rotational drive unit of the end effector 70, also serves as the rotational drive unit of the cylindrical body 34, the configuration is simplified as compared to the case where both rotational drive units are separately provided. Can.

Furthermore, the end effector 70 is detachably attached to the mechanical interface 26 of the arm 13 provided with the camera 42, the first annular light source 51, the second annular light source 52, the cylindrical body 34 and the θ axis motor 24. Thereby, the camera 42, the first annular light source 51, the second annular light source 52, the cylindrical body 34, and the θ axis motor 24 can be made common to many types of end effectors that can be attached to the mechanical interface 26. , Each end effector can be made compact.

Furthermore, the mechanical interface 26 is provided at a position that interferes with the orbital path of the second annular light source 52 when the cylindrical body 34 makes one rotation. Therefore, although the second imaging target area A2 can not be continuous over the entire circumference centering on the optical axis 43 of the camera 42, the mechanical interface 26 does not have to be disposed at a position higher than the upper surface of the second annular light source 52 Therefore, the length in the vertical direction of the end effector 70 can be made relatively short.

It is needless to say that the present invention is not limited to the above-mentioned embodiment at all, and can be implemented in various modes within the technical scope of the present invention.

For example, in the embodiment described above, the mechanical interface 26 is provided at a position that interferes with the path path of the second annular light source 52 when the cylindrical body 34 makes one rotation, but the present invention is not particularly limited thereto. For example, as shown in FIG. 6, the mechanical interface 26 may be provided at a position that does not interfere with the orbital path of the second annular light source 52 when the cylindrical body 134 makes one rotation. In FIG. 6, by making the lower part of the cylindrical body 134 longer than the cylindrical body 34, the mechanical interface 26 is made higher than the upper surface of the second annular light source 52. In this case, the second imaging target area A2 can be continuous over the entire circumference around the optical axis 43 of the camera 42. However, since it is necessary to dispose the mechanical interface 26 at a position higher than the upper surface of the second annular light source 52, it is necessary to use the end effector 170 whose length in the vertical direction is longer than that of the end effector 70 described above. .

In the embodiment described above, after imaging the first imaging target area A1 in the imaging processing routine, imaging is performed while axially rotating the imaging device 30 so that the second imaging target area A2 is continuous, but it is not particularly limited thereto . For example, only the first imaging target area A may be imaged, or imaging may be performed while axially rotating the imaging device 30 such that the second imaging target area A2 is continuous. When imaging the second imaging target area A2, imaging may be performed while the imaging device 30 is axially rotated so that the second imaging target area A2 becomes intermittent, or the imaging device 30 may not be rotated. The imaging target area A2 may be imaged only once.

In the embodiment described above, the rotation of the θ-axis motor 24 is transmitted to the cylindrical body 34 via the drive pulley 28, the belt 40 and the driven pulley 38, but the present invention is not particularly limited thereto. Rotation may be transmitted to the cylindrical body 34 via a gear mechanism.

In the embodiment described above, the θ-axis motor 24 which is the rotational drive unit of the end effector 70 is configured to also serve as the rotational drive unit of the cylindrical body 34, but separately from the θ-axis motor 24, the rotational drive unit of the cylindrical body 34 A motor may be provided as

In the embodiment described above, the end effector 70 having the nozzle 72 is exemplified, but the invention is not particularly limited thereto. For example, a mechanical chuck or an electromagnet may be adopted instead of the nozzle 72, or an electric tool ( A driver or a drill may be employed. Also, although the nozzle 72 of the end effector 70 has been illustrated as being vertically downward, it may be switchable to any posture of vertically downward and sideways (horizontal direction). When the workpiece is mounted at the mounting position on the vertical panel using the horizontally oriented nozzle 72, the mounting position can be confirmed using an image captured by the camera 42.

In the embodiment described above, the imaging by the camera 42 is performed with the end effector 70 removed from the mechanical interface 26, but the imaging with the camera 42 may be performed with the end effector 70 attached to the mechanical interface 26.

The working machine of the present disclosure may be configured as follows.

The work machine of the present disclosure includes an end effector attached to the tip of the arm, and an end effector rotation drive unit configured to pivot the end effector, the end effector rotation drive unit including the support rotation drive unit. May be used as well. In this case, the configuration can be simplified as compared with the case where the end effector rotation drive unit and the support rotation drive unit are provided separately.

In the work machine of the present disclosure, the end effector is detachably attachable to an end effector mounting surface of the arm including the camera, the first light source, the second light source, the support, and the end effector rotational drive unit. It may be attached. In this way, since the camera, the first light source, the second light source, the support, and the end effector rotation drive unit can be made common to various types of end effectors that can be attached to the end effector mounting surface, each end effector The effector can be made compact.

In addition, the end effector mounting surface may be provided at a position that interferes with the orbital path when the support rotates once, or a position that does not interfere with the orbital path when the support rotates once. May be provided. In the former case, although the second imaging target area can not be continuous over the entire circumference centering on the optical axis of the camera, the end effector mounting surface does not have to be arranged at a position higher than the orbital path. Can be relatively short. In the latter case, the second imaging target area can be continuous over the entire circumference centered on the optical axis of the camera, but since the end effector mounting surface needs to be positioned higher than the orbital path, It is necessary to increase the length of the end effector.

The present invention is applicable to various industries using a working machine with a camera.

Reference Signs List 10 articulated robot, 11 tables, 12 bases, 13 arms, 14 articulated drive motors, 16 encoders, 18 lists, 20 stays, 22 support covers, 24 θ axis motors, 25 encoders, 26 mechanical interfaces, 28 drive pulleys, 30 imaging Equipment, 32 brackets, 34 cylinders, 36 bearings, 38 driven pulleys, 40 belts, 42 cameras, 43 optical axes, 44 half mirrors, 46 mirror supports, 46a cylindrical holes, 46b openings, 48 stays, 50 stays, 51 1 annular light source, 52 second annular light source, 53, 54 light emitting surface, 55, 56 transparent cover, 70 end effector, 72 nozzle, 90 controller, 91 CPU, 92 storage unit, A1 first imaging target area, A2 second Imaging pair Area.

Claims

With the arm,
A camera attached to the tip of the arm;
A first light source for illuminating a first imaging target area in a direction along the optical axis of the camera;
A half mirror disposed obliquely between the camera and the first light source so as to intersect the optical axis of the camera;
A second light source that illuminates a second imaging target region in a direction in which the angle with respect to the normal is −θ when the angle formed by the optical axis of the camera with the normal to the inclined surface of the half mirror is + θ;
A support that integrally supports the second light source and the half mirror;
A support rotation drive unit configured to rotate the support around an optical axis of the camera;
Work machine equipped with
The working machine according to claim 1, wherein
An end effector attached to the tip of the arm;
An end effector rotary drive for pivoting the end effector;
Equipped with
The end effector rotation drive unit doubles as the support rotation drive unit.
Work machine.
The end effector is detachably attached to an end effector mounting surface of the arm including the camera, the first light source, the second light source, the support, and the end effector rotation drive unit.
The work machine according to claim 2.
The end effector mounting surface is provided at a position that interferes with an orbital path when the support makes one rotation.
The work machine according to claim 3.
The end effector mounting surface is provided at a position that does not interfere with the path path when the support makes one rotation.
The work machine according to claim 3.