WO2024089852A1

WO2024089852A1 - Control device, robot system, and control method

Info

Publication number: WO2024089852A1
Application number: PCT/JP2022/040235
Authority: WO
Inventors: 祐一郎菊川; 信夫大石
Original assignee: 株式会社Fuji
Priority date: 2022-10-27
Filing date: 2022-10-27
Publication date: 2024-05-02

Abstract

A control device according to the present disclosure is used for a robot equipped with an end effector for picking up workpieces, and comprises a control unit that executes a height detection process in which the end effector is made to pick up a jig on which reference parts are provided at prescribed intervals, the jig is photographed, and the height of the end effector is detected on the basis of a reference part included in the obtained photographic image.

Description

CONTROL DEVICE, ROBOT SYSTEM, AND CONTROL METHOD

This specification discloses a control device, a robot system, and a control method.

　Conventionally, a robot system has been proposed that measures the position of a measurement piece formed to the shape of a workpiece with high precision from an image of the measurement piece held by a robot hand and positioned on a camera, and calculates the coordinate alignment of the robot body and the camera from the control position on the robot body and the measurement piece position (see, for example, Patent Document 1). This robot system is said to be able to easily calibrate the coordinate alignment.

Japanese Patent Application Laid-Open No. 10-340112

In the robot system described above, for example, a workpiece may be picked up by an end effector attached to the robot, and the workpiece may be fixed at a specified height and imaged in order to be detected. In this robot system, there is a demand for further improvement in the accuracy of the workpiece height directly, or the height of the end effector indirectly.

This disclosure has been made in consideration of these issues, and its primary objective is to provide a control device, robot system, and control method that can further improve height accuracy.

In this disclosure, the following measures have been taken to achieve the above-mentioned main objective.

The control device of the present disclosure includes:
A control device for a robot equipped with an end effector that picks up a workpiece,
a control unit that executes a height detection process of causing the end effector to pick up a jig having reference portions provided at predetermined intervals, capturing an image of the jig, and detecting a height of the end effector based on the reference portions included in the captured image;
It is equipped with the following:

This control device detects the height of the end effector using the spacing of reference points in an image captured of a jig with reference points set at a specified interval, so it is less affected by mounting accuracy and detection sensitivity compared to, for example, a device that attaches a height jig to the end effector and detects the height with a touchdown sensor, and can further improve height accuracy.

FIG. 1 is a schematic explanatory diagram showing an example of a robot system 10. FIG. 2 is an explanatory diagram showing an example of an imaging unit 14. FIG. 2 is an explanatory diagram showing an example of a mounting table 17 and a calibration jig 18. FIG. 2 is a perspective view showing an example of an end effector 22 . FIG. 4 is an explanatory diagram showing an example of correspondence information 43 stored in a storage unit 42. 10 is a flowchart showing an example of a height detection processing routine. 11 is a flowchart showing an example of a mounting process routine. FIG. 10 is an explanatory diagram showing an example of another robot system 10B. FIG. 1 is an explanatory diagram of a robot system 100 having a touchdown sensor 119. 6 shows the measurement results of mounting accuracy when using the touchdown sensor 119. 4 shows the results of measurement of mounting accuracy when using the calibration jig 18 of the present disclosure.

This embodiment will be described below with reference to the drawings. FIG. 1 is a schematic explanatory diagram showing an example of a robot system 10 according to the present disclosure. FIG. 2 is a schematic explanatory diagram showing an example of an imaging unit 14. FIG. 3 is an explanatory diagram showing an example of a mounting table 17 and a calibration jig 18. FIG. 4 is a perspective view showing an example of an end effector 22. FIG. 5 is an explanatory diagram showing an example of correspondence information 43 stored in a memory unit 42. In this embodiment, the left-right direction (X-axis), front-back direction (Y-axis), and up-down direction (Z-axis) are as shown in FIGS. 1 and 2.

The robot system 10 is, for example, a device that mounts a workpiece 31 on a processing object 30, and includes a working device 11 and a supplying device 25. The working device 11 includes a transport device 12, an imaging unit 14, a mounting table 17, a working section 20, and a control device 40. The processing object 30 may include an insertion section into which a protruding section 33 of the workpiece 31 is inserted, and examples of the processing object 30 include a substrate or a three-dimensional base material (solid object).

The workpiece 31 is an electronic component and has a main body 32 and a protrusion 33. The protrusions 33 are terminal pins and multiple protrusions 33 are formed on the main body 32. For example, the workpiece 31 is fixed by inserting the protrusions 33 into an insertion portion of the processing object 30. The protrusions 33 have a tapered portion 34 having a tapered surface that narrows toward the tip, and a tip portion 35, which is the tip surface, formed on the tip side. For ease of explanation, the protrusions 33 will also be referred to as "terminals" or "pins" below.

The transport device 12 is a unit that carries in, transports, fixes at the mounting position, and removes the processing object 30. The transport device 12 transports the processing object 30 using a pair of conveyor belts that are spaced apart.

The imaging unit 14 is a device that captures an image of the underside of the workpiece 31 that is collected and held by the working section 20. The imaging unit 14 is disposed between the conveying device 12 and the supply device 25. The imaging unit 14 includes an imaging section 15 and an illumination section 16. The imaging range of the imaging section 15 is above the imaging section 15, as shown in FIG. 2. The imaging section 15 has an imaging element that generates an electric charge by receiving light and outputs the generated electric charge, such as a CMOS image sensor or a CCD image sensor. The imaging section 15 has a depth of field of at least the distance between the main body 32 and the protruding section 33. The illumination section 16 irradiates light onto the workpiece 31 held by the working section 20. The imaging unit 14 captures an image of the workpiece 31 when the articulated arm robot 21 holding the workpiece 31 stops above the imaging section 15 or while moving, and outputs the captured image to the control device 40. The control device 40 can use this captured image to inspect whether the shape and location of the workpiece 31 are normal, and detect the amount of misalignment, such as the position or rotation, of the workpiece 31 when it was collected.

The mounting table 17 is a table used for mounting a member, and is provided adjacent to the imaging unit 14. A calibration jig 18 is placed on the mounting table 17. The calibration jig 18 is a jig used to calibrate the height of the end effector 22 and/or the workpiece 31 before the articulated arm robot 21 picks up the workpiece 31 and performs the process of imaging it with the imaging unit 14. As shown in FIG. 3, the calibration jig 18 has reference parts 19 provided at predetermined intervals Lx, Ly on its underside. The reference parts 19 are marks that can detect the respective intervals. Here, the reference parts 19 are circular marks, but are not limited to circles as long as the position can be determined and the length can be grasped. They may be ovals or polygons, such as triangles, rectangles, pentagons, and hexagons, or may be symbols. The reference parts 19 may also be in a checkerboard pattern. In the robot system 10, the height of the calibration jig 18 at the time of imaging is determined according to the intervals of the reference parts 19.

The working unit 20 is a robot that places the workpiece 31 on the processing object 30. The working unit 20 includes a multi-joint arm robot 21, an end effector 22, and a camera 23. The multi-joint arm robot 21 is a work robot connected to a first arm and a second arm that rotate around a rotation axis. The end effector 22 is a member that performs the work of picking up the workpiece 31 and placing it on the processing object 30, and is rotatably connected to the tip of the multi-joint arm robot 21. For example, as shown in FIG. 4, the end effector 22 may include a mechanical chuck 22a that physically grasps and picks up the workpiece 31, or a suction nozzle 22b that sucks up and picks up the workpiece 31 by negative pressure. The end effector 22 may include either the mechanical chuck 22a or the suction nozzle 22b. The camera 23 captures an image of the downward direction, and is used, for example, to capture an image of the workpiece 31 placed on the supply device 25 and recognize the posture of the workpiece 31. This camera 23 is fixed to the tip of the articulated arm robot 21.

The supply device 25 is a device that supplies the workpieces 31. The supply device 25 includes a supply placement section 26, a vibration section 27, and a part supply section 28. The supply placement section 26 is configured as a belt conveyor that has a placement surface and places the workpieces 31 with an indefinite posture on it and moves them in the forward and backward directions. The vibration section 27 applies vibration to the supply placement section 26 to change the posture of the workpieces 31 on the supply placement section 26. The part supply section 28 is disposed at the rear upper part of the supply placement section 26 (not shown) and is a device that stores the workpieces 31 and supplies them to the supply placement section 26. The part supply section 28 releases the workpieces 31 to the supply placement section 26 when the number of parts on the placement surface falls below a predetermined number or periodically. The working section 20 uses the articulated arm robot 21, the end effector 22, and the camera 23 to recognize and pick up the workpieces 31 that are in a posture that can be picked up and placed on the supply placement section 26.

The control device 40 is a device used in a robot equipped with an end effector 22 that picks up the workpiece 31. The control device 40 has a microprocessor centered on the CPU 41, and controls the entire device including the transport device 12, the imaging unit 14, the working unit 20, and the supply device 25. The CPU 41 is a control unit, and has the functions of an image control unit in an image processing device that executes image processing of the imaging unit 14, and an implementation control unit in an implementation device that controls the multi-joint arm robot 21. The control device 40 outputs control signals to the transport device 12, the imaging unit 14, the working unit 20, and the supply device 25, while inputting signals from the transport device 12, the imaging unit 14, the working unit 20, and the supply device 25. In addition to the CPU 41, the control device 40 is equipped with a memory unit 42, a display device 47, and an input device 48. The memory unit 42 is a large-capacity storage medium such as a HDD or a flash memory that stores various application programs and various data files. As shown in FIG. 5, the memory unit 42 stores correspondence information 43. The correspondence information 43 associates the resolution calculated from the pitch of the reference portion 19 with the height of the reference portion 19. The correspondence information 43 uses a unit resolution (μm/pixel/mm) that indicates the amount of change in resolution relative to the change in height of the end effector 22, and experimentally determines the relationship between the resolution (μm/pixel) and the height H of the workpiece 31 picked by the end effector 22, and has been determined such that the height H tends to increase as the resolution increases. When a certain resolution is determined, the control device 40 can uniquely determine the corresponding height by using the correspondence information 43. Note that when the resolution is y (μm/pixel), the unit resolution a (μm/pixel/mm), the height x (mm), and the intercept b (μm/pixel), the relational expression y=ax+b holds. The display device 47 is a display that displays information about the robot system 10 and various input screens. The input device 48 includes a keyboard and a mouse for input by the operator.

The control device 40 executes height detection processing to cause the end effector 22 to pick up the calibration jig 18, capture an image of the calibration jig 18, and detect the height of the end effector 22 based on the reference portion 19 included in the captured image. The CPU 41 may also detect the height of the end effector 22 using a unit resolution that is the amount of change in resolution relative to a change in height of the reference portion 19 included in the captured image. Furthermore, the CPU 41 also executes processing to cause the imaging unit 15 to capture the workpiece 31 picked up by the end effector 22 using the detected height of the end effector 22, and detect the workpiece 31. The CPU 41 executes height detection processing at a specified calibration timing.

Next, the operation of the robot system 10 of this embodiment thus configured will be described, firstly the process in which the control device 40 calibrates the height of the end effector 22. Note that here, an example in which the mechanical chuck 22a detects the height of the end effector 22 will be mainly described, and a description of the process in the suction nozzle 22b will be omitted, but the height of the end effector 22 can be detected using the suction nozzle 22b in the same manner as described below. FIG. 6 is a flowchart showing an example of a height detection process routine executed by the CPU 41. This routine is stored in the storage unit 42, and is executed at predetermined intervals after the robot system 10 is started. When this routine is started, the CPU 41 first determines whether it is height detection timing (S100). The CPU 41 determines that it is height detection timing when a calibration process is executed immediately after the robot system 10 is started, or when recalibration is performed after a predetermined time has elapsed since the operation. If it is not height detection timing, the CPU 41 ends this routine as it is.

On the other hand, when it is height detection timing, the CPU 41 executes height detection processing of the end effector 22, which will be described below. Specifically, the CPU 41 controls the articulated arm robot 21 to pick up the calibration jig 18 with the end effector 22 and hold the calibration jig 18 at the imaging position of the imaging unit 14 (S110). The end effector 22 attached to the working unit 20 is the one that actually picks up the workpiece 31. Next, the CPU 41 performs imaging processing of the calibration jig 18, detects the reference portion 19 (S120), counts the number of pixels between the reference portions 19 in the captured image, and divides the actual distance between the reference portions 19 by the number of pixels to obtain the resolution (S130). Next, the CPU 41 obtains the height H from the obtained resolution using the correspondence information 43 (S140).

As shown in FIG. 5, when the calibration jig 18 is at a lower height H1, the number of pixels of Lx and Ly, which are the pitch of the reference portion 19, becomes larger, and the resolution becomes lower. On the other hand, when the calibration jig 18 is at a higher height H2, the number of pixels of Lx and Ly, which are the pitch of the reference portion 19, becomes smaller, and the resolution becomes higher. In this way, the control device 40 can determine the height of the end effector 22 or the height of the calibration jig 18 using the captured image of the calibration jig 18.

After S140, the CPU 41 uses the acquired height H to determine the difference with respect to the reference height, sets a correction value in the height direction to eliminate this difference, stores the set correction value in the memory unit 42 (S150), and ends this routine. In this way, the control device 40 can acquire the height of the end effector 22 in a non-contact state by imaging the calibration jig 18 on which the reference portion 19 is provided, and set a correction value to correct that height.

Next, a process for placing the workpiece 31 on the processing object 30 using the set height correction value will be described. As a specific example, a mounting process for positioning the workpiece 31 by inserting the protruding portion 33 of the workpiece 31 into an insertion portion formed on the processing object 30 will be described. Figure 7 is a flow chart showing an example of a mounting process routine executed by the CPU 41. The mounting process routine is stored in the memory unit 42, and is executed in response to a start command from the operator.

When this routine is started, the CPU 41 first reads and acquires mounting condition information (S200). The mounting condition information includes information such as the shape and size of the processing object 30 and the workpiece 31, as well as the placement position and placement number of the workpiece 31. Next, the CPU 41 causes the transport device 12 to transport the processing object 30 to the mounting position and fix it (S210), and controls the part supply unit 28 to supply the workpiece 31 to the supply placement unit 26 (S220). Next, the CPU 41 controls the multi-joint arm robot 21 to move the camera 23 above the supply placement unit 26, and causes the camera 23 to capture an image of the workpiece 31 on the supply placement unit 26, and performs a process to recognize the workpiece 31 that can be picked up (S230). The CPU 41 recognizes the workpiece 31 on the supply placement unit 26 with the protrusion 33 on the lower side and the main body 32 on the upper side as a pickable part. When there is no workpiece 31 that can be picked up, the CPU 41 drives the vibration unit 27 to change the position of the workpiece 31. When there is no workpiece 31 on the supply placement unit 26, the CPU 41 drives the part supply unit 28 to supply the workpiece 31 onto the supply placement unit 26.

Next, the CPU 41 drives the articulated arm robot 21 and the end effector 22, and causes the end effector 22 to pick up the workpiece 31 using the height correction value and move it to the top of the imaging unit 14 (S240). The working unit 20 performs height correction and picks up the workpiece 31, so that the workpiece 31 can be picked up more reliably. The CPU 41 also adjusts the imaging position and the control of the articulated arm robot 21 in advance so that the center position of the end effector 22 moves to the center of the image. Next, the CPU 41 moves the end effector 22 to an imaging position using the height correction value, stops it at that position, and images the workpiece 31 (S250). The control device 40 can image the workpiece 31 at the corrected position, and can obtain a more appropriate image. Next, the CPU 41 uses the captured image to check the tip 35 of the protrusion 33 (S260) and determines whether the workpiece 31 is usable or not (S270). The CPU 41 determines that the workpiece 31 is usable when the tips 35 of all protrusions 33 are detected to be within a predetermined tolerance range. This tolerance range may be determined by determining the relationship between the positional deviation of the tips 35 and their placement on the processing object 30, and may be determined as a range within which the workpiece 31 can be properly placed on the processing object 30.

When the workpiece 31 is usable in S270, the CPU 41 executes a process to place the workpiece 31 at a predetermined position on the processing object 30 (S280). At this time, the CPU 41 may perform position correction based on the position of the tip 35 and place it on the processing object 30. The working unit 20 performs height correction and places the workpiece 31, so that the workpiece 31 can be placed more reliably. On the other hand, when the workpiece 31 is not usable in S270, the CPU 41 stops using the workpiece 31 and discards it, and notifies the operator of this with a message (S290). The operator is notified, for example, by displaying a message or an icon on the display device 47 to the effect that the protruding portion 33 of the workpiece 31 cannot be inserted into the insertion portion of the processing object 30.

After S290 or S280, the CPU 41 determines whether there is a next work 31 to be placed (S300), and if there is, executes the process from S220 onwards. That is, the CPU 41 repeatedly executes the process of supplying the work 31 to the supply placement section 26 as necessary, recognizing the work 31 that can be picked up, picking up the work 31, taking an image of the work 31 with the imaging unit 14, determining whether the work 31 is usable, and placing it. On the other hand, when there is no next work 31 to be placed on this processing object 30 in S300, the CPU 41 determines whether there is a processing object 30 on which the work 31 should be placed next (S310), and if there is a next processing object 30, executes the process from S210 onwards. That is, the CPU 41 ejects the processing object 30 on which the work 31 has been placed, carries in the next processing object 30, and executes the process from S220 onwards. On the other hand, when there is no next processing object 30 in S310, the CPU 41 ends this routine.

Here, the correspondence between the components of this embodiment and the components of this disclosure will be clarified. The control device 40 of this embodiment is an example of a control device of this disclosure, the CPU 41 is an example of a control unit, the end effector 22 is an example of an end effector, the calibration jig 18 is an example of a jig, the articulated arm robot 21 is an example of an arm robot, and the robot system 10 is an example of a robot system. Note that this embodiment also clarifies an example of a control method of this disclosure by explaining the operation of the robot system 10.

The control device 40 of this embodiment described above is used in a robot equipped with an end effector 22 that picks up a workpiece 31. This control device 40 has a CPU 41 as a control unit that executes a height detection process that causes the end effector 22 to pick up a calibration jig 18 having reference portions 19 provided at predetermined intervals, images the calibration jig 18, and detects the height of the end effector 22 based on the reference portions 19 included in the captured image. This control device 40 detects the height H of the end effector 22 using the intervals between the reference portions 19 in an image obtained by capturing an image of the calibration jig 18 having reference portions 19 provided at predetermined intervals. Therefore, compared to, for example, a device that attaches a height jig to the end effector 22 and detects the height using a touchdown sensor, the influence of mounting accuracy and detection sensitivity is smaller, and height accuracy can be further improved.

The CPU 41 as the control unit detects the height H of the end effector 22 using the unit resolution, which is the amount of change in resolution relative to the change in height of the reference portion 19 included in the captured image, and the height accuracy can be further improved using the unit resolution. Furthermore, the CPU 41 uses the detected height H of the end effector 22 to have the imaging unit capture the workpiece 31 picked up by the end effector 22, and detects the workpiece 31. In order to do this, the accuracy of the imaging process of the workpiece 31 can be further improved using the detection result of the height detection process in which the calibration jig 18 is imaged and image-processed. Furthermore, the CPU 41 executes the height detection process at a predetermined calibration timing, and therefore can execute the height detection process as a calibration process of the device. And since the working unit 20 is equipped with the multi-joint arm robot 21, the accuracy in the height direction of the multi-joint arm robot 21 can be further improved by using the captured image of the calibration jig 18, in which the reference portions 19 are provided at predetermined intervals.

The robot system 10 also includes an articulated arm robot 21 equipped with an end effector 22 that picks up the workpiece 31, and a control device 40. This robot system 10 can further improve the height accuracy, just like the control device 40.

It goes without saying that this disclosure is in no way limited to the above-described embodiments, and can be implemented in various forms as long as they fall within the technical scope of this disclosure.

For example, in the above-described embodiment, the control device 40 of the working device 11 has the functions of the control device of the present disclosure, but this is not particularly limited, and a control device may be provided in the working device 11 or the articulated arm robot 21. Similarly, in the above-described embodiment, the CPU 41 has the functions of a control unit, but this is not particularly limited, and a control unit may be provided separately from the CPU 41. In this working device 11, the height H of the end effector 22 is detected using an image captured of the calibration jig 18, so the accuracy of the height can be further improved.

In the above embodiment, the CPU 41 detects the height H of the end effector 22 using the unit resolution, but this is not particularly limited as long as the height is detected using a captured image of the calibration jig 18. For example, the correspondence information 43 may be the correspondence between the pitch of the reference portion 19 and the height H, and the CPU 41 may directly determine the height H from the pitch of the reference portion 19.

In the above-described embodiment, a correction value in the height direction of the end effector 22 is calculated from the captured image of the calibration jig 18, and this correction value is used to collect, capture, and position the workpiece 31, but the use of the correction value may be omitted in one or more of these processes.

In the above embodiment, the workpiece 31 is provided with a protrusion 33, and the protrusion 33 is inserted into the insertion portion of the processing object 30. However, this is not particularly limited, and the workpiece 31 may not have a protrusion 33, and the processing object 30 may not have an insertion portion. Note that the workpiece 31 having a protrusion 33 has a greater effect on mounting accuracy, and the processing disclosed herein is more meaningful.

In the above embodiment, the end effector 22 is described as having a mechanical chuck 22a and a suction nozzle 22b, but either the mechanical chuck 22a or the suction nozzle 22b may be omitted.

In the above embodiment, the working unit 20 has been described as having a multi-joint arm robot 21, but is not limited thereto as long as the height of the end effector 22 or the workpiece 31 is corrected using the captured image of the calibration jig 18, and may have the configuration of an XY robot, for example. FIG. 8 is an explanatory diagram showing an example of another robot system 10B. This robot system 10B includes a mounting device 11B and a management device 60. The mounting device 11B includes a transport device 12B that transports a board 30B, a supply device 25B that includes a feeder 29, an imaging unit 14, a mounting unit 20B, and a control device 40. The mounting unit 20B includes a mounting table 17 on which the calibration jig 18 is placed, a mounting head 21B, an end effector 22B attached to the mounting head 21B, and a head moving unit 24 that moves the mounting head 21B in the XY direction. The control device 40 is the same as in the above embodiment. Even when using such a mounting device 11B, the height accuracy of the XY robot can be improved when placing a workpiece 31 having a protruding portion protruding from the main body onto the processing object 30, and thus the accuracy of mounting the workpiece 31 onto the processing object 30 can be improved.

In the above embodiment, the control device of the present disclosure has been described as control device 40, but it is not particularly limited to this and may be a control method for a robot, or this control method may be a program executed by a computer.

Here, the control method of the present disclosure may be configured as follows. For example, the control method of the present disclosure is a control method executed by a computer that controls a robot equipped with an end effector that picks up a workpiece, comprising:
(a) causing the end effector to pick up a jig having reference portions provided at predetermined intervals and capturing an image of the jig;
(b) executing a height detection process to detect a height of the end effector based on the reference portion included in the obtained captured image;
It includes.

In this control method, as with the control device described above, the height of the end effector is detected using the spacing of reference parts in an image captured of a jig having reference parts provided at a predetermined interval, thereby further improving the accuracy of the height. Note that in this control method, various aspects of the control device described above may be adopted, and steps may be added to achieve each function of the control device described above. Note that the "height of the end effector" may be the height of a predetermined position (e.g., the bottom end) of the end effector, or may be synonymous with the height of the workpiece being picked by the end effector.

　This specification also discloses the technical idea of changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 3" in claim 4 as originally filed, the technical idea of changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 4" in claim 5 as originally filed, and the technical idea of changing "the control device according to claim 1 or 2" to "the control device according to any one of claims 1 to 5" in claim 6 as originally filed.

Below, we will explain experimental examples in which the robot system 10 of the present disclosure was specifically fabricated and the accuracy of mounting the workpiece 31 on the processing target object 30 was examined. Experimental example 1 corresponds to a comparative example, and experimental example 2 corresponds to an embodiment of the present disclosure.

In experimental example 1, the height of the end effector was detected using a touchdown sensor, and the mounting accuracy of the workpiece was measured. Figure 9 is an explanatory diagram of a robot system 100 having a conventional touchdown sensor 119. Note that in the robot system 100, the same components as those in the robot system 10 are given the same reference numerals and their description will be omitted. As shown in Figure 9, the robot system 100 comprises an imaging unit 14 having an imaging section 15, a multi-joint arm robot 21, a contact jig 118, and a touchdown sensor 119. In the robot system 100, the contact jig 118 is brought into contact with the touchdown sensor 119, and the height of the end effector 22 is detected at the position of contact.

As experimental example 2, a robot system 10 was created that detects the height of the end effector 22 using an image captured by the calibration jig 18 (see Figures 1 to 5). In the robot system 10, the height H of the end effector 22 was detected using an image captured by the calibration jig 18, and the mounting accuracy of the workpiece 31 was measured. In the mounting experiment, the angle of the workpiece 31 was changed to 0°, 90°, 180°, and 270° to determine the mounting accuracy.

FIG. 10 shows the measurement results of the mounting accuracy when the touchdown sensor 119 was used. FIG. 11 shows the measurement results of the mounting accuracy when the calibration jig 18 of the present disclosure was used. As shown in FIG. 10, when the touchdown sensor 119 was used, the mounting accuracy was still insufficient due to the influence of the sensitivity and accuracy of the touchdown sensor, the resolution of the lowering operation, and the assembly error when replacing the end effector 22. On the other hand, as shown in FIG. 11, it was clear that the robot system 10 of the present disclosure, which detects the height of the end effector 22 using the captured image of the calibration jig 18, can perform height detection with higher accuracy, and thus can improve the mounting accuracy of the workpiece 31.

The image processing device, mounting device, mounting system, and image processing method disclosed herein can be used, for example, in the field of electronic component mounting.

10, 10B, 100 Robot system, 11 Working device, 11B Mounting device, 12, 12B Transport device, 13 Transport section, 14 Imaging unit, 15 Imaging section, 16 Illumination section, 17 Mounting table, 18 Calibration jig, 19 Reference section, 20 Working section, 20B Mounting section, 21 Articulated arm robot, 21B Mounting head, 22, 22B End effector, 22a Mechanical chuck, 22b Suction Landing nozzle, 23 camera, 24 head moving section, 25, 25B supply device, 26 supply placement section, 27 vibration section, 28 part supply section, 29 feeder, 30 processing object, 30B substrate, 31 workpiece, 32 main body, 33 protrusion, 34 tapered section, 35 tip, 40 control device, 41 CPU, 42 memory section, 43 corresponding information, 47 display device, 48 input device, 60 management device, H height.

Claims

A control device for a robot equipped with an end effector that picks up a workpiece,
a control unit that executes a height detection process of causing the end effector to pick up a jig having reference portions provided at predetermined intervals, capturing an image of the jig, and detecting a height of the end effector based on the reference portions included in the captured image;
A control device comprising:
The control device according to claim 1, wherein the control unit detects the height of the end effector using a unit resolution that is a change in resolution relative to a change in height of the reference part included in the captured image.
The control device according to claim 1 or 2, wherein the control unit uses the detected height of the end effector to cause the imaging unit to capture an image of the workpiece picked up by the end effector and detect the workpiece.
The control device according to claim 1 or 2, wherein the control unit executes the height detection process at a predetermined calibration timing.
The control device according to claim 1 or 2, wherein the robot is an arm robot or an XY robot.
A robot equipped with an end effector that picks up a workpiece;
A control device according to claim 1 or 2;
A robot system having
A control method executed by a computer for controlling a robot equipped with an end effector that picks up a workpiece, comprising:
(a) causing the end effector to pick up a jig having reference portions provided at predetermined intervals and capturing an image of the jig;
(b) executing a height detection process to detect a height of the end effector based on the reference portion included in the obtained captured image;
A control method comprising: