JP4236793B2 - Storage device and storage method - Google Patents

Description

[0001]
BACKGROUND OF THE INVENTION
The present invention relates to a storage device that stores an object continuously transported on a transport conveyor in a storage body such as a tray.
[0002]
[Prior art]
As shown in FIG. 3, for example, a part 1 made by a parts manufacturing machine such as a molding machine is transported on a transport conveyor 3, gripped by a robot 5, and stored in a tray 7. By storing in the tray 7, the position and orientation of the parts can be regulated, and processing in the subsequent process becomes easy.
[0003]
However, the grip by the robot 5 requires that the position of the part 1 on the conveyor 3 is positioned. Also, depending on the part 1, the posture needs to be determined.
This position / orientation determination is conventionally performed by aligning the parts 1 by the parts feeder 9 as shown in FIG. In the parts feeder 9, a recess (not shown) that matches the shape of the part 1 is formed in a spiral passage 10 in which the parts 1 are sent and aligned by vibration.
[0004]
Alternatively, as shown in FIG. 3B, a pair of guides 11 may be provided in a state of approaching the upper surface of the conveyor 3, and the parts 1 may be aligned by the guides 11.
Such a technique for storing in an aligned manner has been used not only when storing parts in a tray, but also when storing other products in a cardboard box or the like.
[0005]
[Problems to be solved by the invention]
However, when the position / posture of an object such as the part 1 is determined by the parts feeder 9 or the guide 11, an external force is applied to the target at the time of position / posture determination, which may cause damage such as a scratch or a chip. .
[0006]
Further, in order to deal with various objects, it is necessary to replace a jig that is used in the parts feeder 9 and is in contact with the object, or to replace the guide 11, which increases the running cost. It was something that would end up.
Further, when the object is a soft object or an object having an unstable shape, it may be difficult to use the parts feeder 9 or the guide 11.
[0007]
The present invention has been made to solve the above-described problems. Even when the object is not damaged, the running cost is low, and the object is soft or has an unstable shape, the present invention is easy. Another object of the present invention is to provide a storage device that can be stored in a storage body such as a tray.
[0008]
[Means for Solving the Problems]
In order to solve the above problems, the present invention recognizes the position and orientation of the target object by processing the captured image, a transport conveyor that continuously transports the target object, a camera that images the target object, and the like. Based on the position or orientation of the recognized object, an image processing apparatus that performs the operation, a robot that is arranged on the downstream side of the transfer conveyor with respect to the camera, a chuck that is attached to the robot and grips the object. Control means for performing control for causing the robot to move to the object and holding the robot, including the following procedure;
Procedure 1: Based on the recognized position and posture of the object and the position and posture of the robot, the robot changes the posture, moves to the object, grips the object, and stores in the container Step 2 for creating data to be performed: The amount of change between the position or posture of the object recognized at the time of creation of the data and the newly recognized position or posture is set in advance larger than a predetermined lower limit value. When the robot position is smaller than the upper limit value, the position of the robot is replaced with the current position and the data is re-created. Step 3: Supply means for supplying a container for continuing control based on the re-created data to a predetermined position; A storage device comprising the storage device.
[0009]
According to the present invention, when the change amount between the position or orientation of the object recognized at the time of creating the data and the newly recognized position or orientation is smaller than a predetermined lower limit value, the control means This is a storage device in which the robot moves to the target object based on the previously generated data and performs control for gripping the target object without re-creating.
[0010]
According to the present invention, when the amount of change between the position or posture of the object recognized at the time of creating the data and the newly recognized position or posture is greater than a predetermined upper limit value, The storage device as described above, wherein control is performed so as not to grip an object.
[0011]
The storage device according to the present invention is characterized in that the storage body is a tray and the supply means is a tray feeder.
[0012]
The present invention relates to a transport conveyor that continuously transports an object, a camera that captures the object, an image processing device that processes the captured image and recognizes the position and orientation of the object, and the camera. Also, a robot arranged on the downstream side of the conveyor, a chuck attached to the robot and gripping the object, and the robot is moved to the object based on the position or posture of the recognized object. Control means for performing control for performing gripping including the following procedure;
Procedure 1: Based on the recognized position and posture of the object and the position and posture of the robot, the robot changes the posture, moves to the object, grips the object, and stores in the container Step 2: The amount of change between the position or orientation of the object recognized at the time of creation of the data and the newly recognized position or orientation is set in advance larger than a predetermined lower limit value. When the value is smaller than the upper limit value, the position of the robot is replaced with the current position, and the data is recreated. Step 3: Supply means for supplying a container for continuing control based on the recreated data to a predetermined position; It is the storage method characterized by comprising.
[0013]
DETAILED DESCRIPTION OF THE INVENTION
An embodiment of the present invention will be described below with reference to FIGS.
A storage device 25 according to this embodiment is disposed downstream of a conveyor 23 that continuously conveys the object 21. A molding machine, a baking machine, a press manufacturing machine, or the like, which is a parts manufacturing machine that manufactures parts that are the object 21, is disposed upstream of the conveyor 23.
[0014]
In the storage device 25, a camera 29 that images the object 21, a monitor 31, and illumination means 33 are provided on a frame 27 that is installed across the conveyor 23. Further, a two-dimensional or three-dimensional image processing device 35 for processing the captured image and recognizing the position and orientation of the object 21 is provided. An unillustrated encoder for detecting the transport distance of the transport conveyor 23 is attached to a drive sprocket (not illustrated) constituting the transport conveyor 23.
[0015]
Further, a robot 37 is disposed on the downstream side of the conveyer 23 with respect to the camera 29. The robot 37 is a rectangular coordinate type robot, and a second slide guide 41 moves on a first slide guide 39 provided in parallel with the conveyor 23, and a slider 43 moves on the second slide guide 41. Is movably provided. A rod 45 that slides in the vertical direction is provided on the slider 43, and a chuck 47 that holds the object 21 is attached to the lower end of the rod 45.
[0016]
A tray feeder 51 for supplying a tray 49 serving as a storage body is disposed on the opposite side of the conveyor 37 from the robot 37. The tray 49 is formed with a recess 50 having a predetermined shape according to the object 21. The tray feeder 51 is configured by attaching tray lifting and lowering devices 55 to both ends of a tray conveyor 53 provided in parallel with the transport conveyor 23.
[0017]
The tray lifting / lowering device 55 has a mechanism for transporting a single tray 49 from a tray 49 arranged on the tray conveyor 53, or for carrying in and stacking a single tray 49. That is, as shown in FIG. 1C, a piston member 61 that moves up and down through the gap between the members 59 constituting the conveyor belt 57 of the tray conveyor 53 and lifts the tray 49 upward, and the piston member 61 moves up and down. And a cylinder 63 that performs the operation. Also, a support claw 65 that opens and closes to support and support the raised tray 49 is provided.
[0018]
When one tray 49 is transported, the piston member 61 is raised by the cylinder 63, and all the stacked trays 49 are once lifted. In the lifted state, the support claw 65 is closed and locked to the second-stage tray 49 from below, and the second-stage or higher tray 49 is supported. Thereafter, the piston member 61 descends again and retreats downward so as not to interfere with the tray conveyor 53. In this state, the tray conveyor 53 moves and only the lowermost tray 49 is carried out.
[0019]
The operation of carrying in and stacking one tray 49 is performed as a substantially opposite operation to the operation described above. That is, the piston member 61 rises and lifts all the trays 49, and the support claws 65 engage with the lowermost tray 49 to support all the trays 49. In this state, the piston member 61 descends and retracts. Then, the tray conveyor 53 moves and a single tray 49 is carried in.
[0020]
Thereafter, the piston member 61 rises again, lifts the loaded tray 49, and presses it to the lower side of the tray 49 that has been stacked and supported. In this state, the support claw 65 is opened, and all the trays 49 are supported on the piston member 61. As the piston member 61 is lowered, all the trays 49 including the newly loaded tray 49 are arranged on the tray conveyor 53.
[0021]
The image signal captured by the camera 29 is sent to the image processing device 35, and the image processing device 35 processes the image to recognize the position and orientation of the object 21, and the recognized data is sent to the controller 67 of the robot 37. . The controller 67 controls the robot 37 and the tray feeder 51 via the driver 69.
[0022]
(Function)
Control in this embodiment will be described with reference to FIG.
The robot 37 stands by at the standby position (S1), and the tray 49 is supplied to a predetermined position by the tray feeder 51 (S2) (see FIGS. 1A and 1B). It is confirmed that the tray 49 has been supplied to a predetermined position (S3), and the image of the object 21 captured by the camera 29 is processed by the image processing device 35, and the shape, posture and position of the object 21 are recognized. (S4). An encoder (not shown) of the conveyor 23 counts a predetermined count, thereby detecting a predetermined transport distance (S5). The transport distance from the encoder and the position of the object 21 recognized by the image processing device 35 are detected. From the above, movement data is created.
[0023]
Based on the movement data, the robot 37 moves and is positioned directly above the object. The rod 45 of the robot 37 rotates around the axis according to the recognized posture of the object 21, and the posture of the chuck 47 is changed. Then, the chuck 47 moves down and grips the object 21 (S6). Next, it moves onto the supplied tray 49 and stores the object 21 in the recess 50 of the tray 49 (S7). The tray 49 in which the object 21 is stored is conveyed by the tray feeder 51, and is stacked under a state in which other trays 49 in which the object 21 is already stored are stacked.
[0024]
(Effect of embodiment)
According to this embodiment, without determining the position / posture of the target object 21, the robot 37 accurately moves to the target object 23 having a different position on the transport conveyor 23, and according to the posture of the target object 21, The posture of the chuck 47 of the robot 37 can be changed, the object 21 can be gripped, and stored in the tray 49. Therefore, it is not necessary to use the parts feeder 9 and the guide 11 for position / posture determination as in the prior art, and therefore there is no fear of breakage in determining the position / posture. In addition, the jig of the parts feeder 9 and the guide 11 need not be replaced, and the running cost is reduced. Further, even if the object is difficult to determine the position / posture by the parts feeder 9 and the guide 11, the storing operation can be easily performed.
[0025]
In addition, the image processing device 35 can recognize not only the position and orientation of the object 21 but also the shape, and therefore, even when objects having different shapes are mixed, gripping and storing operations are easy. Can be done. In this case, different trays can be prepared and stored in a tray determined for each object 21.
[0026]
(Other embodiments)
In the above embodiment, the object 21 is a part sent from a parts manufacturing machine such as a molding machine, a baking machine, or a press manufacturing machine. However, in other embodiments, the target object 21 is a finished product such as a food. Also good. In this case, the storage body to be stored may be a predetermined package or a cardboard box instead of the tray.
[0027]
Further, in the above embodiment, the movement of the robot is performed based on movement data created by the position of the object recognized by the image processing apparatus and the conveyance distance detected by the encoder. In another embodiment, the robot can move and perform a gripping operation by image processing with one camera without using an encoder.
[0028]
That is, the robot 37 causes the chuck 47 to stand by at a predetermined standby position in a predetermined posture, and when the target object 21 enters a predetermined work range (for example, the image range of the camera 29) by the processed image, The position and orientation are recognized, and movement data is created based on the standby position and orientation of the chuck 47 that the robot 37 autonomously recognizes. This movement data is data necessary for the robot 37 to move the chuck 47 to the position just above the object 21 and grip the object 21. Then, a series of movement and gripping operations are started based on the movement data.
[0029]
After this operation is started, when the position or posture of the object 21 changes for some reason, and the amount of change is a predetermined range, that is, a predetermined amount 2> a change amount> a predetermined amount 1, the chuck of the robot 37 47 replaces the current position that has been moved so far with the standby position, and creates movement data again. Thereafter, the movement and gripping operations are continuously performed, and if there is no change in the position or posture of the target object 21, the target object 21 is gripped and moved onto the supplied tray 49. The object 21 is accommodated in 50, and the operation ends. In this way, the movement of the robot is corrected by recreating the movement data.
[0030]
If the amount of change is larger than the predetermined amount 2, the movement to the object 21 and the grip are given up and the process returns to the standby position. In addition, the amount of change is quantified by various methods. For example, if the position of the center of gravity on the image of the object 21 changes from G to G ′ and the posture also changes, the amount of change may be the size of the position change amount GG ′ or the posture angle change. It is whether or not it is larger than the size. In addition, the amount of change can be determined in consideration of not only the changed distance and angle but also the speed of change.
[0031]
In the above control, the camera 29 continuously repeats imaging, and this imaging and processing of the captured image by the image processing apparatus can be performed several tens of times per second. The correction of the robot operation can be performed more times per second.
[0032]
Further, in the above embodiment, the trays 49 in which the objects are stored are stacked by the tray feeder 51. However, in other embodiments, the transport conveyor of the next process is performed by the robot 37 without being stacked. It is possible to be put on.
[0033]
In the above embodiment, the robot 37 is a rectangular coordinate type robot. However, in another embodiment, an articulated robot may be used.
[0034]
In the above embodiment, the tray feeder is used as the supply means for supplying the tray 49. However, in another embodiment, the robot 37 can also serve as the supply means. In this case, for example, an empty tray 49 is prepared in the vicinity of the robot 37, and the robot 37 can grab the tray 49 and supply it to a predetermined position. In that case, the robot can also perform the operation of stacking the trays 49 in which the objects 21 are stored.
[0035]
As described above, according to the first and second inventions , the robot moves to the target without changing the position / posture of the target, changes the posture, holds the target and holds the target. Since it can be stored, there is no risk of damage when determining the position / posture as in the past. In addition, it is not necessary to replace jigs and guides of the parts feeder, and the running cost is reduced. Further, even when it is difficult to determine the position / posture by these parts feeders and guides, the storing operation can be easily performed.
[Brief description of the drawings]
FIG. 1 shows a storage device according to an embodiment of the present invention, in which (A) is a plan view of the storage device, (B) is a front view of (A), and (C) is an essential part of (B). FIG.
FIG. 2 is a flowchart showing the control of the embodiment of FIG.
3A is a plan view showing an example in which a parts feeder is used for position / posture determination. FIG. 3B is a plan view showing an example in which a guide is used for position / posture determination.
[Explanation of symbols]
21 Object 23 Conveyor 25 Storage device 27 Frame 29 Camera 31 Monitor 33 Illumination means 35 Image processing device 37 Robot 39 First slide guide 41 Second slide guide 43 Slider 45 Rod 47 Chuck 49 Tray 50 Indentation 51 Tray feeder 53 Tray conveyor 55 Tray Lifting Device 57 Conveyor Belt 59 Member 61 Piston Member 63 Cylinder 65 Supporting Claw 67 Controller 69 Driver

Claims (8)

A conveyor that continuously conveys the object; a camera that captures the object; an image processing device that processes the captured image to recognize the position and orientation of the object; and the conveyor that is more than the camera A robot disposed downstream of the robot, a chuck attached to the robot and gripping the object, and moving the robot to the object based on the recognized position or posture of the object to perform gripping Control means for performing control for including the following procedures;
Procedure 1: Based on the recognized position and posture of the object and the position and posture of the robot, the robot changes the posture, moves to the object, grips the object, and stores in the container Step 2: The amount of change between the position or orientation of the object recognized at the time of creation of the data and the newly recognized position or orientation is determined in advance to be larger than a predetermined lower limit value. When the value is smaller than the upper limit value, the position of the robot is replaced with the current position and the data is recreated. A storage device comprising: When the amount of change between the position or posture of the object recognized at the time of creating the data and the newly recognized position or posture is smaller than a predetermined lower limit value, the control means regenerates the data. 2. The storage apparatus according to claim 1, wherein the robot moves to the object based on previously created data and performs control for gripping the object. The control means grips the object when the amount of change between the position or orientation of the object recognized at the time of creation of the data and the newly recognized position or orientation is greater than a predetermined upper limit value. The storage device according to claim 1, wherein control is performed not to perform the control.   4. A storage apparatus according to claim 1, wherein the storage body is a tray, and the supply means is a tray feeder. A conveyor that continuously conveys the object; a camera that captures the object; an image processing device that processes the captured image to recognize the position and orientation of the object; and the conveyor that is more than the camera A robot disposed downstream of the robot, a chuck attached to the robot and gripping the object, and moving the robot to the object based on the recognized position or posture of the object to perform gripping Control means for performing control for including the following procedures;
Procedure 1: Based on the recognized position and posture of the object and the position and posture of the robot, the robot changes the posture, moves to the object, grips the object, and stores in the container Step 2: The amount of change between the position or orientation of the object recognized at the time of creating the data and the newly recognized position or orientation is determined in advance to be larger than a predetermined lower limit value. If the robot position is smaller than the upper limit value, the robot position is replaced with the current position, and the data is recreated. A storage method characterized by comprising. When the amount of change between the position or posture of the object recognized at the time of creating the data and the newly recognized position or posture is smaller than a predetermined lower limit value, the control means regenerates the data. 6. The storage method according to claim 5, wherein the robot moves to the target object based on previously created data and performs control for gripping the target object. The control means grips the object when the amount of change between the position or orientation of the object recognized at the time of creation of the data and the newly recognized position or orientation is greater than a predetermined upper limit value. The storage method according to claim 5 or 6, wherein the control is not performed.   The storage method according to claim 5, wherein the storage body is a tray, and the supply unit is a tray feeder.

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