JP6057862B2 - Component supply apparatus and program generation method for component supply apparatus - Google Patents

Description

  The present invention relates to a component supply device that aligns parts to be supplied in bulk with respect to, for example, an automatic assembly device or an automatic assembly robot, and in particular, a component supply device that aligns components using a robot and program generation of the component supply device It is about the method.

  In general, in a product assembly line, parts that are transported from a purchaser or a previous process often arrive in a so-called loosely packed state in order to reduce the space volume required for transporting and stocking parts. On the other hand, an automatic assembly apparatus usually executes an assembly operation from a state in which parts are aligned. For this reason, it is necessary to align the position and orientation of the parts to be supplied to the automatic assembling apparatus from the stacked state to the aligned state by some means.

  Conventionally, a dedicated parts alignment device called a parts feeder has been widely used as a means for automatically aligning parts in a stacked state. However, parts feeders are specially designed for each part, so they are not versatile, have a long design period, are expensive, generate vibration and noise during operation, and occupy a large floor space in the factory. There is.

  In addition, when the part shape is complicated, there is a problem that parts are entangled in the parts feeder, temporary operation stoppage called a choke stop occurs, and operator calls are frequently generated. In addition, there are cases where the parts feeder cannot be used because there are parts having shapes that cannot be aligned by the parts feeder.

  Therefore, as an automated method to replace the parts feeder, after changing the parts in a stacked state to a state where the parts do not overlap with each other to some extent using a hardware mechanism, the vision sensor is used to obtain a preferable posture. A technique for performing position and orientation correction by recognizing only the components being taken is known (see, for example, Patent Document 1).

  Also known is the technology that recognizes the position and orientation of parts in a stacked state, sucks the parts to the suction pad, changes the orientation if necessary, temporarily places it, and then changes the orientation if necessary and aligns it. (For example, refer to Patent Document 2).

  Here, in the prior art described in Patent Document 1, since the number of parts is sufficiently supplied and depends on a probabilistic event of selecting and handling only the parts in a preferred posture, the parts As the number decreases, there is a higher probability that a part with a preferred posture will not exist, and there is a problem that the occurrence of an operator call increases even though the part remains. In addition, when parts that have a low probability of becoming a preferred posture are to be supplied, more parts must be put in, so it is necessary to increase the amount of inventory on hand, and the factory volume (floor area, floor area, There is a problem of wasting height.

  In addition, in the prior art described in Patent Document 2, it is intended for a cube-shaped component to which a suction pad is applied, a planar-shaped component, a complex-shaped component, a component with an uneven surface, a component with many small holes, There is a problem that there is no part to which the suction pad is applied, such as a thin part, and it is not possible to cope with a part that does not stick to the suction pad. If the suction pad cannot be used, suction with a blower may be considered. However, in this case, there is a problem that noise is high and power consumption is large.

  Furthermore, in both cases of Patent Documents 1 and 2, the misalignment and posture misalignment of the hand and the parts that cause final alignment failure are absorbed by using a phenomenon called “retraction” or “self-alignment”. To do this, specialized hands designed for each part are used, so it is not possible to align multiple types of parts with the same hand, and the same number of hands as the number of parts is required. There is a problem that a large place is required. In addition, there is a problem that a hand must be redesigned for each part, and a cost (design, production, adjustment cost) for remaking the hand is required when the model to be produced is switched.

  To solve these problems, the robot picks up the part and puts it on the temporary table, or transfers it between multiple robots and picks up the part again. There is a component supply device that aligns the position and orientation (see, for example, Patent Document 3). In the part alignment work by this part supply apparatus, there is no need to design a dedicated jig and hand for a wide variety of parts in a stacked state.

Japanese Patent Laid-Open No. 06-127698 JP 2011-000685 A International Publication No. 2013/002099

However, the prior art has the following problems.
In the prior art described in Patent Document 3, the operator decides what kind of change operation the robot should perform in order to realize the efficiency of the parts alignment work, and then the robot performs the change operation determined by the robot. There is a problem that it is necessary to perform programming so as to be very troublesome. The efficiency of the parts alignment work here refers to parameters such as the number of robots, the probability that the parts can be finally aligned in the target position and orientation (hereinafter referred to as the direct rate), and the tact time. In other words, optimization is performed while considering the trade-off relationship.

  In addition, since a specific programming method for realizing the efficiency of the parts alignment work has not been established, there is a problem that a great burden is imposed on the robot when programming the robot.

  The present invention has been made to solve the above-described problems, and a component supply device and a program generation method for the component supply device that can reduce the burden on the operator when programming the robot. The purpose is to obtain.

The component supply apparatus according to the present invention includes a robot that grips a component with its own hand, and the robot operates according to a robot program for controlling the operation of the robot. A part supply device for aligning with a pallet, further comprising an action planning unit that generates a robot program, and the action planning unit includes hand 3D data indicating a 3D model of the hand and part shape 3D data indicating the 3D model of the part. Based on the input, the combination of the component and the position and orientation of the hand when the component is gripped by the hand is calculated as a grippable posture, and the grippable posture calculation unit that stores the calculation result in the grippable posture table; based on the input data, the components of the posture at the time of settling the components temporary storage table is calculated as a stable posture, the calculation result Ahn Teisugata The stable posture calculation unit stored in the table, the grippable postures included in the grippable posture table, and the stable postures included in the stable posture table are nodes, and a path for transitioning between the nodes is a transition path. By calculating a change path calculation unit that calculates and stores the calculation result in the change graph, and by searching for a transition path of the node included in the change graph, the first posture corresponding to the first node among the nodes When changing the posture to the second posture corresponding to the second node, the number of times that the hand needs to change parts is calculated as the number of change times, and the changeability calculation unit that displays the calculation result on the HMI unit; A program generation unit for generating a desired robot program determined based on a calculation result of the number of times of change displayed on the HMI unit; Yes, and the action planning unit, and displays the image on the HMI portion graspable position contained in a graspable orientation table, further comprising a gripping operation image generating unit for removing the graspable position selected from among the graspable position table Is.

Also, the program generation method for the component supply apparatus according to the present invention is such that the robot operates according to a robot program for controlling the operation of the robot that grips the component with its own hand, so that the stacked components are temporarily placed. A method for generating a robot program in a component supply apparatus that aligns to a pallet through a platform, wherein the component is handled based on input of hand 3D data indicating a 3D model of the hand and component shape 3D data indicating the 3D model of the component The combination of the component and the hand position / posture at the time of grasping is calculated as a graspable posture, and the component is temporarily determined based on the graspable posture calculating step for storing the calculation result in the graspable posture table and the input of the component shape 3D data. parts posture when settled in cradle calculated as stable posture, and stores the calculation results safely Teisugata bias table The fixed posture calculation step, the grippable posture included in the grippable posture table, and the stable posture included in the stable posture table are used as nodes, and a path for transitioning between each node is calculated as a transition path and calculated. From the first posture corresponding to the first node of the nodes to the second node of the nodes by searching the transition path of the nodes included in the replacement graph, and the change path calculation step of storing the result in the change graph When changing the posture to the corresponding second posture, the number of times that the hand needs to change the part is calculated as the number of change times, and the changeability calculation step for displaying the calculation result as an image on the HMI unit; A program generation program for generating a desired robot program determined based on the calculation result of the number of times of change in the image. It possesses Tsu and up, a, and displays the image on the HMI portion graspable position contained in a graspable orientation table, further comprising a gripping operation image generating step of removing the graspable position selected from among the graspable position table Is.

  According to the present invention, the holding position calculated from the hand 3D data and the part shape 3D data and the stable position calculated from the part shape 3D data are used as nodes, and the change of the transition path between the nodes is indicated. Based on the graph, the number of robots to be used and the number of times of changing according to whether or not the temporary storage table is used are calculated, and the calculation result is presented to the operator. Thus, it is possible to obtain a component supply device and a program generation method for the component supply device that can reduce the burden on the operator when programming the robot.

It is a schematic block diagram which shows the components supply apparatus in Embodiment 1 of this invention. It is explanatory drawing which shows an example of the hand shape of the robot of the components supply apparatus in Embodiment 1 of this invention. It is explanatory drawing which shows another example of the hand shape of the robot of the components supply apparatus in Embodiment 1 of this invention. It is a flowchart which shows the operation | movement sequence of the whole components supply apparatus in Embodiment 1 of this invention. It is a block block diagram which shows the action plan part of the components supply apparatus in Embodiment 1 of this invention. It is explanatory drawing which shows an example of the hand 3D data in Embodiment 1 of this invention. It is explanatory drawing which shows an example of the part shape 3D data in Embodiment 1 of this invention. It is explanatory drawing which shows an example of the holdable attitude | position table | surface in Embodiment 1 of this invention. It is explanatory drawing which shows an example of the stable attitude | position table | surface in Embodiment 1 of this invention. It is explanatory drawing which shows an example of the change-over graph in Embodiment 1 of this invention. It is explanatory drawing which shows the connection relation between each node of the change-over graph in Embodiment 1 of this invention. It is explanatory drawing which shows the connection relation between each node of the change-over graph in Embodiment 1 of this invention. It is explanatory drawing which shows the connection relation between each node of the change-over graph in Embodiment 1 of this invention. In Embodiment 1 of this invention, it is explanatory drawing which shows the change table obtained on the premise of use of one robot and a temporary placement stand. In Embodiment 1 of this invention, it is explanatory drawing which shows the change table obtained on the premise of use of two robots and a temporary placement stand. In Embodiment 1 of this invention, it is explanatory drawing which shows the change table obtained on the premise of use of two robots and a temporary placement stand, or use of two robots.

  Hereinafter, a component supply device and a program generation method for the component supply device according to the present invention will be described with reference to the drawings according to a preferred embodiment. In the description of the drawings, the same reference numerals are assigned to the same elements, and duplicate descriptions are omitted.

Embodiment 1 FIG.
FIG. 1 is a schematic configuration diagram showing a component supply apparatus 10 according to Embodiment 1 of the present invention. In FIG. 1, the component supply apparatus 10 shows a configuration in which a plurality of robots are used to align and supply loosely stacked components, and includes an action planning unit 20 that generates a robot program for controlling the operation of these robots.

  The component supply apparatus 10 includes a three-dimensional vision sensor 1, a first robot 3 that is disposed close to a bulk stack component box 2 in which a large number of components (for example, components having an L-shaped cross section) are stored, and components mounted thereon. Control unit for controlling the first robot 3 and the robot group 6 based on the detection results of the two-dimensional vision sensor 5, the robot group 6, and the three-dimensional vision sensor 1 and the two-dimensional vision sensor 5, 7. FIG. 1 illustrates a configuration in which parts are aligned on a pallet 8 by one first robot 3 and a robot group 6 including three second robots 6a to 6c.

  The three-dimensional vision sensor 1 functions as a distance image measurement unit together with the control unit 7, and generally picks up the components stacked in the bulk component box 2 from above, and each component from the three-dimensional vision sensor 1 is random (for example, A function of measuring a large number of distance data to the upper surface aligned in the concavo-convex shape. As a measurement principle for acquiring distance data by the three-dimensional vision sensor 1, a known method such as a stereo method, a light cutting method, a spatial code method, a random code method, or a time-off fly method can be applied. Further, in FIG. 1, two broken lines attached to the three-dimensional vision sensor 1 represent a state in which triangulation of distance is performed by each method.

  The distance data obtained by the three-dimensional vision sensor 1 is subjected to coordinate transformation calculation or the like in the three-dimensional vision sensor 1 or the control unit 7 and contributes to the calculation of the distance image. Note that the distance image referred to here is “a mapping of coordinate values in a specific coordinate axis direction” when viewed from a certain coordinate system with respect to each pixel of an image of a captured scene. For example, the first robot This is a map of the height at which the parts are stacked when viewed from the base coordinate system 3.

  As the first robot 3 and the second robots 6a to 6c in the robot group 6, for example, generally articulated robots that are widely used can be used. The first robot 3 functions as an isolation unit (described later) together with the three-dimensional vision sensor 1 and the control unit 7, and includes a hand 3h having a thin claw 3t having a tweezer shape or a forceps shape. On the other hand, the robot group 6 functions as a part position / orientation changing unit together with the two-dimensional vision sensor 5 and the control unit 7, and the second robots 6 a to 6 c in the robot group 6 each have a parallel chuck hand.

  The two-dimensional vision sensor 5 functions as a component outer shape measuring unit and is a sensor that is widely spread. The two-dimensional vision sensor 5 captures an image of a component that has been rolled onto the temporary placement table 4 and acquires its outer shape. Hereinafter, the external shape of the part acquired by measurement contributes to the calculation of the position and orientation of the part. The calculation processing of the position and orientation of the component is performed in the two-dimensional vision sensor 5 or in the control unit 7 by, for example, a template matching method.

  In the template matching method, the template images are registered in advance. Here, the template images are registered as many as the number of postures that stably stand still by rolling the parts to be handled on the temporary placement table 4. To do. Specifically, the images registered for the parts to be handled are one for parts whose front and back are irrelevant, two for parts related to the front and back, and parts that are stationary in five different postures. In this case, there are five. The stable posture on the plane is determined in advance by a stable posture table 34 on the plane obtained by the operation of the action planning unit 20 described later.

  Next, an example of the stacking and aligning operation by the robot or the like of the component supply device controlled according to the robot program generated by the action planning unit 20 described later will be specifically described.

  First, the three-dimensional vision sensor 1 analyzes a distance image, so that a part candidate that can be gripped by the first robot 3 (hereinafter, simply referred to as a “candidate”) from among the parts stacked in the bulk parts box 2. ) Is calculated and further optimized, thereby narrowing down the number of candidate parts that can be grasped to one. Note that the shape and size of the claw 3t of the hand 3h of the first robot 3 are quantified in advance in the calculation processing of the graspable candidates.

  Here, FIG. 2 is an explanatory diagram showing an example of a robot hand shape of the component supply apparatus 10 according to Embodiment 1 of the present invention. FIG. 3 is an explanatory diagram showing another example of the hand shape of the robot of the component supply apparatus 10 according to Embodiment 1 of the present invention. For example, if the hand 3h is shaped as shown in FIG. 2 or FIG. 3, it is desirable to simultaneously insert the tips of the two claws 3t of the hand 3h into the pile of loosely stacked parts without contacting the parts. Therefore, a numerical model is formed as two cylinders or prisms of the minimum size including each nail 3t separated by a distance corresponding to the opening width W of the nail 3t. At this time, the thickness of the cylinder or the prism approximates the thickness of the claw 3t, and the length of the cylinder or the prism approximates the depth at which the claw 3t is applied to the part when gripping.

  Next, the three-dimensional vision sensor 1 assumes that the latest distance image has been obtained. The 3D vision sensor 1 is a space in which a digitized cylinder or prism is entered from the latest distance image, and between the spaces. Search for the location of the part.

  Alternatively, the shape of a small protrusion that can be grasped by the hand 3h of the first robot 3 (for example, a prism, a cylinder, a flat plate, or a disk that fits between the claws 3t of the opened hand 3h) is template-matched to the distance image. And search and extract multiple candidates.

  Next, the three-dimensional vision sensor 1 performs an optimization calculation by assigning evaluation values to the extracted candidates and selecting only one candidate having the highest evaluation value. As an optimization calculation method, the highest Z-axis value is adopted as the evaluation value among the projections (or the minute prisms discovered) sandwiched between two cylinders, and the evaluation value is the largest candidate. Select.

  This optimization operation is equivalent to selecting the part that is stacked at the top of the parts that are stacked in bulk. That is, by selecting the maximum evaluation value, the candidate for the component is optimized.

  Hereinafter, how to apply the claw 3t of the hand 3h of the first robot 3 in order to approach and hold the selected optimization candidate can be obtained by simple calculation. That is, the position and orientation of the first robot 3 that can grip the component can be calculated by adding the relative position and orientation with respect to the position and orientation of the candidate that can be grasped as the XYZ values in the robot coordinate system and the rotation angles around each axis. it can.

  Note that a candidate point is extracted from a distance image by template matching a minute prismatic part of a size that can be gripped by the hand 3h, and optimized using the Z-axis height of the candidate point. Can also calculate the grip position and orientation, and the same effect can be obtained.

  Thereafter, the first robot 3 carries the gripped parts to the temporary placement table 4 and releases the parts above the temporary placement table 4. At this time, it is desirable that the first robot 3 not place the parts carefully on the temporary table 4 but put them on the temporary table 4 so as to throw them. As a result, the entangled parts are unwound, and the probability that the parts are separated and moved to the temporary table 4 in a separated state is increased.

  Here, the tool coordinate system of the first robot 3 is set to the Z axis as the direction in which the tool advances, the X, Y, and Z axes in the right hand system, and the A, B, and C axes around each axis X, Y, and Z. When defined, the operation of the first robot 3 approaching the parts in the bulk stacking part box 2 in order to pick up the parts will be described.

  For example, the claw 3t of the hand 3h of the first robot 3 is always in the posture in which the A-axis value and the B-axis value of the tool coordinate system are always the same value, and the claw 3t enters the gap between the parts with respect to the C-axis. It is assumed that the robot moves forward in the Z-axis direction in such a rotated posture.

  At this time, among the calibration errors between the coordinate system of the three-dimensional vision sensor 1 and the coordinate system of the first robot 3, a region where the posture error is small is used, and the isolation success probability P can be improved. It becomes. For example, the first robot 3 operates so as to lower the hand 3h vertically downward. “Isolation” refers to picking out only one part from the bulk parts box 2.

  The temporary table 4 is a simple table that is not equipped with anything, but when an article (foreign material) to be removed is placed on the table, the foreign material is slid down by its own weight by reversing the surface of the table (for example, Or, a mechanism such as blowing off with air or sweeping with a scissors may be added. In the case where the temporary placing table 4 is provided with an exclusion mechanism, there is an effect that error recovery is performed quickly and the tact time is not easily extended. It is assumed that the height of the top surface of the temporary table 4 (robot coordinate system Z-axis direction) is measured in advance and stored in the storage area of the control unit 7.

  The first robot 3 is obtained at that time after the parts stacked in the bulk parts box 2 are in a state where the claws 3t of the hand 3h are opened based on the robot coordinate calculation process. Move to the gripping position and close the hand 3h.

  Subsequently, the first robot 3 moves the hand 3h so as to be lifted along the Z-axis direction of the robot coordinate, performs an operation of pulling up the gripped part from the bulk stacking part box 2, and then temporarily holds the gripped part. Roll on table 4.

  As described above, the first robot 3 has an isolation function of taking out only one part from a large number of parts contained in the bulk stacking part box 2. However, the first robot 3 may not be able to grip a part due to failure to take out the part, and a plurality of parts may be entangled and rolled to the temporary table 4 in a lump. Each may roll on the temporary table 4 without being entangled.

  Any of the above states can be easily determined by imaging the temporary table 4 with the two-dimensional vision sensor 5 immediately after the first robot 3 performs the above-described operation. For example, when taking out the parts from the bulk parts box 2 fails, the picking operation by the first robot 3 is performed again.

  Further, when a plurality of parts are entangled and rolled to the temporary table 4 in a lump, the parts are lined out using an exclusion unit (not shown) that reverses the top plate of the temporary table 4. . The line-out can be easily realized, for example, by preparing a parts disposal box (not shown) and discarding the parts in the parts disposal box.

  On the other hand, when a plurality of parts roll to the temporary table 4 without being entangled, one robot in the rear robot group 6 handles the parts one by one or only one part, The remaining parts are lined out by an exclusion unit that reverses the top plate of the temporary table 4.

  In the robot group 6, the robot 6a picks up the parts from the temporary placement table 4 with a parallel chuck hand. Thereafter, the robot 6c arranges and arranges the components on the component aligning pallet 8 after passing the robot 6a, 6b, and 6c while reversing the front and back of the components. If the shape of the part to be handled is cylindrical and it is necessary to distinguish the angle around the axis, a dedicated jig is provided on the temporary placing table 4 to fix the angle, or the robot group 6 delivers it. Determine the angle in motion.

  Hereinafter, a part handling procedure by the part supply operation will be described. The two-dimensional vision sensor 5 recognizes the position and orientation of the component placed on the temporary placement table 4 by a template matching method using a template image registered in advance. At this time, when the component has a plurality of stable states, the two-dimensional vision sensor 5 executes a recognition program for all of the stable states, and obtains the result of the stable state with the highest reliability of the recognition result. Adopted as the overall recognition result. As described above, in the case of parts whose front and back are irrelevant, there is only one stable posture.

  Through the above processing, it is possible to grasp in a three-dimensional manner in which stable state and in which position and orientation the parts placed on the temporary placing table 4 are. Because the height of the temporary table 4 is known and the part is isolated, if the stable state can be determined, the height position of the part is determined, and the positional deviation of the part is also within the plane. This is because the rotation is only.

  Note that the positional displacement and rotation of the component in the plane can be measured by the two-dimensional vision sensor 5. The two-dimensional vision sensor 5 outputs “pattern identification information” indicating which template image the coordinates of the position and orientation of the part match. Also, the 2D vision sensor 5 has no part on the temporary table 4, the part is out of the sensor field of view, or the position and orientation coordinates of the part do not match any template image. “Identification information” is output.

  As described above, after the three-dimensional position and orientation of the parts rolled on the upper surface of the temporary table 4 are measured by the two-dimensional vision sensor 5, one robot 6a in the robot group 6 is Depending on the state, a part is gripped by an operation according to the robot program, and a part delivery operation with the robot 6b is performed.

  Subsequently, since the robot 6b knows what operation the robot 6a performs from the stable state of the parts measured by the two-dimensional vision sensor 5, according to each stable state according to the robot program, Parts are transferred between the two.

  Finally, as with the robot 6b, the robot 6c knows what operation the robot 6b will perform from the stable state of the components recognized by the two-dimensional vision sensor 5, so that the robot 6c responds to each stable state according to the robot program. Then, the parts are transferred to and from the robot 6b, and the alignment is supplied to the pallet 8 for alignment.

  The robot 6a goes to grip the next part on the temporary table 4 after delivering the part to the robot 6b, and the robot 6b prepares for the next part delivery from the robot 6a after delivering the part to the robot 6c. The robot 6c moves in preparation for parts delivery from the robot 6b after the parts are aligned.

  The above procedure realizes pipeline processing in which the first robot 3 and the second robots 6a to 6c always move. Therefore, even if the posture of the component is changed a plurality of times, the alignment interval of the components is a single interval. It is determined by the longest time of one movement in which the robot moves the part. It has been observed experimentally that the operating time of each robot is approximately the same.

  FIG. 4 is a flowchart showing an overall operation sequence of the component supply apparatus 10 according to the first embodiment of the present invention. Each of the three-dimensional vision sensor 1, the first robot 3, the two-dimensional vision sensor 5, and the robots 6a to 6c. The operation procedures are shown in parallel with each other. The sequence in FIG. 4 is assumed to be softwareized as a control program (robot program) and stored in the control unit 7.

  In FIG. 4, the three-dimensional vision sensor 1 starts its operation in response to the processing procedure (step S12 described later) of the first robot 3 as indicated by the dotted arrows. Is measured (step S1).

  Subsequently, the 3D vision sensor 1 optimizes the gripping candidates (step S2), and sends the coordinates of the gripping candidates to the first robot 3 via the control unit 7 as indicated by the dotted arrows (step S3). . Thereafter, upon completion of the operations in steps S1 to S3, the process returns to step S1.

  The first robot 3 first moves to the retracted coordinates so as not to obstruct the field of view of the three-dimensional vision sensor 1 (step S11), and requests the above-described measurement by the three-dimensional vision sensor 1 (step S12). When the first robot 3 acquires the coordinates of the gripping candidate by the measurement of the three-dimensional vision sensor 1, the first robot 3 moves to the gripping coordinate (Step S13), and closes the hand 3h to grip the gripping candidate (Step S14).

  Subsequently, the first robot 3 moves to the coordinates of the temporary placement table 4 (step S15), opens the hand 3h, and rolls the gripped component onto the temporary placement table 4 (step S16). Thereafter, upon completion of the operations in steps S11 to S16, the process returns to step S11.

  The two-dimensional vision sensor 5 starts its operation in response to the processing procedure of the robot 6a (step S32 described later) as indicated by the dotted arrow, and first measures the image on the temporary table 4 (step S21). .

  Subsequently, the two-dimensional vision sensor 5 performs template matching between the measurement image and the template image (step S22), and sends the pattern identification information and the grip coordinates to the robot 6a via the control unit 7 as indicated by a dotted arrow. It is sent out (step S23). Thereafter, upon completion of the operations in steps S21 to S23, the process returns to step S21.

  First, the robot 6a moves to the retracted coordinates so as not to obstruct the field of view of the two-dimensional vision sensor 5 (step S31), and requests the above-described measurement by the two-dimensional vision sensor 5 (step S32). When the robot 6a acquires the pattern identification information and the grip coordinates by the measurement of the two-dimensional vision sensor 5, the robot 6a performs branch determination to steps S31, S32, and S34 according to the measurement result (component information in the control unit 7). A branching operation is performed according to the determination result (step S33).

  When an appropriate gripping coordinate is obtained from the two-dimensional vision sensor 5, the robot 6a moves to the gripping coordinate on the temporary table 4 (step S34), and closes the hand to move the hand on the temporary table 4. The part is gripped (step S35).

  Subsequently, the robot 6a moves to a part delivery posture to the adjacent robot 6b (step S36), and shifts to a part pick-up waiting state (step S37). Step S37 links to the parts waiting state of the robot 6b (step S42) as indicated by the dotted arrow.

  When the robot 6a confirms the hand closing operation (step S44) of the robot 6b, as shown by the broken line arrow, the robot 6a opens the hand and passes the parts gripped by itself to the robot 6b (step S38). . Thereafter, upon completion of the operations in steps S31 to S38, the process returns to step S31.

  First, the robot 6b moves to the retracted coordinates so as not to block the operation space of the robot 6a (step S41), and shifts to a parts waiting state from the robot 6a in response to the robot 6a waiting to be picked up (step S37). (Step S42). The robot 6b moves to the parts feed coordinates of the robot 6a (step S43), closes the hand, and grips the parts gripped by the robot 6a (step S44).

  Subsequently, the robot 6b changes the component posture (step S45), further moves to a component delivery posture to the adjacent robot 6c (step S46), and shifts to a component take-up waiting state (step S47). Step S47 is linked to the parts waiting state of the robot 6c (step S52) as indicated by the dotted arrow.

  When the robot 6b confirms the hand closing operation (step S54) of the robot 6c, as shown by the broken line arrow, the robot 6b opens the hand and passes the parts gripped by itself to the robot 6c (step S48). . Thereafter, upon completion of the operations in steps S41 to S48, the process returns to step S41.

  First, the robot 6c moves to the retracted coordinates so as not to block the operation space of the robot 6b (step S51), and shifts to a parts waiting state from the robot 6b in response to the robot 6b waiting state (step S47). (Step S52). The robot 6c moves to the parts feed coordinates of the robot 6b (step S53), closes the hand, and grips the parts gripped by the robot 6b (step S54).

  Subsequently, the robot 6c changes the component posture (step S55), moves to the component insertion coordinates on the pallet 8 (step S56), opens the hand, and removes the component held by itself by the pallet 8. (Step S57). Thereafter, upon completion of the operations in steps S51 to S57, the process returns to step S51.

  Here, the branching operation (step S33) of the robot 6a based on the measurement result (component information) of the two-dimensional vision sensor 5 will be specifically described. In step 33, the robot 6a performs the following determination process based on the measurement result and a branching operation according to the determination result.

  First, when the measurement result of the two-dimensional vision sensor 5 indicates that (A) there is no part on the temporary table 4, the robot 6a returns to step S31 and moves to its own retracted coordinate. To do. At the same time, the control unit 7 considers that the operation of the first robot 3 has not been performed properly, generates an operation command for the first robot 3, and performs a series of operations (steps S11 to S11) on the first robot 3. S16) is executed again.

  When the measurement result of the two-dimensional vision sensor 5 indicates that (B) the parts on the temporary placement table 4 are out of the field of view of the two-dimensional vision sensor 5, the robot 6a moves from the temporary placement table 4. The operation of removing the part is performed. In a specific example, the robot 6 a flips off the parts on the temporary table 4 and removes them from the temporary table 4.

  Alternatively, processing such as providing an exclusion mechanism for inverting the top plate of the temporary table 4 and operating the exclusion mechanism according to an instruction from the control unit 7 is performed. After removing the parts from the temporary placement table 4, the robot 6a returns to step S31 and moves to the standby posture. At the same time, the control unit 7 generates an operation command for the first robot 3 and causes the first robot 3 to execute a series of operations (steps S11 to S16) again.

  Further, when the measurement result (part information) of the two-dimensional vision sensor 5 indicates that (C) the stationary posture of the part on the temporary placement table 4 shows a state in which the posture inversion maneuver increases thereafter, the robot 6a An operation for reducing the number of posture reversals (number of times of holding) is performed by touching and defeating parts on the temporary table 4. After the component posture reversal manpower reduction operation is completed, the robot 6a returns to step S32 and causes the measurement operation of the two-dimensional vision sensor 5 to be executed again.

  Furthermore, when the measurement result (part information) of the two-dimensional vision sensor 5 indicates that (D) there are a plurality of types of parts that the apparatus handles as supply targets and the part posture is not appropriate, the robot 6a The operation of removing the parts from the temporary table 4 is performed, and the process returns to step S31 to move to the retracted coordinates. At the same time, the control unit 7 generates an operation command for the first robot 3 and causes the first robot 3 to execute a series of operations (steps S11 to S16) again.

  As in (D) above, when multiple types of parts are to be supplied, different parts are separated and supplied into the bulk parts box 2, but the workers are of different types. It is possible to insert wrong parts. In this case, if the first robot 3 performs the extraction operation for each cell in order, when it encounters the wrong part, it extracts a part different from the original order and puts it on the temporary placement table 4. However, it can be determined from the pattern measurement result of the two-dimensional vision sensor 5 that the parts are different parts.

  Next, the action plan unit 20 of the component supply apparatus 10 will be described. The action planning unit 20 generates a robot program for controlling the operation of the robot. That is, an operator (user) can cause the action planning unit 20 to generate a desired robot program. Also, hand 3D data 31 of a hand attached to the robot of the component supply apparatus 10 and component shape 3D data 32 of a component stored in the bulk stacking component box 2 are prepared in advance, and the operator plans to the action planning unit 20. Entered.

  Next, the configuration and operation of the action planning unit 20 will be specifically described with reference to FIG. FIG. 5 is a block configuration diagram showing the action planning unit 20 of the component supply apparatus 10 according to Embodiment 1 of the present invention.

  In FIG. 5, the action plan unit 20 includes a graspable posture calculation unit 21, a gripping motion image generation unit 22, a stable posture calculation unit 23, a stable posture image generation unit 24, a change-over path calculation unit 25, a series of motion image generation units 26, An attitude designation unit 27, a changeability calculation unit 28, a program generation unit 29, and an HMI unit 30 are provided. In addition, the action plan part 20 is comprised from the memory which memorize | stored CPU and the program.

  Here, as an example of the hand 3D data 31 and the part shape 3D data 32 input to the action planning unit 20, a case where the 3D model of the hand shown in FIG. 6 and the 3D model of the part shown in FIG. 7 are used is illustrated. To explain. FIG. 6 is an explanatory diagram showing an example of the hand 3D data 31 according to the first embodiment of the present invention. FIG. 7 is an explanatory diagram showing an example of the part shape 3D data 32 according to the first embodiment of the present invention.

  These models may be in a general 3D model format. The hand shown in FIG. 6 is a parallel gripper having two fingers. For example, the finger length is 60 mm, the finger width is 2 mm, the finger thickness is 2 mm, the maximum finger interval is 12 mm, and the base portion. Specific dimensions can be given such as a radius of 30 mm and a base height of 20 mm. Two fingers perform a gripping operation, and information on the method of the operation, for example, a trajectory of the translational motion of the finger can be given to the model. Furthermore, specific dimensions can be similarly given to the components shown in FIG.

  The graspable posture calculation unit 21 receives hand 3D data 31 indicating a 3D model of a hand attached to the robot and component shape 3D data 32 indicating a 3D model of a component stored in the bulk stacking component box 2. . Further, the grippable posture calculation unit 21 searches all the parallel planes among the planes constituting the part with a step size determined separately based on the part coordinate system linked to the part shape 3D data 32, and the parallel plane A direction vector of a hand posture capable of placing a hand nail on is calculated. Furthermore, the grippable posture calculation unit 21 calculates a position / posture combination of the component and the hand as a grippable posture based on the length of the hand claw that is separately determined on the component and the calculated direction vector of the hand posture. .

  The grippable posture calculated by the grippable posture calculation unit 21 is stored in the grippable posture table 33. In other words, the grippable posture table 33 stores a list of candidates for combinations of parts that may be gripped and the position and posture of the hand. In the hand 3D data 31 and the part shape 3D data 32, signal cables and other members that are not converted to 3D data may actually exist. At this stage, the grippable posture table 33 stores the grippable postures. Of the postures, those that cannot actually be held are included.

  The gripping motion image generation unit 22 has a function of graphically displaying on the screen of the HMI unit 30 the gripping state of the part by the robot hand for each grippable posture stored in the grippable posture table 33. In this case, the operator can correct the graspable posture table 33 while checking this screen. Specifically, the grippable posture selected by the operator as needed can be removed from the grippable posture table 33 and corrected. An HMI (Human Machine Interface) unit 30 includes, for example, a display screen, a keyboard, a pointing device, and the like, and has a function of graphically displaying graphic information on the display unit.

  Here, an example of the grippable posture table 33 that is graphically displayed on the screen of the HMI unit 30 will be described. FIG. 8 is an explanatory diagram showing an example of a grippable posture table 33 according to the first embodiment of the present invention.

  In FIG. 8, a total of 22 (0 to 21) grippable postures calculated by the grippable posture calculation unit 21 are shown, and a check mark is attached to each grippable posture. This check mark represents whether or not to use in calculation by the transfer path calculation unit 25 described later.

  For example, if it is easy to wobble, if you cannot clearly grip a part, grip a part that should not be gripped (for example, a part that dislikes scratches or deformation), or if the robot interferes with something, etc. The operator can remove the check mark. Thus, the grippable posture with the check mark removed is not used in the calculation by the transfer path calculation unit 25. In this way, the operator can remove the grippable posture selected as necessary while checking the screen of the HMI unit 30 from the grippable posture table 33 by removing the check mark.

  The stable posture calculation unit 23 receives the part shape 3D data 32 of the parts stored in the bulk stacking part box 2. In addition, the stable posture calculation unit 23 calculates all planes constituting the minimum convex hull that wraps the part corresponding to the part shape 3D data based on the input part shape 3D data 32. Furthermore, the stable posture calculation unit 23 determines whether or not the feet of the vertical line are falling in each plane when the vertical line is lowered toward each plane calculated from the center of gravity of the component.

  Here, the plane in which the feet of the perpendicular line fall in the plane is a stable surface on which the component may settle down with the plane down when the component is rolled on the temporary table 4. Based on this determination, the stable posture calculation unit 23 calculates a plurality of stable postures corresponding to the posture with the stable surface down on the temporary table 4. Note that “stabilizing” means that when a part is placed on a flat surface in a certain posture, the posture is maintained without falling down.

  Further, the stable posture of the component calculated by the stable posture calculation unit 23 is stored in a stable posture table 34 on the plane (hereinafter simply referred to as a stable posture table 34). At this stage, among the stable postures of the components stored in the stable posture table 34, those that cannot actually be gripped by the hand are included. For example, even when the component is in a stable posture, the case where the hand interferes with the upper surface of the temporary table 4 when the hand tries to grip the component on the temporary table 4 is applicable. In addition, in the hand 3D data 31 and the part shape 3D data 32, a signal cable and other members that are not converted into 3D data actually exist. Furthermore, if the component is in a stable posture, it is theoretically settled on the temporary table 4, but the ground contact surface is small, and it falls down as soon as vibration is applied.

  The stable posture image generation unit 24 has a function of graphically displaying the static state of the parts for each of the stable postures stored in the stable posture table 34 on the screen of the HMI unit 30. In this case, the operator can correct the stable posture table 34 while checking this screen. Specifically, the stable posture selected by the operator as needed can be removed from the stable posture table 33 and corrected.

  Here, an example of the stable posture table 34 displayed graphically on the screen of the HMI unit 30 will be described. FIG. 9 is an explanatory diagram showing an example of the stable posture table 34 according to the first embodiment of the present invention.

  FIG. 9 shows a total of nine (0 to 8) stable postures calculated by the stable posture calculation unit 23. Each stable posture is marked with a check mark as in FIG. ing. This check mark represents whether or not to use in calculation by the transfer path calculation unit 25 described later. That is, FIG. 9 simulates the case where parts are placed in a stable posture on a plane on the temporary placement table 4.

  For example, the operator can remove the check mark for a stable posture corresponding to a case where wobble is likely to occur, a component cannot be gripped clearly, or a stable posture of the component is a posture that should not be gripped. As a result, the stable posture with the check mark removed is not used in the calculation by the transfer path calculation unit 25. In this way, the operator can remove the stable posture selected as necessary while checking the screen of the HMI unit 30 from the stable posture table 34 by removing the check mark.

  Further, Score shown in FIG. 9 represents the degree to which the stable posture transitions to another stable posture due to some disturbance. That is, this Score represents, for example, the degree to which the component falls when vibration is applied to the component or the hand touches a little. Furthermore, the Score value indicates the amount of energy required to transition to the next stable posture. When the numerical value is large, it indicates that the stable posture is stable, and the numerical value is small. In some cases, it is easy to fall down when a little disturbance is applied.

  In addition, after the stable posture table 34 is obtained by the operation of the stable posture calculation unit 23, it is possible to estimate a state in which an image is captured by the two-dimensional vision sensor 5 from information on a plane. Specifically, the projected contour on the plane may be calculated when the part shape 3D data 32 corresponding to each part is settled on the plane in each stable posture. An evaluation value (for example, the Hausdorff distance of the contour) of whether or not the calculated contours are similar while comparing the projected contours with each other, or a recognition algorithm for the two-dimensional vision sensor 5 will be used. Based on the matching evaluation value calculated by applying the template matching algorithm between the components, it is possible to extract a plurality of stable postures that may be erroneously recognized between the components. Such a plurality of stable postures is displayed on the HMI unit 30 by the stable posture image generation unit 24, and based on this display, the operator can remove the check mark as necessary, thereby forming a two-dimensional vision. There is an effect that the posture can be accurately identified by the sensor 5.

  The transfer path calculation unit 25 calculates a combination in which the temporary placement table 4 and the hand do not interfere among the combinations of the stable posture stored in the stable posture table 34 and the grippable posture stored in the grippable posture table 33. To do. That is, the transfer path calculation unit 25 calculates the position and orientation of the hand that can grip the component for each static state of the component on the temporary table 4. Also, the change-over path calculation unit 25 writes the calculation result in the change-over graph 35.

  Further, the holding path calculation unit 25 calculates a combination in which the same parts are simultaneously gripped by two hands and the hands do not interfere with each other among the combinations of grippable postures stored in the grippable posture table 33. That is, the transfer path calculation unit 25 calculates the position and orientation of two hands that can deliver parts from one hand to the other hand. Also, the change-over path calculation unit 25 describes the calculation result together with the change-over graph 35.

  Here, an example of the change graph 35 in which the calculation result by the change path calculation unit 25 is described will be described. FIG. 10 is an explanatory diagram showing an example of the transfer graph 35 according to Embodiment 1 of the present invention.

  In FIG. 10, a total of 22 (0 to 21) gripping postures shown in FIG. 8 and a total of 9 (0 to 8) stable postures shown in FIG. 9 are used as nodes. That is, the nodes of this graph represent (1) a state in which the hand is holding the component in a certain posture, and (2) a state in which the component on the temporary placement table 4 is fixed in a certain posture. In addition, sf is attached | subjected before each number with respect to the node which shows the stable attitude | position of FIG. In addition, in the graspable posture table 33 and the stable posture table 34, the postures from which the check mark is removed are not described in the change graph 35 as nodes.

  In addition, the transition graph 35 records transition paths between the nodes in a graph structure. That is, the transition path of this graph is as follows: (1) it is possible to hold (pick up) a part to be settled in a posture on the temporary table 4 in a posture, (2) one hand is A part to be gripped in a certain posture can be gripped (delivered) in a posture with the other hand, and (3) a component to be gripped in a certain posture is settled in a posture on the temporary table 4. (Release) is possible.

  In FIG. 10, if two nodes are directly connected by a straight line, it indicates that a direct transition from the posture corresponding to one node to the posture corresponding to the other node is possible, and the nodes are connected. The straight line that corresponds to the transition path.

  For example, as shown in FIG. 10, a node (node (sf1)) corresponding to the first stable posture in the stable posture table 34 and a node (node (sf1)) corresponding to the tenth grippable posture in the gripable posture table 33 ( The node (10)) is connected by a straight line. In this case, it can be said that transition between the nodes is possible. That is, it can be said that a part that is settled in a stable posture corresponding to the node (sf1) can be picked up on the temporary table 4 in a grippable posture corresponding to the node (10).

  Also, in FIG. 10, if two nodes are not directly connected by a straight line, it indicates that a direct transition from the posture corresponding to one node to the posture corresponding to the other node is impossible. Further, in FIG. 10, even if two nodes are not directly connected by a straight line, the position corresponding to one node is indirectly transferred to the position corresponding to the other node by passing through a node different from these nodes. It is shown that it is possible to make a transition.

  For example, the node (sf1) and the node (5) are not directly connected by a straight line. In other words, it is impossible for the hand to pick up a part that settles in a stable posture corresponding to the node (sf1) on the temporary table 4 in a grippable posture corresponding to the node (5).

  However, it is possible to transit from the node (sf1) to the node (5) with the minimum path by making a transition in the order of the node (sf1) → node (10) → node (5) using a different node (10) as a transit point. It can be said. That is, a part that settles in a stable posture corresponding to the node (sf1) is picked up on the temporary table 4 in a grippable posture corresponding to the node (10), and this hand grips in this posture. It can be said that the parts can be delivered in a grippable posture corresponding to the node (5) by the other hand.

  As described above, based on the transition path between the nodes recorded in the change graph 35 by the calculation by the change path calculation unit 25, it is possible to change from the posture corresponding to one node to the posture corresponding to another node. It can be determined whether or not there is.

  For reference, FIGS. 11A to 11C show connection relationships between the nodes of the transfer graph 35 in FIG. 11A to 11C are explanatory diagrams illustrating the connection relationship between the nodes of the transfer graph 35 according to Embodiment 1 of the present invention.

  In FIGS. 11A to 11C, if a direct transition from the posture corresponding to one node on the vertical axis to the posture corresponding to one node on the horizontal axis is possible, the cells corresponding to these two nodes are circled. The mark is written. On the other hand, if direct transition from the posture corresponding to one node on the vertical axis to the posture corresponding to one node on the horizontal axis is impossible, nothing is indicated in the cells corresponding to these two nodes. Not done (cell is blank).

  For example, as described above, since the hand can be picked up on the temporary table 4 in a stable posture corresponding to the node (sf1) in a grippable posture corresponding to the node (10), As shown in FIG. 11A, a circle corresponding to the node (sf1) on the vertical axis and the node (10) on the horizontal axis is marked. On the other hand, since it is impossible for the hand to pick up a part that settles in a stable posture corresponding to the node (sf1) on the temporary placing table 4 in a grippable posture corresponding to the node (5), it is shown in FIG. 11A. Thus, nothing is written in the cells corresponding to the node (sf1) on the vertical axis and the node (5) on the horizontal axis.

  As described above, in FIGS. 11A to 11C, if circles are written in the cells corresponding to the nodes on the vertical axis and the nodes on the horizontal axis, these nodes are connected by a straight line in the transfer graph 35 in FIG. 10. It will be.

  The series motion image generation unit 26 has a function of graphically displaying the above-described pickup, delivery, and release operation states on the screen of the HMI unit 30 for each of the nodes and transition paths described in the transfer graph 35. In this case, the operator can correct the graspable posture table 33 and the stable posture table 34 by the method described above while checking this screen. In addition, you may comprise so that the change graph 35 may be corrected by comprising so that the node of the change graph 35 can be removed directly.

  The posture designation unit 27 designates two nodes among the nodes of the transfer graph 35 based on the selection by the worker using the HMI unit 30. That is, the operator selects two types of desired postures from the graspable posture table 33 or the stable posture table 34.

  The change possibility calculation unit 28 determines whether or not there is a transition path connecting the two nodes specified by the posture specification unit 27 by searching the change graph 35.

  If there is a transition path that directly connects the two nodes or a transition path that indirectly connects the two nodes via other nodes, the switchability calculation unit 28 calculates the transition between the two nodes. It is determined that there is a transition path to be connected. On the other hand, if such a transition path does not exist at all, the change possibility calculation unit 28 determines that there is no transition path connecting the two nodes.

  In addition, the change possibility calculation unit 28 calculates the number of changes necessary to transit between the nodes of the change graph 35 in consideration of the number of robots used in the component supply device 10 and the use of the temporary table 4. Therefore, a full search calculation of the transfer graph 35 is performed.

  As a result of this calculation, a change table corresponding to the (original) node before change and the horizontal axis corresponding to the node after change is obtained. The nodes on the vertical axis and the horizontal axis correspond to the nodes of the change graph 35 described above. In addition, the numerical value shown in each cell of the change table indicates the minimum number of change times necessary for transition from the node on the vertical axis to the node on the horizontal axis. Indicates no. Further, if the cell is blank, it indicates that no matter how many times the change is made, the node on the vertical axis cannot be changed to the node on the horizontal axis (cannot be changed).

  Here, an example of a change table obtained as a calculation result by the change possibility calculation unit 28 will be described. It should be noted that, here, when carrying out the changeover, it is assumed that one robot and the temporary table 4 are used, two robots and the temporary table 4 are used, and two The calculation results obtained when the use of the robot is assumed are illustrated.

  FIG. 12 is an explanatory diagram showing a change-over table obtained on the premise that one robot and the temporary placement table 4 are used in the first embodiment of the present invention. FIG. 13 is an explanatory diagram showing a change-over table obtained on the premise of using two robots and temporary placement table 4 in Embodiment 1 of the present invention. FIG. 14 is an explanatory diagram showing a change-over table obtained on the premise that two robots and temporary placement table 4 are used or two robots are used in Embodiment 1 of the present invention.

  In FIG. 12, for example, the numerical value of the cell corresponding to the node (0) on the vertical axis (corresponding to First Grasp in the table) and the node (0) on the horizontal axis (corresponding to Desired Grasp) is 0. This is because one robot has already gripped a part in a gripping posture corresponding to the node (0), so there is no need to change the part by allowing it to settle on the temporary table 4 in a stable posture. It is shown that. Thus, if the nodes on the vertical axis and the nodes on the horizontal axis are the same, the numerical value of the cell is 0.

  In FIG. 12, the numerical value of the cell corresponding to node (0) on the vertical axis and node (1) on the horizontal axis is 2. This is because when a transition is made from node (0) on the vertical axis to node (1) on the horizontal axis, a part that one robot grips in a grippable posture corresponding to node (0) is placed on temporary placement table 4 In a stable posture (count the number of times of change) and, in addition, hold the component in a stable posture in a holdable posture corresponding to the node (1) on the horizontal axis (count the number of times of change). Shows that you can). That is, as a result of searching the replacement graph 35, the transition path of the minimum path (for example, the node (0)) among the transition paths for transitioning from the node (0) to the node (1) as shown in FIG. → Node (sf4) → Node (1)) is found.

  As described above, in FIG. 12, the number of times of change necessary for transition from the node on the vertical axis to the node on the horizontal axis on the assumption that one robot and the temporary placement table 4 are used (the transition path of the minimum path). ) Is shown in the cell corresponding to each node.

  In FIG. 13, the numerical value of the cell corresponding to node (0) on the vertical axis and node (0) on the horizontal axis is 2. This is because a part that one robot grips in a gripping posture corresponding to the node (0) on the vertical axis is settled in a stable posture on the temporary placing table 4, and the component in the stable posture is further fixed to the other robot. Indicates that it can be gripped in a grippable posture corresponding to the node (0) on the horizontal axis. That is, as a result of searching the replacement graph 35, as shown in FIG. 10, the transition of the minimum path among the transition paths for transitioning from the node (0) to the node (0) via the node (sf). This means that a path (for example, node (0) → node (sf4) → node (0)) has been found.

  In FIG. 13, for example, the numerical value of the cell corresponding to node (0) on the vertical axis and node (1) on the horizontal axis is 2. This is because when a transition is made from node (0) on the vertical axis to node (1) on the horizontal axis, the part that one robot grips in the gripping posture corresponding to node (0) is placed on temporary table 4. It is shown that a stable posture can be set, and a component in a stable posture can be gripped by the other robot in a grippable posture corresponding to the node (1) on the horizontal axis. That is, as a result of searching the replacement graph 35, the transition of the minimum path among the transition paths for transitioning from the node (0) to the node (1) via the node (sf) as shown in FIG. This means that a path (for example, node (0) → node (sf4) → node (1)) has been found.

  As described above, in FIG. 13, the number of times of change necessary for transition from the node on the vertical axis to the node on the horizontal axis on the assumption that the two robots and the temporary placement table 4 are used (the transition path of the minimum path). ) Is shown in the cell corresponding to each node.

  In FIG. 14, the numerical value of the cell corresponding to node (0) on the vertical axis and node (0) on the horizontal axis is zero. This indicates that since one robot has already gripped a part in a grippable posture corresponding to the node (0), it is not necessary to change the position by causing the other robot to grip the part. Thus, if the nodes on the vertical axis and the nodes on the horizontal axis are the same, the numerical value of the cell is 0.

  In FIG. 14, for example, the numerical value of the cell corresponding to node (0) on the vertical axis and node (1) on the horizontal axis is 2. This shows the result of comparing the case where two robots and temporary storage table 4 are used with the case where two robots are used, and the former case where the number of changeovers is smaller. Yes. Also, assuming the use of two robots and a temporary table 4 and when transitioning from node (0) on the vertical axis to node (1) on the horizontal axis, one robot changes to node (0). The parts to be gripped in the corresponding grippable posture are settled in a stable posture on the temporary placing table 4, and the parts in the stable posture are held in a grippable posture corresponding to the node (1) on the horizontal axis. It shows that it can be gripped. That is, as a result of searching the replacement graph 35, the transition of the minimum path among the transition paths for transitioning from the node (0) to the node (1) via the node (sf) as shown in FIG. This means that a path (for example, node (0) → node (sf4) → node (1)) has been found.

  In FIG. 14, for example, the numerical value of the cell corresponding to node (0) on the vertical axis and node (4) on the horizontal axis is 1. This shows the result of the latter case where the number of changeovers is smaller as a result of comparing the case where two robots and the temporary table 4 are used with the case where two robots are used. Yes. Also, assuming the use of two robots, when transitioning from node (0) on the vertical axis to node (4) on the horizontal axis, one robot is in a grippable posture corresponding to node (0). This shows that the other robot can grip the gripped component in a grippable posture corresponding to the node (4) on the horizontal axis. That is, as a result of searching the replacement graph 35, the transition path (node (0) → node (4)) for transition from the node (0) to the node (4) was found as shown in FIG. It becomes.

  As described above, in FIG. 14, as a result of comparing the number of times of change when assuming the use of two robots and the temporary table 4 with the number of times of change when assuming the use of two robots, A small number of changeovers is shown in the cell corresponding to each node.

  Further, the change possibility calculation unit 28 can also estimate the direct rate of the part alignment work or the tact time by performing the full search calculation of the change graph 35 described above. Specifically, the tact time is estimated and calculated by multiplying the numerical value of the cell of the change table obtained in the calculation result of the change possibility calculation unit 28 by the weighting factor corresponding to the tact time and taking the sum. be able to. If the cell is blank, it becomes a line-out and causes the tact time to increase.

  Further, the probability of occurrence may be separately calculated for each of the stable postures that can be taken by the parts on the temporary placement table 4, and this calculation result may be taken into account when performing the tact time estimation calculation. By changing design parameters such as the shape of the hand of the component supply device 10, the opening width of the hand, the number of robots used and the presence / absence of the temporary table 4, or control parameters for causing the robot to perform a desired operation, etc. It is also possible to examine the change in the direct rate or tact time at.

  In addition, the operator can find an optimal grippable posture by comparing the straight line rate or the tact time estimated value obtained by the full search calculation of the change-over graph 35, and referring to this, the operator can find the optimum gripping posture. It is possible to optimally design the gripping posture of the hand immediately before performing the part alignment work.

  Further, the change possibility calculation unit 28 displays the change table on the HMI unit 30 and presents it to the operator, so that the operator can easily determine the optimum design parameters and control parameters, and the parts alignment Work efficiency can be improved. Furthermore, the change possibility calculation unit 28 presents not only a change table but also an estimated value of the direct rate or tact time to the worker, so that the worker can more easily determine the optimum design parameters and control parameters. be able to.

  The program generation unit 29 is based on the design parameters and control parameters determined by the worker, and based on the transfer graph 35, the stable postures that the parts can take on the temporary placement table 4 (node (sf0) to node (sf8)). For all of the above, a robot program is generated for controlling a series of repositioning operations up to the gripping posture (final node) of the hand immediately before performing the part alignment work on the pallet 8 designated by the posture designation unit 27. A series of transfer operations up to the final node is finally determined by an operator, and each robot hand in the component supply apparatus 10 performs a pickup, release, or delivery operation according to this robot program. Do.

  Further, as described above, the series motion image generation unit 26, the gripping motion image generation unit 22, and the HMI unit 30 display an animation using 3D data for the posture in which the robot hand grips the component. Therefore, the operator can perform a precise spot matching teaching operation while viewing the display of the teaching point in the robot program where a precise spot matching position teaching is necessary, that is, the teaching point.

  Next, a series of operation procedures of the action planning unit 20 will be described in detail. First, the worker inputs the hand 3D data 31 and the part shape 3D data 32 to the action planning unit 20. With these inputs, as described above, the graspable posture calculation unit 21 calculates the graspable posture table 33, and the stable posture calculation unit 23 calculates the stable posture table 34. Subsequently, the change-over path calculation unit 25 calculates the change-over graph 35 based on the grippable posture table 33 and the stable posture table 34 as described above.

  As described above, when the operation proceeds to the stage where the change graph 35 is calculated by the operation of the change path calculation unit 25, the operator can select whether to execute the program output to the actual machine or to continue the preliminary examination. it can.

  First, a case where the operator selects to execute program output to the actual machine will be described. In this case, the worker activates the program generation unit 29 by clicking an icon displayed on the HMI unit 30 with a pointing device. The program generation unit 29 generates a robot program based on the transfer graph 35 after activation. Further, the worker performs a precise in-situ teaching operation on the teaching points in the robot program. The component supply apparatus 10 operates by executing the robot program thus obtained.

  Next, a case will be described in which the worker selects to continue the preliminary examination. In this case, the operator operates the posture designation unit 27 and the changeability calculation unit 28. The posture designation unit 27 and the changeability calculation unit 28 may be implemented as an execution format of a computer program and include a start button. As a result, the operation can be started by clicking the start button with the mouse.

  The operator uses the HMI unit 30 to select the posture gripped by the robot hand and the pickup posture from the temporary placement table 4. Specifically, as described above, the posture designation unit 27 designates two nodes among the nodes of the change-over graph 35 based on the selection by the worker using the HMI unit 30.

  Then, the change possibility calculation unit 28 searches the change graph 35 and determines whether or not there is a change method for connecting the postures corresponding to the two nodes. In this case, if it is determined that the change is established, the change possibility calculation unit 28 may be configured so that the change animation is displayed by the series motion image generation unit 26 and the HMI unit 30. As a result, it is possible to prevent the worker from wasting time and anxious about whether or not the actual machine can be changed before the target machine, and if the part supply device is operated, the machine is eventually changed. It is possible to prevent the operation time from becoming indefinite because a situation such as failure has not occurred.

  Further, as described above, the change possibility calculation unit 28 performs the full search calculation (see FIGS. 12 to 14) of the change graph 35 so as to estimate the straightness rate of the part arranging operation or the tact time. Do. Thereby, the operator can investigate the change of the tact time by changing the design parameter or the control parameter.

  Furthermore, based on the sequential selection of grippable postures that can be taken by the operator's hand, the holdability calculation unit 28 can obtain an estimated value of the orthogonal ratio or tact time corresponding to each grippable posture. Thus, the operator can find the optimum gripping posture by comparing the estimated values, and optimally design the gripping posture of the hand when performing the part aligning work on the pallet 8 with reference to this. be able to. In addition, the operator can determine the optimum number of robots necessary for aligning the parts on the pallet 8 and the optimum operation of the robot to be used.

  After starting the program generation unit 29, the program generation unit 29 generates a robot program based on the change-over graph 35 based on the design parameters and control parameters determined based on the results of the above-described prior examination by the worker.

  As described above, the component supply apparatus according to Embodiment 1 (FIGS. 1 to 14) of the present invention is a three-dimensional vision sensor 1 (distance) that measures a distance image of components housed in the bulk component box 2. An image measuring unit), a first robot 3 (isolation unit) that grips and picks up parts from the bulk component box 2 based on the distance image, and the position and orientation of the parts isolated by the first robot 3 in advance A robot group 6 (position / orientation changing unit) to be changed by a predetermined operation, a control unit 7 for controlling the operation and operation timing of the distance image measuring unit, isolating unit and position / orientation changing unit according to the robot program; The action plan part 20 which produces | generates is provided.

  The position / orientation changing unit includes a robot group 6 (second robot) that receives a part from the first robot 3 and changes the position / orientation of the part. In addition, the isolation unit includes a temporary table 4 on which one or more parts released (rolled) after being gripped by the first robot 3 are placed.

  In addition, the position / orientation changing unit includes a two-dimensional vision sensor 5 (component outer shape measuring unit) that measures the outer shape of the component on the temporary table 4, and the robot group 6 picks up the component on the temporary table 4. To change the position and orientation of the part. Further, the robot group 6 is composed of a plurality of robots 6a to 6c, and the positions and orientations of the parts are determined by a predetermined operation while delivering the parts picked up from the temporary table 4 between the plurality of robots 6a to 6c. To change.

  Further, the action plan unit 20 calculates a grippable posture calculation unit 21 that calculates a grippable posture (gripable posture table 33) when a component is gripped by the hand based on the input hand 3D data 31 and component shape 3D data 32. Then, based on the gripping motion image generation unit 22 that removes the grippable posture selected by the operator from the graphically displayed grippable posture table 33 and the input component shape 3D data 32, the component is settled on the temporary placement table 4. A stable posture calculation unit 23 for calculating a stable posture (stable posture table 34) when the image is displayed, a stable posture image generation unit 24 for removing the stable posture selected by the operator from the graphically displayed stable posture table 34, and a grippable posture Using the grippable posture and the stable posture included in Table 33 and the stable posture table 34 as nodes, a change graph 35 indicating a transition path between the nodes is calculated. A change path calculation unit 25 to perform, a series of motion image generation units 26 for removing nodes selected by the worker from the graphicly displayed change graph 35, a posture designation unit 27 for designating a node based on the operator's selection, and a change graph 35, a changeability calculation unit 28 that estimates the tact time or the direct rate by performing a full search calculation of the transition paths of the nodes included in 35, a program generation unit 29 that generates a robot program desired by the operator, and an HMI unit 30.

  As described above, according to the first embodiment of the present invention, after a three-dimensional vision sensor and a first robot position a part in a stacked state on a temporary placement table and recognize the position and orientation of the part with the two-dimensional vision sensor. Since parts are delivered by a plurality of robots and handled by pipeline processing to align them on a pallet, it is possible to align parts in a stacked state at high speed. In other words, by using a three-dimensional vision sensor, a device for aligning (or assembling) parts to be supplied in bulk can be obtained, and the necessary parts supply process must be revolutionized for automatic assembly devices, automatic assembly robots, etc. be able to.

  In addition, since the parallel processing time can be suppressed to a time equivalent to the operation time of each of the first robot and the second robot, the cycle time of the alignment process can be prevented from being extended even for parts having a complicated shape. Can do. In particular, when the part position / orientation changing unit is configured by a robot, the versatility of the robot can be dealt with by changing the software in the control unit and changing the hardware of the robot. In addition, regarding hardware changes, basically engineering to the extent of changing the size of the robot hand can be performed, and then the hardware can be reused to handle the handling of various parts. Contributes to speedup and cost reduction of model switching.

  In addition, since it is possible to quickly switch between production models simply by changing the software, there is no need for a dedicated hand for each part, reducing the cost of the hand, shortening the hand design time, and reducing the temporary place for the hand. Become. Further, even when a plurality of types of parts are to be supplied, a dedicated hand is not required for each part, and hand costs can be reduced, hand design time can be reduced, and temporary hand placement locations can be reduced.

  Further, in FIG. 1, the 3D vision sensor and the 2D vision sensor are configured separately from the first robot and the second robot. The sensor 5 may be mounted beside the hand of the second robot, and each may have a hand eye configuration. In this case, although the tact time is increased, the size of the bulk box can be made larger than the field of view of the 3D vision sensor, and the size of the temporary table can be made larger than the field of view of the 2D vision sensor. Can do.

  In addition, it is possible to optimize the change-over operation such as gripping a part and temporarily placing it on a temporary table or transferring it between multiple robots and re-holding the part. In addition, the number of robots, straightness rate and tact Time trade-off can be estimated, and the operator can easily program a desired transfer operation to the robot, thereby reducing the burden of programming. Furthermore, the establishment of a specific programming method for realizing the efficiency of the component alignment work makes it possible to obtain a component supply device with a high direct rate in which the robot operation is optimized.

  1 3D Vision Sensor, 2 Bulk Parts Box, 3h Hand, 3t Claw, 3rd Robot, 4 Temporary Stand, 5 2D Vision Sensor, 6a-6c 2nd Robot, 6 Robot Group, 7 Control Unit, 8 Pallet, 10 parts supply device, 20 action planning unit, 21 grippable posture calculation unit, 22 gripping motion image generation unit, 23 stable posture calculation unit, 24 stable posture image generation unit, 25 change-over path calculation unit, 26 series motion image generation Part, 27 posture designation part, 28 change possibility calculation part, 29 program generation part, 30 HMI part, 31 hand 3D data, 32 part shape 3D data, 33 graspable posture table, 34 stable posture table, 35 change graph.

Claims (6)

A part that includes a robot that grips a part with its own hand, and aligns the stacked parts on a pallet through a temporary table by operating the robot according to a robot program for controlling the operation of the robot. A feeding device,
An action planner for generating the robot program;
The action planning unit
Based on the input of the hand 3D data indicating the 3D model of the hand and the part shape 3D data indicating the 3D model of the part, a combination of the part and the position and orientation of the hand when the part is gripped by the hand is determined. A grippable posture calculation unit that calculates the grippable posture and stores the calculation result in the grippable posture table;
Based on the input of the product shape 3D data, said calculates the component posture when settling the component on the temporary support table as a stable posture, stable orientation calculation unit stores the calculated results safely Teisugata bias table ,
Using the grippable posture included in the grippable posture table and the stable posture included in the stable posture table as a node, a path for transitioning between each of the nodes is calculated as a transition path, and the calculation result is A change path calculation unit for storing in a change graph;
An attitude from a first attitude corresponding to the first node of the nodes to a second attitude corresponding to the second node of the nodes by searching for the transition path of the node included in the transfer graph When making a change, the number of times that the hand needs to change the part is calculated as the number of change times, and a changeability calculation unit that displays an image of the calculation result on the HMI unit;
A program generation unit for generating a desired robot program determined based on the calculation result of the number of times of change displayed on the HMI unit;
I have a,
The action planning unit
A gripping motion image generation unit that displays the grippable posture included in the grippable posture table on the HMI unit and removes the grippable posture selected from the grippable posture table
A component supply apparatus further comprising: A part that includes a robot that grips a part with its own hand, and aligns the stacked parts on a pallet through a temporary table by operating the robot according to a robot program for controlling the operation of the robot. A feeding device,
An action planner for generating the robot program;
The action planning unit
Based on the input of the hand 3D data indicating the 3D model of the hand and the part shape 3D data indicating the 3D model of the part, a combination of the part and the position and orientation of the hand when the part is gripped by the hand is determined. A grippable posture calculation unit that calculates the grippable posture and stores the calculation result in the grippable posture table;
Based on the input of the component shape 3D data, a stable posture calculation unit that calculates a posture of the component when the component is settled on the temporary table as a stable posture, and stores a calculation result in a stable posture table;
Using the grippable posture included in the grippable posture table and the stable posture included in the stable posture table as a node, a path for transitioning between each of the nodes is calculated as a transition path, and the calculation result is A change path calculation unit for storing in a change graph;
An attitude from a first attitude corresponding to the first node of the nodes to a second attitude corresponding to the second node of the nodes by searching for the transition path of the node included in the transfer graph When making a change, the number of times that the hand needs to change the part is calculated as the number of change times, and a changeability calculation unit that displays an image of the calculation result on the HMI unit;
A program generation unit for generating a desired robot program determined based on the calculation result of the number of times of change displayed on the HMI unit;
Have
The action planning unit
The component supply apparatus further comprising: a stable posture image generation unit that displays the stable posture included in the stable posture table on the HMI unit and removes the stable posture selected from the stable posture table. In the component supply apparatus according to claim 1 or 2 ,
The action planning unit
An attitude designation unit for designating desired two nodes selected from the nodes included in the transfer graph;
Among the two nodes designated by the posture designation unit, when changing the posture from the posture corresponding to one node to the posture corresponding to the other node, the HMI unit performs a series of operations in which the hand changes the part. A series of motion image generators for displaying images on
A component supply apparatus further comprising: In the component supply apparatus according to claim 1 or 2 ,
The gripping possibility calculation unit
The direct rate at the time of changing the posture based on the number of times of change when the posture is changed from the first posture corresponding to the first node of the nodes to the second posture corresponding to the second node of the nodes. And a component supply device that calculates at least one of the tact time and displays an image of the calculation result on the HMI unit. The robot in the component supply apparatus that aligns the stacked components on a pallet through a temporary placement table by operating the robot according to a robot program for controlling the operation of the robot that grips the component with its own hand. A program generation method comprising:
Based on the input of the hand 3D data indicating the 3D model of the hand and the part shape 3D data indicating the 3D model of the part, a combination of the part and the position and orientation of the hand when the part is gripped by the hand is determined. A grippable posture calculation step for calculating a grippable posture and storing the calculation result in a grippable posture table;
Based on the input of the product shape 3D data, and stability orientation calculating step of said parts orientation calculated as stable posture, and stores the calculation results safely Teisugata bias table when settling the component on the temporary support table ,
Using the grippable posture included in the grippable posture table and the stable posture included in the stable posture table as a node, a path for transitioning between each of the nodes is calculated as a transition path, and the calculation result is A change path calculation step to be stored in the change graph;
An attitude from a first attitude corresponding to the first node of the nodes to a second attitude corresponding to the second node of the nodes by searching for the transition path of the node included in the transfer graph When changing, the number of times that the hand needs to change the part is calculated as the number of change times, and the changeability calculation step of displaying an image of the calculation result on the HMI unit;
A program generation step of generating a desired robot program determined based on the calculation result of the number of times of change displayed on the HMI unit;
I have a,
A gripping action image generation step for displaying the grippable posture included in the grippable posture table on the HMI unit and removing the grippable posture selected from the grippable posture table
A program generation method for a component supply apparatus further comprising: The robot in the component supply apparatus that aligns the stacked components on a pallet through a temporary placement table by operating the robot according to a robot program for controlling the operation of the robot that grips the component with its own hand. A program generation method comprising:
Based on the input of the hand 3D data indicating the 3D model of the hand and the part shape 3D data indicating the 3D model of the part, a combination of the part and the position and orientation of the hand when the part is gripped by the hand is determined. A grippable posture calculation step for calculating a grippable posture and storing the calculation result in a grippable posture table;
Based on the input of the part shape 3D data, a stable posture calculation step of calculating the posture of the component when the component is settled on the temporary table as a stable posture, and storing the calculation result in a stable posture table;
Using the grippable posture included in the grippable posture table and the stable posture included in the stable posture table as a node, a path for transitioning between each of the nodes is calculated as a transition path, and the calculation result is A change path calculation step to be stored in the change graph;
An attitude from a first attitude corresponding to the first node of the nodes to a second attitude corresponding to the second node of the nodes by searching for the transition path of the node included in the transfer graph When changing, the number of times that the hand needs to change the part is calculated as the number of change times, and the changeability calculation step of displaying an image of the calculation result on the HMI unit;
A program generation step of generating a desired robot program determined based on the calculation result of the number of times of change displayed on the HMI unit;
Have
A stable posture image generation step of displaying an image of the stable posture included in the stable posture table on the HMI unit and removing a stable posture selected from the stable posture table
A program generation method for a component supply apparatus further comprising:

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