JPH04275604A - Orderly arranging method for work and production facility connection system - Google Patents

Abstract

PURPOSE:To eliminate the need to touch the work itself directly and to determine process operation instantaneously by recognizing the work mounted on the conveyor of a preproduction facilities in a light projection chamber, controlling a conveyance robot numerically, and conveying the work to postproduction facilities. CONSTITUTION:This device is provided with the light projection chamber 8 which has the entrance 4 for the work 3 with which a terminal of the conveyor 2 of the preproduction facilities 1 is coupled, the exit 5 for the work 3, a light projecting machine 6 on the ceiling, and a screen 7. The silhouette obtained by projecting an image of the work 3 on the screen 7 or the image of the work 7 before the screen 7 is made into data by an image processor 10 through a television camera 9. An arithmetic unit 11 to which the image processor 10 is connected finds a numeral for converging said data on positioning data and this numeral is used to control the conveyance robot 12. Then the work is moved onto the tip jig 15 of the conveyor 14 of a postproduction device 13. Consequently, the need to touch the work 3 itself directly is eliminated and orderly arranging process operation is determined instantaneously in a narrow area.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention allows workpieces of pre-production equipment to be
The present invention relates to a method for aligning and aligning workpieces by transporting them to post-production equipment, and a production equipment connection device for handling the workpieces.

0002

[Prior Art] Conventionally, when drilling holes in specific positions of workpieces manufactured in a pre-production process in a post-process, the workpieces, which are placed unevenly on the conveyor of the pre-production equipment, are transported. They were picked up by hand, and once their orientation was aligned, they were placed on a jig in the production equipment.

0003

[Problems to be Solved by the Invention] However, this requires a lot of manpower and tends to cause disturbances in harmonization with other unmanned production equipment.

0004

[Means for Solving the Problems] Therefore, in order to eliminate the above-mentioned drawbacks, the present invention converts the silhouette obtained by projecting the workpiece onto a screen or the workpiece in front of the screen into data using an image processing device through a television camera. A method for aligning and placing workpieces, characterized in that a calculation device connected to the controller calculates a numerical value that converges the data to positioning data, and controls a transfer robot using the numerical value to move the workpiece;

[0005] A light projecting room having a work entrance and exit and a screen, and a transfer robot connected to an image processing device and a computing device that convert the silhouette of the workpiece projected on the screen or the workpiece in front of the screen into data through a television camera are installed side by side. , a production equipment connection device characterized in that the end of the pre-production equipment is connected to the workpiece entrance, and a transfer robot is interposed between the end of the pre-production equipment and the tip of the post-production equipment. be.

[0006]

[Embodiment] An embodiment of the groove cover of the present invention will be described based on the drawings. ) exit (5), ceiling floodlight (6) and screen (7)
A light projection room (8) with , arithmetic device (11) connected to this
Find the numerical value that converges the silhouette data to the positioning data, control the 4-axis robot (12) based on this numerical value, and transfer the workpiece (3) to the post-production equipment (
13) is a workpiece alignment method characterized by moving the workpieces to the top of the end jig (15) of the conveyor (14) and aligning them. (13) This is a production equipment connection device characterized in that a four-axis robot (12) is interposed between the ends of the conveyor (14).

[0007] The workpiece (
3) receives light from the ceiling floodlight (6),
The outline is projected onto the screen (7). As a result, the silhouette of the workpiece (3) appears on the back of the screen (7). The silhouette, emphasized by the contrast of black and white, is created by a CCD camera (9) and an image processing device (10).
The information sent to the system is simple and clear, and based on this information, the feature values of the silhouette are instantly calculated. A calculation device (11) connected to the image processing device (10) calculates numerical values that converge to positioning data in which the feature values are set in advance. The four-axis robot (12) is numerically controlled using this value. 4
The axis robot (12) moves the workpiece (
3) from the outlet (5) and move it onto the tip jig (15) of the conveyor (14) of the post-production equipment (13),
Place the work (3) here.

[0008]

[Effects of the Invention] As a result, even though the workpiece is dropped on the conveyor to go to the next production facility with an uneven orientation, the transfer robot takes advantage of only the characteristics of the workpiece, which originally forms a precise outline. It can then be moved to production equipment. Even if different types of workpieces are placed on the screen, they can be processed by the same transfer robot as long as this type of positioning data is registered in the computing device. There is no need for human hands to directly touch the workpieces themselves, and moreover, the determination of alignment and placement processing operations is instantaneously carried out within a limited narrow area. Therefore, compared to the case where this alignment and placement operation is performed gradually using tentacles that combine mechanical elements, there is no need to secure space for a new line within the factory necessary for converging the alignment and placement operations. This has a number of great effects in that it can be handled by an image processing device equipped with basic functions that can process two types of feature values, such as shape data and position data.

[Brief explanation of the drawing]

FIG. 1 is an elevational view according to the invention.

[Explanation of symbols] 1 Pre-production equipment 2 Conveyor 3 Work 4 Entrance 5 Exit 6 Floodlight 7 Screen 8 Light projection room 9 CCD camera 10 Image processing device 11 Arithmetic device 12 4-axis robot 13 Post-production equipment 14 Conveyor 15 Jig

Claims (2)

[Claims] Claim 1: A workpiece is projected on a screen, the silhouette or the workpiece in front of the screen is converted into data by an image processing device through a television camera, and a calculation device connected to the image processing device converts the data into numerical values that converge into positioning data. A method for aligning and placing workpieces, characterized in that the workpieces are moved by determining the numerical values and controlling a transfer robot using the numerical values. Claim 2: A light projection room having a work entrance and exit and a screen, and a transfer robot connected to an image processing device and a computing device that convert the silhouette of the workpiece projected on the screen or the workpiece in front of the screen into data through a television camera. 1. A production equipment connection device, characterized in that the end of the pre-production equipment is connected to the workpiece entrance, and a transfer robot is interposed between the end of the pre-production equipment and the tip of the post-production equipment.