JPH0699321A - Automatic assembly equipment - Google Patents

Abstract

(57) [Abstract] [Purpose] An object of the present invention is to obtain an automatic assembling apparatus capable of assembling a plurality of types of parts with a simple configuration without preparing a chuck having a complicated shape. A mounting head 20 that passes above a fixed illumination unit 22 and moves between a part feeder 11 or a tray 12 and a product 19 held on the conveyor 14.
A lens barrel 23 held by the mounting head 20 and released at the upper and lower ends, a suction nozzle 48 held at the center of the lower end opening of the lens barrel 23 and sucking and holding the component 17 (18) at the lower end, The surface is provided so as to face the upper end opening of the lens barrel, and the fixed illumination section 22 is passed through the lens barrel 23.
CCD for imaging the shadow of the component 17 illuminated by
A camera 25 and a main controller 54 for controlling the mounting head 20 based on the image signal of the CCD camera 25 and assembling the component 17 at a predetermined position of the product 19 are provided. is there.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to, for example, an automatic assembling apparatus for sequentially assembling parts into a conveyed product.

[0002]

2. Description of the Related Art In a manufacturing line for completing one final product, a plurality of parts assembling devices are sequentially arranged along the line, and work for assembling parts one after another into intermediate products flowing through the line is performed. There is.

Conventionally, the automatic assembling apparatus as described above is
As shown in FIG. 5, a biaxial robot 1 having a mounting head 3 having a plurality of chucks 2 at the tip of an arm 1a.
And a parts station for supplying parts 4 to the two-axis robot 1.
And option 5.

The biaxial robot 1 includes the mounting head 3
The one chuck 2 takes out the component 4 (stored in the component feeder 8) from the component station 5 and mechanically corrects the posture of the component 4 by the chucking operation.
Then, the biaxial robot 1 assembles the component 4 to the product 7 flowing on the conveyor 6.

In addition, parts 4 of different types (shapes and sizes)
When assembling a ‘′ (stored in the component tray 9), the mounting head 2 is switched to another mounting head 2, and the chuck 2 corresponding to the component 4 ′ is selected from the plurality of chucks 2 and used. I am trying.

[0006]

By the way, the conventional example has the following problems to be solved.

That is, when the posture of the component 4 is mechanically corrected, it is necessary to drive the component 4 by the chucking operation of the chuck 2 and correct the rotation angle and center position of the component 4 to predetermined values. However, the structure of the chuck 2 capable of performing such an operation may be complicated.

If the chuck 2 has a complicated shape,
Trouble (breakdown) is likely to occur accordingly. Therefore, frequent maintenance is required, which is troublesome. Also,
As described above, the chuck 2 that performs the mechanical correction is dedicated to that part. Therefore, when assembling a plurality of types of parts 4, ... Sometimes the investment efficiency is poor.

The present invention has been made in view of the above circumstances, and provides an automatic assembling apparatus capable of assembling a plurality of types of parts with a simple structure without preparing a chuck having a complicated shape. That is the purpose.

[0010]

SUMMARY OF THE INVENTION The present invention relates to a product conveying means for conveying a product to supply it to a predetermined position, a component station for supplying a component to be assembled to the product, the product conveying means and the component station. -Illumination means provided between the illumination device and the illumination device, and a mounting head that passes over the illumination device and moves between the component station and the product supplied to a predetermined position. A cylindrical body that is held by the mounting head and opens at the upper and lower ends, a suction nozzle that is provided at the lower end opening of the cylindrical body via a transparent body and that suction-holds components, and the mounting head has an imaging surface at the cylindrical surface. An image pickup unit which is held so as to face the upper end opening of the body and which passes through the cylindrical body to pick up the shadow of the component illuminated by the illumination unit, and the posture of the component is detected based on an image signal from the image pickup unit. , Based on the detected value to control the mounting head, the component is positioned at a predetermined position of the product, is characterized in that it comprises a control unit to perform the assembly operation.

[0011]

According to this structure, the mounting head holds the component, and the component image is picked up by the CCD camera.
The posture and the like of the component can be detected based on the image signal from the CCD camera, and the component can be assembled at a predetermined position of the product based on the detected value.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIGS. The same components as those of the conventional example are designated by the same reference numerals and the description thereof will be omitted.

FIG. 1 is an overall view of the automatic assembling apparatus (hereinafter referred to as "assembling apparatus") of the present invention. This assembling apparatus comprises a work table 10, a part feeder 11 and a tray 12 as parts stations, a conveyor 14 as a product conveying means, and a conveyor 14
A two-axis robot 15 is provided at a position facing the above-mentioned component station with the pinch in between.

The part feeder 1 has a first component 1
7 is accommodated, and this part feeder 11 is adapted to sequentially supply the first component 17 to a supply position (shown by A in the drawing). On the other hand, the tray 12 stores a plurality of second components 18 of a different type from the first components 17 accommodated in the part feeder 11 arranged in a matrix.

The conveyor 14 is a product 19 (intermediate product) to which the first and second parts 17 and 18 are assembled.
While guiding with guide rails 14a, 14a,
As indicated by the arrow, the sheet is conveyed to the central portion (predetermined position) on the paper surface. The conveyor 14 then intermittently stops the product 19 at this position.

The biaxial robot 15 is equipped with a mounting head 20 at the tip of an arm 15a controlled by two axes. The mounting head 20 is connected to the part feeder 11 and the tray 12 and the above. The part feeder 11 or the tray 12 can be moved along an arbitrary path with the conveyor 14.
The first and second parts 17 and 18 are taken out from the above and sequentially assembled to the product 19 on the conveyor 14.

A fixed lighting unit 22 as a lighting unit is provided between the part feeder 11 and the tray 12 and the conveyor 14. The fixed illumination bright portion 22 includes, for example, a straight tubular light emitting body 22b (shown in FIG. 2),
The light emitting body 22b is composed of a band-plate-like semitransparent diffusion plate 22a covered on the upper side. The fixed illumination unit 22 is provided with its longitudinal direction parallel to the conveyor 14.

Next, the structure of the mounting head 20 provided on the biaxial robot 15 will be described with reference to FIGS.

As shown in FIG. 1, in the head body 20a of the mounting head 20, a hollow cylindrical lens barrel 23 (cylindrical body) standingly held by the head body 20a and the lens barrel 2 are provided.
3 is attached to the lower end portion of the first and second parts 1 and 2.
The suction nozzle unit 24 for sucking and holding 7, 18 and the first and second units arranged above the lens barrel 23 and held by the suction nozzle unit 24 through the lens barrel 23.
A CCD camera 25 as an image pickup means for observing the parts 17 and 18 is attached.

Next, these structures will be described in more detail with reference to FIG.

At the front end of the head body 20a, a Z drive motor 27 is held on the upper surface of the front end via a bracket, and is connected to the Z drive motor 27 with its axis substantially vertical. And the ball screw mechanism 28 is held.
One end of a slide block 29 is fixed to a nut 28a of the le screw mechanism 28 which is vertically driven.

The other end of the slide block 29 is supported on the tip end surface of the head body 20a via a slider 30 so as to be slidable in the vertical direction. The other end of the slide block 29 supports the lens barrel 23 as a bearing 31.
The CCD camera 25 is held by a bracket portion 29a extending upward while being rotatably held via the.

A step 33 is attached to the other end of the slide block 29, and a stepping motor 34 makes the axis line perpendicular to the step 33 and a drive shaft 34a.
Is extended and fixed above the stay 33. A drive gear 35 is fixed to a drive shaft 34a of the stepping motor 34, and a driven gear 36 that meshes with the drive gear 35 is fixed to a middle portion of the lens barrel 23 in the height direction.

Therefore, when the Z drive motor 27 is operated, the lens barrel 23 and the CCD camera 25 are integrally driven up and down (Z) via the ball screw mechanism 28. ing. In addition, the above stepping mode
The lens barrel 23 is rotationally positioned and driven in the slide block 29 by the operation of the shutter 34.

On the other hand, a first transparent glass 38 is hermetically fitted in the upper end opening of the lens barrel 23. Also,
A suction hole 39, one end of which is connected to a vacuum device (not shown), is provided in the slide block 29, and the other end of the suction hole 39 is opened in a sliding contact surface of the slide block 29 with the lens barrel 23. The side wall of the lens barrel 29 has the suction hole 39.
A through hole 23a is provided for communicating with the inner diameter portion of the lens barrel 29.

Further, a step 23b is formed in the inner diameter portion of the lower end opening of the lens barrel 23 and has a large diameter.
A nozzle unit holding mechanism 40 that detachably holds the nozzle unit shown in FIG. 24 is provided at the lower end of the lens barrel 23.

The nozzle unit holding mechanism 40 has a plurality of (only two are shown in the figure) hard spheres 41, the surfaces of which are exposed and gently provided on the inner and outer peripheral surfaces of the lower end of the lens barrel 23. An upper end portion is fixed to the outer peripheral surface of the lens barrel 23, and a plurality of leaf springs 42 (only two are shown in the drawing) are configured to urge the rigid sphere 41 toward the central axis direction of the lens barrel 23 at the lower end portion.

On the other hand, the nozzle unit 24 includes the lens barrel 2
3 is formed separately, and has an inner diameter substantially the same as the inner diameter of the middle part of the lens barrel 23, as shown in FIG.
Further, a short cylindrical main body 44 having an outer diameter slightly smaller than the inner diameter of the lower end portion (large diameter portion) of the lens barrel 23, and second and third main body 44 closing the upper and lower end openings thereof. The transparent glasses 45, 46 and the second and third transparent glasses 45,
An adsorption nozzle 48, which is airtightly held and slidable in the vertical direction, is provided at the center of 46.

The suction nozzle 48 sucks and holds the first component 17 or the second component 18 at the lower end portion, and the upper surface of the second transparent glass is provided at the middle portion in the height direction. Is provided with a first step 48a
A second step 48b that engages with the lower end of a spring 50 that is compressed and arranged between the first transparent glass 45 and the upper end is provided.

Therefore, the suction nozzle 48 is urged downward by the spring 50, and in a normal state, the first step 48a is locked to the second transparent glass 46, and the first and second steps are formed. When the components 17 and 18 are sucked, the spring 50 absorbs the shock of collision between the suction nozzle 48 and the components 17 and 18.

Further, the first transparent glass 45 provided on the upper portion of the main body 44 is provided with a through hole 45a for allowing ventilation between the inside of the nozzle unit 24 and the inside of the lens barrel 23. Has been. Further, the upper end of the suction nozzle 48 is opened in the nozzle unit 24.

On the other hand, as shown in FIG. 3 (b), a pair of flange portions 44a, 44a are provided at the lower end of the outer peripheral surface of the main body 44 of the nozzle unit 24 so as to horizontally project radially outward. . Furthermore, a concave portion 44b into which the steel ball 41 of the nozzle unit holding mechanism 40 is fitted is formed at the upper end of the outer peripheral surface of the nozzle unit 24.

As shown in FIG. 2, the nozzle unit 24 has its upper end portion inserted into the lower end opening (large diameter portion) of the lens barrel 23. At the time of insertion, the nozzle unit holding mechanism 4
The steel ball 41 provided at 0 is pushed outward against the restoring force of the leaf spring 42 while being in contact with the outer peripheral surface of the nozzle unit 24, and when it coincides with the concave portion 44b. By the restoring force of the leaf spring 42, the concave portion 4
The nozzle unit 24 is held by fitting in the nozzle 4b.

When the nozzle unit 24 is held at the lower end of the lens barrel 23 by the nozzle holding mechanism 40, it is restricted by the rigid sphere 41 from moving vertically and rotationally with respect to the lens barrel 23. To be done.

As described above, when the vacuum device (not shown) is operated with the nozzle unit 24 held, the through hole 45a provided in the lens barrel 23 and the second transparent glass 45 of the nozzle unit 24 is opened. Thus, the inside of the nozzle unit 24 becomes a vacuum state. As a result, a suction force is generated at the lower end of the suction nozzle 48, and the first component 17 can be held as shown in FIG.

As shown in FIGS. 1 and 2, the CC
The D camera 25 is arranged with its optical axis aligned with the axis of the lens barrel 23, and the focus can be adjusted to the lower end of the suction nozzle 48. The CCD camera 25 is connected to the image processing section 52. The image processing unit 52 is connected to the monitor 53 and also to the main controller 54 as a control unit. The main controller 54 is connected to the biaxial robot 15 and outputs an operation command to the biaxial robot 15 based on an image signal from the image processing unit 52.

As shown in FIG. 1, a nozzle changer 55 for accommodating a replacement nozzle unit is provided between the biaxial robot 15 and the conveyor 14. The nozzle changer 55 is provided with first to third nozzle units 56, 57 and 24.

Here, the third nozzle unit is the nozzle unit 24 shown in FIGS. 1 and 2, and the first and second nozzle units are
The nozzle units 56 and 57 have the same configuration except the diameter of the third nozzle unit 24 and the suction nozzle 48.

In FIGS. 1 and 2, of these, the third nozzle unit 24 is already attached to the lens barrel 23.

The first to third nozzle units 56, 5
As described above, the reference numerals 7 and 24 have the suction nozzles 48 having different nozzle diameters.
7, 18) are selected and used properly according to the size and shape.

Next, the structure of the nozzle changer will be described in detail with reference to FIG. The nozzle changer 55 has a base 59 provided with its longitudinal direction parallel to the conveyor 14. The base 59 has the above-mentioned first to third nozzle units 56, 5 respectively.
First to third holding holes 59a for storing and holding 7, 24
59c are provided in a line at a predetermined interval.

The above first to third nozzle units 56, 5
The lower end portions of the reference numerals 7 and 24 are inserted into the holding holes 59a to 59c, respectively, and the flange portion 44a is retained on the upper surface of the base 59.

Guide rails 60, 60 are provided at both ends of the upper surface of the base 59 in the width direction along the longitudinal direction of the base 59.

On the upper surface of the guide rails 60, 60,
Each nozzle unit 5 by pressing the flange portion 44a
A plurality of pressing pieces 61a for restricting the rise of 6, 57 and 24
A pressing plate 61 having ... Is slidably provided. The pressing pieces 61a ... Are provided at the same intervals as the intervals of the first to third holding holes 59a to 59c.

Further, one end of the pressing plate 61 is attached to a drive shaft 64 of a reciprocating cylinder 63 via a bracket 62. Therefore, when the reciprocating cylinder 63 operates, the pressing plate 61 is slid in the longitudinal direction of the base 59, and each pressing piece 61a is moved.
The flange portion 44 of each nozzle unit 56, 57, 24
It coincides with the upper surface of a and restricts the rise of this nozzle unit 24. It should be noted that the base 59 has the pressing plate 61.
A holding plate 65 having a restricting piece 65a for restricting so as not to float is fixed.

Next, the parts assembling operation by this automatic assembling apparatus will be described.

First of all, this apparatus is composed of a nozzle changer 55.
First to third nozzle units 56, 57 housed in
From 24, a nozzle unit having a suction nozzle 48 having a diameter corresponding to the type of the component (the first component 17 or the second component 18) to be assembled to the product 19 is selected. This selection is made based on the image of the CCD camera 25 or a predetermined signal.

Here, for example, it is assumed that the first component 17 is assembled, and therefore the third nozzle unit 24 is used.
Select. Also, currently other first or second
Nozzle units 56 and 57 are mounted.

The biaxial robot 15 positions the mounting head 20 above the nozzle changer 55,
The currently mounted nozzle unit is inserted into one of the holding holes 59a to 59c of the base 59 of the nozzle changer 55. At this time, the pressing plate 61 shifts the pressing piece 61a from the portion corresponding to the flange portion 44a as shown in the drawing.

When the currently held nozzle unit is inserted, the pressing plate 61 is driven by the reciprocating cylinder 63, and the pressing piece 61a presses the flange portion 44a. In this state, if the Z drive motor 27 is operated to raise the lens barrel 23, the currently mounted nozzle unit is detached from the lens barrel 23 and stored in the nozzle changer 55.

Next, the lens barrel 23 is positioned above the desired third nozzle unit 24 and is driven downward, so that the nozzle unit 24 is mounted by the nozzle unit holding mechanism 40. Then, the pressing plate 61 is driven to release the pressing by the pressing piece 61a. Then, by raising the lens barrel 23, the change of the nozzle unit is completed.

Next, as shown in FIG. 1, the two-axis robot 15 uses the suction nozzle 46 and the part feeder 1.
The first part 17 is taken out from the part feeder 11 while facing the first supply position A. When the first component 17 is suction-held, this suction head 20 is
Driven in the 4 direction. At this time, it passes above the fixed illumination unit 22.

In the fixed illuminator 22, as shown in FIG. 2, the light emitted from the light emitting body 22b is diffused by the diffuser plate 22.
The uniform illumination light is supplied to the first component 17 which is diffused by a and is adsorbed and held above the diffusion plate 22a, that is, the adsorption nozzle 46.

Then, at the moment when the component 17 passes above the diffusion plate 22a, the CCD camera 25 is operated, and the shadow of the first component 17 due to the illumination light is obtained as a still image through the lens barrel 23. . As a result, the CCD camera 25 can satisfactorily observe the contour of the first component 17 through the first to third transparent glasses.

The detection signal from this CCD camera 25 is
Binarization processing is performed by the image processing device 52, and the monitor-5
3, the rotation angle and center position of the first component 17 are calculated, and those values are input to the main controller 54.

The mounting head 20 receives the signal from the main controller 54 to operate the stepping drive motor 34 shown in FIG.
Correct the rotation angle of. Further, the main controller 54 operates the biaxial robot 15 based on the calculated center position of the first component 17 to move the first component 17 to the predetermined assembly position of the product 19 on the conveyor 14. To face. Then, by lowering the lens barrel 23, this component can be accurately assembled in a predetermined position of the product 19 in a predetermined posture.

Further, the type of parts to be mounted is changed,
Moreover, when it is necessary to change the type (diameter) of the nozzle 48, the nozzle unit 24 is replaced by the above-described operation. Then, the parts are assembled by the same control as described above.

According to such a configuration, when the component is assembled into the product, the posture of the component is not corrected by the mechanical chuck operation, so that the configuration of the suction head 20 is simplified. Moreover, since the component is not mechanically held, the component is less likely to be damaged.

Since the CCD camera 25 for recognizing the posture of the parts is provided coaxially with the nozzle 48, the head 2
The size of the head can be reduced, and the weight of the head 20 can be reduced and the parts can be assembled at high speed.

Unlike the conventional example, the same nozzle unit 24 can accommodate a plurality of types of parts as long as the sizes are substantially the same. Therefore, even if the type of parts is changed, it is not necessary to newly remake the chuck, and it is possible to deal with it only by changing the image processing software, so that the processing can be performed in a short time and the economical efficiency is improved.

The present invention is not limited to the above-mentioned embodiment, but can be variously modified without changing the gist of the invention.

For example, in the above embodiment, two kinds of parts (first and second parts 17 and 18) are mounted, but three or more kinds of parts may be assembled. Further, it may be one type.

Further, in the above embodiment, the conveyor 14 is used as the product conveying means, but the invention is not limited to this, and other conveying means can be used as long as the product can be conveyed and positioned at a predetermined position. May be

[0064]

As described above, the automatic assembling apparatus of the present invention comprises a product conveying means for conveying a product to supply it to a predetermined position, a component station for supplying a component to be assembled to the product, Between the product conveying means and the parts station, and between the lighting means for illuminating the upper side and the above-mentioned lighting means, the parts station and the product supplied to the predetermined position. A moving mounting head, a cylinder that is held by the mounting head and opens at the upper and lower ends, a suction nozzle that is provided at the lower end opening of the cylinder through a transparent body and that suction-holds components, and the mounting head. An image pickup means for holding an image pickup surface so as to face the upper end opening of the cylindrical body and taking a shadow of the component illuminated by the illumination means through the cylindrical body, and based on an image signal from the image pickup means Detecting a posture of the component, and controls the mounting head based on the detection value, the component is positioned at a predetermined position of the above product, in which and a control unit to perform the assembly operation.

According to such a structure, it is not necessary to prepare a chuck having a complicated shape, and there is an effect that an automatic assembling apparatus capable of assembling a plurality of types of parts with a simple structure can be obtained.

[Brief description of drawings]

FIG. 1 is an overall perspective view showing an embodiment of the present invention.

FIG. 2 is a vertical sectional view showing a mounting head.

FIG. 3A is a longitudinal sectional view of the nozzle unit as seen from the front, and FIG. 3B is a side view of the same.

FIG. 4A is a plan view showing the nozzle changer, and FIG. 4B is a longitudinal sectional view showing the same.

FIG. 5 is an overall perspective view showing a conventional example.

[Explanation of symbols]

11 ... Part feeder (parts station), 12 ... Tray (parts station), 14 ... Conveyor (product conveying means), 17 ... First part (part), 18 ... Second part ( Parts), 19 ... product, 20 ... mounting head, 22 ... fixed illuminating section (illuminating means), 23 ... lens barrel (tubular body), 25 ... CC
D camera (imaging means), 46 ... second transparent glass (transparent body), 48 ... suction nozzle, 54 ... main controller (control section)

Claims (1)

[Claims] 1. A product conveying means for conveying a product to supply it to a predetermined position, a component station for supplying a component to be assembled to the product, and a product station provided between the product conveying means and the component station. An illuminating means for illuminating the upper side, a mounting head that passes above the illuminating means, and moves between the component station and the product supplied to a predetermined position; A tubular body that opens at the lower end, a suction nozzle that is provided in the lower end opening of the tubular body via a transparent body and that holds the component by suction, and the mounting head with the imaging surface facing the upper end opening of the tubular body. An image pickup unit that holds the shadow of the component illuminated by the illumination unit through the cylindrical body, and detects the posture of the component based on an image signal from the image pickup unit, and based on the detected value. the above An automatic assembling apparatus comprising: a control unit that controls a mounting head, positions the above-mentioned components at a predetermined position of the product, and performs an assembling operation.