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JP5579037B2 - Work positioning method and apparatus - Google Patents

Work positioning method and apparatus Download PDF

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JP5579037B2
JP5579037B2 JP2010272156A JP2010272156A JP5579037B2 JP 5579037 B2 JP5579037 B2 JP 5579037B2 JP 2010272156 A JP2010272156 A JP 2010272156A JP 2010272156 A JP2010272156 A JP 2010272156A JP 5579037 B2 JP5579037 B2 JP 5579037B2
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workpiece
work
feature point
imaging
workpieces
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JP2012122786A (en
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伸広 難波
俊之 近藤
健一 大野
義人 大竹
紳一郎 渡邊
賢一 山上
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Honda Motor Co Ltd
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Description

本発明は、二つのワークの位置を合わせるワークの位置合わせ方法及びその装置に関する。   The present invention relates to a workpiece alignment method and apparatus for aligning two workpieces.

従来のワークの位置合わせ方法としては、２台のカメラを用いてワークの締付穴などの特徴点を撮像して画像データを取得し、この画像データを画像処理して求めた三次元の位置情報によりワーク同士の位置合わせを行う方法が広く知られている。
また、特許文献１に記載のように、１台のカメラを用いて、ガラス基板に形成されたＩＴＯ電極とヒートシールに形成されたヒートシール電極の相対位置を合わせる電極位置合わせ方法が知られている。 As a conventional workpiece positioning method, two camera are used to capture feature points such as clamping holes of a workpiece to obtain image data, and this image data is subjected to image processing to obtain a three-dimensional position. A method of aligning workpieces with information is widely known.
Also, as described in Patent Document 1, an electrode alignment method is known in which a single camera is used to align the relative positions of an ITO electrode formed on a glass substrate and a heat seal electrode formed on a heat seal. Yes.

特許第２９８５６８６号公報Japanese Patent No. 2985686

しかし、２台のカメラを用いるワークの位置合わせ方法においては、ワーク同士の位置合わせは容易であるが、カメラが２台必要となり、装置の構成が煩雑でコストアップになるという問題がある。
また、特許文献１に記載の技術においては、１台のカメラでワークの位置合わせを行うが、透過像によってワーク同士の位置合わせを行う方法であるため、透過像が得られないワークに対応することができないという問題がある。 However, in the workpiece positioning method using two cameras, positioning of workpieces is easy, but two cameras are required, and there is a problem that the configuration of the apparatus is complicated and the cost is increased.
Moreover, in the technique described in Patent Document 1, the position of the workpiece is adjusted by one camera, but the method is a method of aligning the workpieces using a transmission image, and thus corresponds to a workpiece for which a transmission image cannot be obtained. There is a problem that can not be.

本発明は、従来の技術が有するこのような問題点に鑑みてなされたものであり、その目的とするところは、簡易な構成で、二つのワークの位置合わせを行うことができるワークの位置合わせ方法及びその装置を提供しようとするものである。   The present invention has been made in view of the above-described problems of the prior art, and the object of the present invention is to align two workpieces with a simple configuration. A method and apparatus are to be provided.

上記課題を解決すべく請求項１に係る発明は、二つの板状ワークの姿勢を平行な状態に保ちながらワークの位置合わせをする方法であって、第１ワークの２つ以上の特徴点の位置を１台の撮像手段で真上から撮像して記憶する第１工程と、第２ワークの２つ以上の特徴点の位置を前記撮像手段で真上から撮像して認識する第２工程と、前記撮像手段の視野中心点と前記第１ワークの特徴点とを通る直線上に前記第２ワークの特徴点が位置するよう前記第２ワークを移動させる第３工程と、前記直線上に前記第２ワークの特徴点が位置する状態で、前記第２ワークを移動させて前記第１ワークの特徴点に前記第２ワークの特徴点を接近させる第４工程を備えたものである。 In order to solve the above-mentioned problem, the invention according to claim 1 is a method for aligning a workpiece while maintaining the postures of two plate-like workpieces in a parallel state, and comprising two or more feature points of the first workpiece. a first step of storing and imaged from directly above the position at one of the imaging means, a second step for recognizing and imaged from directly above by the image pickup means the position of the two or more feature points of the second work A third step of moving the second workpiece so that the feature point of the second workpiece is positioned on a straight line passing through the visual field center point of the imaging means and the feature point of the first workpiece; and In a state in which the feature point of the second workpiece is located, a fourth step of moving the second workpiece to bring the feature point of the second workpiece closer to the feature point of the first workpiece is provided.

請求項２に係る発明は、二つの板状ワークの姿勢を平行な状態に保ちながらワークの位置合わせをする装置であって、第１ワークの２つ以上の特徴点と第２ワークの２つ以上の特徴点を真上から撮像する１台の撮像手段と、この撮像手段が撮像した第１ワークの特徴点の位置を記憶する記憶手段と、前記第２ワークを前記第１ワークに対して平行な姿勢を維持したまま把持して移動させる搬送手段を備え、前記撮像手段の視野中心点と前記記憶手段に記憶した第１ワークの特徴点の位置とを通る直線上に前記第２ワークの特徴点が位置する状態で、前記第２ワークを移動させて前記第１ワークの特徴点に前記第２ワークの特徴点を合わせるものである。 The invention according to claim 2 is an apparatus for aligning the workpieces while maintaining the postures of the two plate-like workpieces in a parallel state, and two or more feature points of the first workpiece and two of the second workpieces. and one imaging means for imaging from above the above feature points, a storage means for the image pickup means for storing the position of the characteristic point of the first workpiece imaged, the second workpiece relative to said first workpiece A conveying means for holding and moving while maintaining a parallel posture, and the second workpiece is placed on a straight line passing through the visual field center point of the imaging means and the position of the feature point of the first workpiece stored in the storage means; In a state where the feature point is located, the second workpiece is moved to match the feature point of the second workpiece with the feature point of the first workpiece.

本発明によれば、１台の撮像手段でもワーク同士の位置合わせを確実に行うことができる。また、撮像手段が１台で済むので、廉価な装置構成が可能となる。 According to the present invention, it is possible to reliably align the workpieces with a single imaging unit. In addition, since only one imaging means is required, an inexpensive apparatus configuration is possible.

本発明に係るワークの位置合わせ装置の構成説明図Configuration explanatory diagram of a workpiece alignment apparatus according to the present invention 第１工程の説明図で、（ａ）は作業状態、（ｂ）はカメラの画像It is explanatory drawing of a 1st process, (a) is a working state, (b) is an image of a camera. 第２工程の説明図で、（ａ）は作業状態、（ｂ）はカメラの画像It is explanatory drawing of a 2nd process, (a) is a working state, (b) is an image of a camera. 第３工程の説明図で、（ａ）は作業状態、（ｂ）はカメラの画像It is explanatory drawing of a 3rd process, (a) is a working state, (b) is an image of a camera. 第４工程の説明図で、（ａ）は作業状態、（ｂ）はカメラの画像It is explanatory drawing of a 4th process, (a) is a working state, (b) is an image of a camera.

以下に本発明の実施の形態を添付図面に基づいて説明する。本発明に係るワークの位置合わせ装置は、図１に示すように、第１ワーク１と第２ワーク２を撮像する１台の固定されたカメラ（撮像手段）３と、このカメラ３が撮像して画像処理された画像データを記憶する記憶手段４と、第２ワーク２を第１ワーク１に対して平行な姿勢を維持したまま把持して移動させる関節型ロボット（搬送手段）５などを備えてなる。   Embodiments of the present invention will be described below with reference to the accompanying drawings. As shown in FIG. 1, the workpiece alignment apparatus according to the present invention has one fixed camera (imaging means) 3 that images the first workpiece 1 and the second workpiece 2, and the camera 3 captures images. Storage means 4 for storing the image data subjected to image processing, and an articulated robot (conveying means) 5 for holding and moving the second work 2 while maintaining a parallel posture with respect to the first work 1. It becomes.

カメラ３に内蔵された画像処理部（不図示）は記憶手段４と関節型ロボット５の制御装置６に接続され、更に記憶手段４は関節型ロボット５の制御装置６に接続されている。また、記憶手段４を関節型ロボット５の制御装置６に設けることもできる。７は関節型ロボット５の手首先端に装着され、第２ワーク２を把持するロボットハンドである。 An image processing unit (not shown) built in the camera 3 is connected to the storage unit 4 and the control device 6 of the articulated robot 5, and the storage unit 4 is further connected to the control device 6 of the articulated robot 5. Further, the storage means 4 can be provided in the control device 6 of the articulated robot 5. Reference numeral 7 denotes a robot hand that is attached to the tip of the wrist of the articulated robot 5 and holds the second workpiece 2.

第１ワーク１は、治具（不図示）にセットされた状態で、真上からカメラ３により撮像される。そして、第１ワーク１の特徴点である２つの締付穴１０，１１の画像は画像処理され、締付穴１０，１１の中心１０ａ，１１ａの位置データは、位置合わせ制御の目標位置として記憶手段４に記憶されると共に、関節型ロボット５の制御装置６に入力される。   The first workpiece 1 is picked up by the camera 3 from directly above in a state set on a jig (not shown). The images of the two tightening holes 10 and 11 that are characteristic points of the first workpiece 1 are image-processed, and the position data of the centers 10a and 11a of the tightening holes 10 and 11 are stored as target positions for alignment control. The information is stored in the means 4 and input to the control device 6 of the articulated robot 5.

また、第２ワーク２は、関節型ロボット５により把持された状態で、真上からカメラ３により撮像される。そして、第２ワーク２の特徴点である２つの締付穴１２，１３の画像は画像処理され、締付穴１２，１３の中心１２ａ，１３ａの位置データは、位置合わせ制御の現在位置として関節型ロボット５の制御装置６に入力される。第１ワーク１の締付穴１０，１１と第２ワーク２の締付穴１２，１３は、ほぼ同じ大きさである。   The second work 2 is picked up by the camera 3 from directly above while being held by the articulated robot 5. The images of the two tightening holes 12 and 13 that are characteristic points of the second workpiece 2 are image-processed, and the position data of the centers 12a and 13a of the tightening holes 12 and 13 is used as the current position of the alignment control. Input to the control device 6 of the type robot 5. The tightening holes 10 and 11 of the first work 1 and the tightening holes 12 and 13 of the second work 2 are substantially the same size.

治具（不図示）にセットされた第１ワーク１と関節型ロボット５により把持された第２ワーク２は、平行な姿勢を維持している。そして、関節型ロボット５は、第２ワーク２を把持すると共に、第２ワーク２と第１ワーク１を平行に維持した状態で、現在位置が目標位置に一致するように移動して、第１ワーク１の２つの締付穴１０，１１に第２ワーク２の２つの締付穴１２，１３を位置決めする。   The first workpiece 1 set on a jig (not shown) and the second workpiece 2 held by the articulated robot 5 maintain a parallel posture. The articulated robot 5 holds the second work 2 and moves the first work 1 and the first work 1 so that the current position coincides with the target position while maintaining the second work 2 and the first work 1 in parallel. The two clamping holes 12 and 13 of the second workpiece 2 are positioned in the two clamping holes 10 and 11 of the workpiece 1.

以上のように構成された本発明に係るワークの位置合わせ装置の動作及びワークの位置合わせ方法について説明する。
先ず、図２（ａ）に示すように、治具（不図示）にセットされた第１ワーク１を真上からカメラ３で撮像する。すると、第１ワーク１の特徴点である２つの締付穴１０，１１の画像は画像処理され、図２（ｂ）に示すように、締付穴１０，１１の中心１０ａ，１１ａは、位置合わせ制御の目標位置として記憶手段４に記憶される（第１工程）。なお、１５はカメラ３の視野中心点で、目標位置及び現在位置の基準位置になる。 The operation of the workpiece positioning apparatus according to the present invention configured as described above and the workpiece positioning method will be described.
First, as shown in FIG. 2A, the first work 1 set on a jig (not shown) is imaged by the camera 3 from directly above. Then, the images of the two fastening holes 10 and 11 which are the characteristic points of the first workpiece 1 are image-processed, and the centers 10a and 11a of the fastening holes 10 and 11 are positioned as shown in FIG. It is memorize | stored in the memory | storage means 4 as a target position of alignment control (1st process). Reference numeral 15 denotes a visual field center point of the camera 3, which serves as a reference position for the target position and the current position.

次いで、図３（ａ）に示すように、関節型ロボット５により第１ワーク１と平行な状態を保ちながら把持された第２ワーク２を真上からカメラ３で撮像する。すると、第２ワーク２の特徴点である２つの締付穴１２，１３の画像は画像処理され、図３（ｂ）に示すように、締付穴１２，１３の中心１２ａ，１３ａの位置データは、位置合わせ制御の現在位置として位置合わせ作業が終了するまで、関節型ロボット５の制御装置６に時々刻々入力される（第２工程）。   Next, as shown in FIG. 3A, the camera 3 picks up an image of the second work 2 held by the articulated robot 5 while maintaining a state parallel to the first work 1 from above. Then, the images of the two fastening holes 12 and 13 that are the characteristic points of the second workpiece 2 are image-processed, and the position data of the centers 12a and 13a of the fastening holes 12 and 13 as shown in FIG. Is input to the control device 6 of the articulated robot 5 from time to time until the alignment operation is completed as the current position of the alignment control (second step).

なお、第２ワーク２は、第１ワーク１よりもカメラ３の近くに位置するので、画像では第２ワーク２の締付穴１２，１３は第１ワーク１の締付穴１０，１１よりも大きく見える。また、１６は視野中心点１５と第１ワーク１の締付穴１０の中心１０ａを通る直線、１７は視野中心点１５と第１ワーク１の締付穴１１の中心１１ａを通る直線である。 Since the second work 2 is located closer to the camera 3 than the first work 1, the tightening holes 12 and 13 of the second work 2 are more than the tightening holes 10 and 11 of the first work 1 in the image. Looks big. Further, 16 is a straight line passing through the visual field center point 15 and the center 10a of the fastening hole 10 of the first work 1, and 17 is a straight line passing through the visual field center point 15 and the center 11a of the fastening hole 11 of the first work 1.

次いで、図４（ａ）に示すように、第２ワーク２を第１ワーク１と平行な状態に保つよう関節型ロボット５で把持しながら、図４（ｂ）に示すように、カメラ３の視野中心点１５と第１ワーク１の締付穴１０の中心１０ａを通る直線１６の真上に第２ワーク２の締付穴１２の中心１２ａが位置するように第２ワーク２を関節型ロボット５により移動させる。同時に、カメラ３の視野中心点１５と第１ワーク１の締付穴１１の中心１１ａを通る直線１７の真上に第２ワーク２の締付穴１３の中心１３ａが位置するように第２ワーク２を関節型ロボット５により移動させる（第３工程）。   Next, as shown in FIG. 4A, while holding the second workpiece 2 with the articulated robot 5 so as to keep the second workpiece 2 parallel to the first workpiece 1, as shown in FIG. The articulated robot moves the second workpiece 2 so that the center 12a of the clamping hole 12 of the second workpiece 2 is positioned directly above the straight line 16 passing through the center point 15 of the visual field and the center 10a of the clamping hole 10 of the first workpiece 1. 5 to move. At the same time, the second work piece is positioned so that the center 13a of the fastening hole 13 of the second work 2 is positioned directly above the straight line 17 passing through the center point 15 of the visual field of the camera 3 and the center 11a of the fastening hole 11 of the first work 1. 2 is moved by the articulated robot 5 (third step).

次いで、直線１６の真上に第２ワーク２の締付穴１２の中心１２ａが位置する状態で、且つ直線１７の真上に第２ワーク２の締付穴１３の中心１３ａが位置する状態で、図５（ａ）に示すように、第２ワーク２を関節型ロボット５により第１ワーク１に近づけ、図５（ｂ）に示すように、第１ワーク１の締付穴１０に第２ワーク２の締付穴１２を接近させると共に、第１ワーク１の締付穴１１に第２ワーク２の締付穴１３を接近させる（第４工程）。   Next, in a state where the center 12a of the tightening hole 12 of the second work 2 is located directly above the straight line 16, and in a state where the center 13a of the tightening hole 13 of the second work 2 is located directly above the straight line 17. As shown in FIG. 5A, the second work 2 is brought close to the first work 1 by the articulated robot 5, and the second work 2 is inserted into the tightening hole 10 of the first work 1 as shown in FIG. The tightening hole 12 of the second work 2 is brought close to the tightening hole 11 of the first work 1 while making the tightening hole 12 of the work 2 approach (fourth step).

すると、第１ワーク１に第２ワーク２がセットされ、第１ワーク１と第２ワーク２の位置合わせ作業が終了する。 Then, the second work 2 is set on the first work 1, and the alignment work between the first work 1 and the second work 2 is completed.

なお、第１ワーク１の締付穴１０，１１に第２ワーク２の締付穴１２，１３を接近させた時の最終的な状態が、第１ワーク１の締付穴１０，１１に第２ワーク２の締付穴１２，１３を合わせた状態である。また、第１ワーク１と第２ワーク２の締付穴同士は合わせることができるが、カメラ３が認識する締付穴の位置データ同士は、ワークの厚さ分を考慮すると、必ずしも合わせることができない。   The final state when the tightening holes 12 and 13 of the second work 2 are brought close to the tightening holes 10 and 11 of the first work 1 is the same as that of the tightening holes 10 and 11 of the first work 1. 2 is a state in which the fastening holes 12 and 13 of the workpiece 2 are combined. In addition, the tightening holes of the first work 1 and the second work 2 can be matched with each other, but the position data of the tightening holes recognized by the camera 3 can be necessarily matched considering the thickness of the work. Can not.

本発明のように、１台のカメラによる撮像では、第１ワーク１の締付穴１０，１１の真上に第２ワーク２の締付穴１２，１３が位置していても、カメラ３からの角度が異なるため、画像上では締付穴１０，１１と締付穴１２，１３の位置ずれが生じてしまい、締付穴１０，１１と締付穴１２，１３の位置関係の把握が難しい。 As in the present invention, in imaging by one camera, even if the tightening holes 12 and 13 of the second work 2 are located immediately above the tightening holes 10 and 11 of the first work 1, Since the angles are different from each other, positional displacement between the fastening holes 10 and 11 and the fastening holes 12 and 13 occurs on the image, and it is difficult to grasp the positional relationship between the fastening holes 10 and 11 and the fastening holes 12 and 13. .

そこで、本発明では、カメラ３の視野中心点１５と第１ワーク１の締付穴１０，１１の中心１０ａ，１１ａとを通る直線１６，１７の真上に第２ワーク２の締付穴１２，１３の中心１２ａ，１３ａが位置するように、第２ワーク２を関節型ロボット５により移動させることで、第１ワーク１と第２ワーク２の位置合わせ作業を行うようにした。 Therefore, in the present invention, the fastening hole 12 of the second workpiece 2 is directly above the straight lines 16 and 17 passing through the visual field center point 15 of the camera 3 and the centers 10a and 11a of the fastening holes 10 and 11 of the first workpiece 1. The first workpiece 1 and the second workpiece 2 are aligned by moving the second workpiece 2 with the articulated robot 5 so that the centers 12a and 13a of the first and second workpieces 13 and 13 are located.

本発明によれば、１台の撮像手段でワーク同士の位置合わせを確実行うことができるワークの位置合わせ方法及びその装置を提供することが可能になる。 According to the present invention, it is possible to provide a workpiece positioning method and apparatus capable of reliably positioning workpieces with a single imaging unit.

１…第１ワーク、２…第２ワーク、３…カメラ（撮像手段）、４…記憶手段、５…関節型ロボット（搬送手段）、６…制御装置、７…ロボットハンド、１０，１１，１２，１３…締付穴、１０ａ，１１ａ，１２ａ，１３ａ…中心、１５…視野中心点、１６，１７…直線。 DESCRIPTION OF SYMBOLS 1 ... 1st workpiece | work, 2 ... 2nd workpiece | work, 3 ... Camera (imaging means), 4 ... Memory | storage means, 5 ... Articulated robot (conveyance means), 6 ... Control apparatus, 7 ... Robot hand 10, 11, 12 , 13: Clamping holes, 10a, 11a, 12a, 13a ... center, 15 ... visual field center point, 16, 17 ... straight line.

Claims (2)

二つの板状ワークの姿勢を平行な状態に保ちながらワークの位置合わせをする方法であって、第１ワークの２つ以上の特徴点の位置を１台の撮像手段で真上から撮像して記憶する第１工程と、第２ワークの２つ以上の特徴点の位置を前記撮像手段で真上から撮像して認識する第２工程と、前記撮像手段の視野中心点と前記第１ワークの特徴点とを通る直線上に前記第２ワークの特徴点が位置するよう前記第２ワークを移動させる第３工程と、前記直線上に前記第２ワークの特徴点が位置する状態で、前記第２ワークを移動させて前記第１ワークの特徴点に前記第２ワークの特徴点を接近させる第４工程を備えたことを特徴とするワークの位置合わせ方法。 A method for aligning workpieces while maintaining the postures of two plate-like workpieces in a parallel state, wherein the position of two or more feature points of a first workpiece is imaged from directly above with a single imaging means. A first step of storing, a second step of recognizing the position of two or more feature points of the second workpiece by imaging from above with the imaging unit, a visual field center point of the imaging unit, and the position of the first workpiece A third step of moving the second workpiece so that the feature point of the second workpiece is located on a straight line passing through the feature point; and a state in which the feature point of the second workpiece is located on the straight line. A workpiece positioning method comprising a fourth step of moving two workpieces to bring the feature point of the second workpiece closer to the feature point of the first workpiece. 二つの板状ワークの姿勢を平行な状態に保ちながらワークの位置合わせをする装置であって、第１ワークの２つ以上の特徴点と第２ワークの２つ以上の特徴点を真上から撮像する１台の撮像手段と、この撮像手段が撮像した第１ワークの特徴点の位置を記憶する記憶手段と、前記第２ワークを前記第１ワークに対して平行な姿勢を維持したまま把持して移動させる搬送手段を備え、前記撮像手段の視野中心点と前記記憶手段に記憶した第１ワークの特徴点の位置とを通る直線上に前記第２ワークの特徴点が位置する状態で、前記第２ワークを移動させて前記第１ワークの特徴点に前記第２ワークの特徴点を合わせることを特徴とするワークの位置合わせ装置。 An apparatus for the alignment of the workpiece while maintaining the posture of the two plate-shaped workpiece in a parallel state, from directly above two or more feature points of the first workpiece and the two or more feature points of the second work One imaging means for imaging, storage means for storing the position of the feature point of the first workpiece imaged by the imaging means, and gripping the second workpiece while maintaining a posture parallel to the first workpiece In a state where the feature point of the second work is located on a straight line passing through the center of the visual field of the imaging means and the position of the feature point of the first work stored in the storage means. An apparatus for aligning a workpiece, wherein the second workpiece is moved to match the feature point of the second workpiece with the feature point of the first workpiece.
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US4980971A (en) * 1989-12-14 1991-01-01 At&T Bell Laboratories Method and apparatus for chip placement
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