JP5318632B2 - Transport positioning method and apparatus - Google Patents

Description

  The present invention relates to a conveyance positioning method and apparatus. Specifically, the present invention relates to a transport positioning method and apparatus for positioning a work transported by a conveyor.

2. Description of the Related Art Conventionally, there is a conveyance positioning device that positions a workpiece in order to lift a workpiece conveyed by a conveyor at a predetermined position using, for example, a loader.
For example, there has been proposed an apparatus for recognizing the position of a workpiece by stopping the workpiece at a predetermined position on the conveyor and sandwiching the workpiece from four surrounding directions.

  The following device has also been proposed (see Patent Document 1). That is, the pallet on which the workpiece is placed is conveyed by the conveyor, the advancement of the pallet is stopped at a predetermined position, and is fixed by sandwiching the left and right sides of the workpiece from the left and right with respect to the conveying direction. The robot is moved from the front of the workpiece conveyance direction, and the movement of the robot is stopped at the position where the contact sensor detects the workpiece. Thereby, the position of the workpiece with respect to the robot is recognized.

JP-A-60-242987

  However, in the case of a device that sandwiches a workpiece from four directions around it, all four surfaces around the workpiece need to have a relatively simple shape that is nearly flat. For example, in the case of a workpiece having a complex shape with even one surface, it is difficult to sandwich the surface with the opposite surface, and positioning of the workpiece is difficult.

  In the case of the apparatus described in Patent Document 1, it is necessary that the left and right sides of the workpiece have a relatively simple shape that is almost flat with respect to the conveyance direction. Further, the front part of the workpiece in the conveyance direction is also required to have a nearly flat shape suitable for contact with the contact sensor. Therefore, for example, in the case of a workpiece having a complex shape with unevenness on both sides of the four surrounding surfaces, it is difficult to sandwich both sides from the left and right sides, and one side is used as a contact surface by a contact sensor. It is also difficult. Therefore, it is difficult to position the workpiece.

  The present invention has been made in view of the above-mentioned problems, and has versatility with respect to a workpiece having a complicated shape on both sides, for example, among the four surrounding surfaces, and a workpiece of many types having a complicated shape on both sides. It is an object of the present invention to provide a conveyance positioning method and apparatus having versatility.

  In the transport positioning method of the present invention, a transport direction front portion (for example, a front end portion 2 to be described later) of a work to be transported (for example, a work W to be described later) is set with respect to a reference plane (for example, a reference surface 41 to be described later). A measuring instrument (for example, step S2 described later) and a reference point (for example, reference point 6 described later) set on a side portion (for example, a side portion 5 described later) in the conveyance direction of the workpiece. For example, a step of measuring the distance from the origin to the reference point by abutting a measuring unit (for example, a rod 62 to be described later) of the measuring instrument 60 described later in parallel with the reference surface (for example, step S3 described later) And a step of discriminating the model of the workpiece by photographing the workpiece with a camera (for example, a camera 70 described later) (for example, step S4 described later) and the measured distance and the model determined. center And a step of moving a loader (for example, a loader 30 described later) to the center position of the indexed work (for example, step S6 described later). Features.

  According to the present invention, there is versatility with respect to a workpiece having a relatively complicated shape in which both sides in the conveying direction are uneven. Further, by determining the center position of the workpiece by measuring the distance from the origin to the reference point by the measuring instrument and identifying the workpiece model by taking a camera, it is versatile for workpieces of different models.

  In the transport positioning method of the present invention, the step of bringing the front part in the transport direction of the work to be transported into contact with the reference surface (for example, step S12 described later), and the work model is determined by photographing the work with a camera. And a step of determining whether or not the position of the measuring instrument corresponds to a reference point set on the side in the conveyance direction of the determined model workpiece (for example, described later). Step S14), a step of moving the measuring instrument to a position corresponding to the reference point when the position of the measuring instrument does not correspond to the reference point of the workpiece (for example, step S15 described later), A step of measuring the distance from the origin to the reference point by abutting the measurement unit of the measuring instrument in parallel with the reference plane with respect to the reference point (for example, step S16 described later) The step of determining the center position of the workpiece based on the model and the measured distance (for example, step S17 described later), and the step of moving the loader to the center position of the determined workpiece (for example, step S18 described later). It is characterized by including these.

  According to the present invention, there are effects similar to those described above. Further, when the position of the measuring instrument does not correspond to the reference point of the workpiece, it is versatile for many types of workpieces by moving the measuring instrument to a position corresponding to the reference point.

  In this case, the workpiece is preferably an engine cylinder block or a cylinder head.

  According to the present invention, even in the case of a cylinder block or cylinder head having a complicated shape with both sides being uneven, from the origin to the reference point using the reference point set on the side of the cylinder block or cylinder head. The workpiece can be positioned by measuring the distance.

  A conveyance positioning device (for example, a conveyance positioning device 10 described later) of the present invention presses a rear portion (for example, a rear end portion 3 described later) of a workpiece in a conveyance line (for example, a roller conveyor 20 described later). A pressing member (for example, a pressing member 50 to be described later) that abuts the front part of the workpiece in the conveyance direction with respect to a reference surface arranged at a predetermined position, and a reference point set on the side of the workpiece in the conveyance direction While measuring the distance from the origin to the reference point by abutting the measuring unit in parallel with the reference plane, a camera for shooting the workpiece, and determining the model of the workpiece based on the shooting data of the camera The control unit (for example, calculates the center position of the workpiece from the determined workpiece model and the distance measured by the measuring instrument, and moves the loader to the determined center position of the workpiece (for example, , Characterized in that it comprises a control device 80) to be described later.

  According to the present invention, there are effects similar to those described above.

  According to the present invention, among the four surrounding surfaces, for example, both sides are versatile for a workpiece having a complicated shape, and both sides are versatile for a lot of types of workpieces having a complicated shape. Can improve the versatility of the equipment used.

It is a schematic front view which shows one Embodiment of the conveyance positioning device which concerns on this invention. It is a schematic plan view of the conveyance positioning apparatus shown in FIG. It is an enlarged view of a cylinder block showing an example of a work. It is a block diagram of a control apparatus. It is a flowchart which shows 1st Embodiment of the conveyance positioning method which concerns on this invention. It is a flowchart which shows 2nd Embodiment of the conveyance positioning method which concerns on this invention.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.
As shown in FIGS. 1 and 2, the conveyance positioning device 10 according to the present embodiment is configured so that a loader 30 grasps a workpiece W conveyed by a roller conveyor 20 as a conveyance line, so that a workpiece is placed at a predetermined position on the roller conveyor 20. W is stopped and the loader 30 is moved to the center position of the workpiece W.

  Specifically, the workpiece W is, for example, an engine cylinder block or a cylinder head. As shown in FIG. 3, in the case of the cylinder block 1, both end portions 2 and 3 have a shape that is easy to be sandwiched between flat members, with little unevenness. On the other hand, both side parts 4 and 5 have an uneven and complicated shape and are difficult to be sandwiched between flat members.

  On the side 4 or the side 5 of the cylinder block 1, for example, a flat plate mounting portion for mounting an engine model number plate or the like is formed. A reference point 6 when a measuring instrument 60 (to be described later) measures a distance from a predetermined origin to the cylinder block 1 is set in the plate attachment portion.

  The conveyance positioning device 10 includes a stop member 40 and a pressing member 50, a measuring instrument 60, a camera 70, and a control device 80.

  The stop member 40 is installed at a predetermined position on the conveyance path of the roller conveyor 20 so as to block the conveyance path, and stops the workpiece W conveyed by the roller conveyor 20. The reference surface 41 of the stop member 40 that stops the conveyance of the workpiece W is formed in a substantially flat shape.

  The pressing member 50 is installed closer to the transport direction than the reference surface 41 of the stop member 40, and is driven by a solenoid (not shown). The pressing member 50 is retracted from the conveyance path of the roller conveyor 20 during a normal workpiece conveyance process. At the timing when the workpiece W is conveyed to the vicinity of the stop member 40 and passes through the pressing member 50, the pressing member 50 enters the conveyance path of the roller conveyor 20.

  The pressing member 50 presses the rear part of the workpiece W in the conveying direction with the pressing surface 51 to bring the front part of the workpiece W in the conveying direction into contact with the reference surface 41 of the stop member 40. The pressing surface 51 of the pressing member 50 is formed in a substantially flat shape and is arranged in parallel with the reference surface 41 of the stopping member 40.

  Specifically, when the workpiece W is the cylinder block 1 of the engine, the workpiece 2 is conveyed by the roller conveyor 20 while maintaining the posture in which the end portion 2 faces forward in the conveyance direction and the end portion 3 faces rearward in the conveyance direction. The pressing surface 51 of the pressing member 50 presses the rear end 3 of the cylinder block 1 in the conveying direction, and the front end 2 of the cylinder block 1 is brought into contact with the reference surface 41 of the stop member 40. Thereby, the direction of the front end 2 of the cylinder block 1 is parallel to the reference surface 41 of the stop member 40, and the direction of the rear end 3 of the cylinder block 1 is parallel to the pressing surface 51 of the pressing member 50.

  In a region sandwiched between the reference surface 41 of the stop member 40 and the pressing surface 51 of the pressing member 50, a lift 45 that can be lifted from the conveyance path through the gap between the rollers of the roller conveyor 20 is installed. The lift 45 is driven by a solenoid (not shown) after positioning of the workpiece W, which will be described later, and raises the workpiece W so that the loader 30 can easily grasp the workpiece W.

  A robot 65 is installed on the side away from the roller conveyor 20. The robot 65 includes an X axis that is orthogonal to the reference surface 41 of the stop member 40 and extends parallel to the transport direction of the roller conveyor 20, a Y axis that extends parallel to the reference surface 41 of the stop member 40, and a Z axis that extends vertically. Is an orthogonal coordinate system robot.

  The robot 65 includes a Z-axis column 66 installed on the floor, an X-axis arm 67 that can move up and down along the Z-axis column 66, and a Y-axis arm 68 that can move along the X-axis arm 67. A measuring instrument 60 that extends parallel to the reference surface 41 of the stop member 40 along the Y axis is attached to the Y axis arm 68.

  As a result, even if the length in the X-axis direction from the front end in the conveyance direction of the workpiece W to the predetermined portion as the reference point varies depending on the model, similarly, the Z-axis from the conveyance surface of the roller conveyor 20 to the predetermined portion of the workpiece W Even if the directional height varies depending on the model, the position of the measuring instrument 60 can always be set to a position corresponding to a predetermined part of the workpiece W.

  Specifically, when the workpiece W is the cylinder block 1 of the engine, even if the length in the X-axis direction from the front end 2 of the cylinder block 1 to the reference point 6 set on the side 5 varies depending on the model. Accordingly, by moving the Y-axis arm 68 along the X-axis arm 67 accordingly, the position of the measuring instrument 60 can be set to a position corresponding to the length in the X-axis direction up to the reference point 6 of the cylinder block 1. it can.

  Similarly, even if the height in the Z-axis direction from the transfer surface of the roller conveyor 20 to the reference point 6 of the cylinder block 1 varies depending on the model, the Y-axis arm 68 is moved up and down along the Z-axis column 66 accordingly. Thus, the position of the measuring instrument 60 can be set to a position corresponding to the height in the Z-axis direction up to the reference point 6 of the cylinder block 1.

  The measuring instrument 60 detects the amount of movement of the rod 62 as the measuring unit accommodated in the cylinder 61 using, for example, an MR element (magnetoresistance element). When the tip of the rod 62 of the measuring instrument 60 attached to the Y-axis arm 68 of the robot 65 along the Y-axis is abutted against a predetermined part of the work W, the Y-axis from the coordinate origin of the robot 65 to the predetermined part of the work W The direction distance is known.

  That is, the sum of the Y-axis direction length from the coordinate origin of the robot 65 to the reference position of the measuring instrument 60 attached to the Y-axis arm 68 and the measured value from the reference position of the measuring instrument 60 to the tip of the rod 62 is This is the distance from the coordinate origin of the robot 65 to a predetermined part of the workpiece W.

  Specifically, when the workpiece W is the cylinder block 1 of the engine, the measuring instrument 60 abuts the rod 62 against the reference point 6 set on the side portion 5 of the cylinder block 1 in parallel with the reference surface 41. Thus, the distance from the reference position of the measuring instrument 60 to the reference point 6 of the cylinder block 1 is measured. The measured distance data is input to the control device 80.

  A camera 70 for photographing the workpiece W is installed in the vicinity of a region sandwiched between the stop member 40 and the pressing member 50. The camera 70 is a barcode reading camera that captures and reads a barcode displayed on the workpiece W.

  Specifically, when the workpiece W is the cylinder block 1 of the engine, a predetermined barcode representing the model of the engine is affixed to, for example, the side portion 5 of the cylinder block 1. The camera 70 is installed at a position suitable for reading the barcode of the cylinder block 1. The photographing data of the camera 70 including the barcode reading data of the cylinder block 1 is input to the control device 80.

  As shown in FIG. 4, the control device 80 includes a workpiece transfer position determination unit 81, a pressing member operation instruction unit 82, a workpiece model determination unit 83, a measuring instrument position determination unit 84, and a robot XZ axis operation instruction unit 85. A workpiece distance measuring unit 86, a workpiece center position indexing unit 87, a loader operation instruction unit 88, and a storage unit 89. The storage unit 89 stores model data of the workpiece W and X-axis direction deviation between the coordinate origin of the robot 65 and the reference surface 41 of the stop member 40.

  The workpiece conveyance position determination unit 81 determines whether or not the workpiece W has been conveyed to a predetermined position based on an input from a sensor (not shown) installed in the conveyance path of the roller conveyor 20. This sensor can be installed, for example, at a position where the workpiece W is conveyed to the vicinity of the stop member 40 and passes through the pressing member 50.

  The pressing member operation instruction unit 82 operates the pressing member 50. That is, the pressing member 50 presses the rear part in the transport direction of the work W in the transport direction so that the front part in the transport direction of the work W that has been transported to the predetermined position is brought into contact with the reference surface 41.

  The work model discriminating unit 83 outputs a photographing signal to the camera 70 to photograph the work W. The model of the workpiece W is determined based on the shooting data input from the camera 70. That is, the model data displayed on the barcode included in the photographing data is compared with the model data stored in the storage unit 89 to determine the model of the workpiece W.

  The measuring instrument position determination unit 84 determines whether or not the position data of the reference point included in the model data stored in the storage unit 89 corresponds to the position of the measuring instrument 60.

  The robot XZ-axis operation instructing unit 85 operates the X-axis or Z-axis of the robot 65 when the position data of the reference point set on the workpiece W and the position of the measuring device 60 do not correspond to each other. Is moved to a position corresponding to the reference point of the workpiece W.

  The workpiece distance measuring unit 86 operates the Y axis of the robot 65 and causes the rod 62 of the measuring device 60 to abut against the reference point set on the workpiece W in parallel with the reference plane 41, thereby The distance from the origin to the reference point of the workpiece W is measured.

  The work center position indexing unit 87 includes the center position data for each model included in the model data stored in the storage unit 89, the model determined by the workpiece model determination unit 83, and the distance measured by the workpiece distance measurement unit 86. From this, the center position of the workpiece W is determined.

  The loader operation instructing unit 88 transmits the center position data of the workpiece W indexed by the workpiece center position indexing unit 87 to the loader 30, and operates the loader 30 to move it to the center position of the workpiece W.

  Next, the operation of the control device 80 will be described with reference to FIGS. 5 and 6. FIG. 5 is a flowchart showing the first embodiment of the transport positioning method according to the present invention.

First, in step S1, it is determined by the control device 80 whether or not the workpiece W has been transported to a predetermined position. Specifically, it is determined whether or not the cylinder block 1 has been conveyed by the roller conveyor 20 to a position passing through the pressing member 50.
If this determination is YES, the process proceeds to step S2, and if NO, the process returns to step S1.

  In step S <b> 2, the control device 80 operates the pressing member 50 to bring the front part of the workpiece W in the conveyance direction into contact with the reference surface 41. Specifically, the pressing member 50 presses the rear end portion 3 of the cylinder block 1 in the conveying direction so that the front end portion 2 of the cylinder block 1 contacts the reference surface 41 of the stop member 40.

  In step S3, the control device 80 measures the distance to the reference point of the workpiece W. Specifically, by operating the Y axis of the robot 65 and bringing the rod 62 of the measuring instrument 60 against the reference point 6 set on the side 5 of the cylinder block 1 in parallel with the reference plane 41, The distance from the coordinate origin of the robot 65 to the reference point 6 of the cylinder block 1 is measured.

  In step S4, the control device 80 determines the type of the workpiece W. Specifically, a shooting signal is output to the camera 70 so that the cylinder block 1 is shot, and the model of the cylinder block 1 is determined based on shooting data input from the camera 70. That is, the model data displayed on the barcode included in the photographing data is compared with the model data stored in the storage unit 89 to determine the model of the cylinder block.

  In step S5, the control device 80 determines the center position of the workpiece W from the distance and the model. Specifically, the center position of the cylinder block 1 is determined from the center position data for each model included in the model data stored in the storage unit 89, the distance measured in step S3, and the model determined in step S4. Find out.

  In step S <b> 6, the loader 30 is moved to the center position of the workpiece W by the control device 80. Specifically, the center position data of the cylinder block 1 determined in step S5 is transmitted to the loader 30, and the loader 30 is operated to move to the center position of the cylinder block 1.

  When the loader 30 reaches the center position of the cylinder block 1, the lift 45 raises the cylinder block 1 to a height at which the loader 30 can easily grip the cylinder block 1. Subsequently, the loader 30 grips the cylinder block 1. Then, the loader 30 suspends the cylinder block 1 and conveys it to the next process.

According to this embodiment, there are the following effects.
(1) There is versatility with respect to the cylinder block 1 having a complicated shape in which both side portions 4 and 5 in the transport direction are uneven. Accordingly, the two sides of the four surrounding surfaces are versatile for the workpiece W having a complicated shape.
(2) By determining the center position of the cylinder block 1 by measuring the distance from the origin to the reference point 6 by the measuring device 60 and determining the model of the workpiece by photographing with the camera 70, it is general-purpose for cylinder blocks 1 of different models. There is sex. Therefore, it has versatility with respect to workpieces W having complicated shapes on both sides and different models.
(3) Steps S14 and S15 of the flowchart shown in FIG. 6 are not required as in the case of the second embodiment of the conveyance positioning method described later. Therefore, the control device 80 does not require the measuring instrument position determination unit 84 and the robot XZ axis operation instruction unit 85, and the configuration of the control device 80 can be simplified.

FIG. 6 is a flowchart showing a second embodiment of the transport positioning method according to the present invention.
Steps S11, S12, and S13 are the same as steps S1, S2, and S4 in the flowchart shown in FIG.

In step S14, the control device 80 determines whether or not the position of the measuring instrument 60 corresponds to the reference point of the corresponding model. That is, it is determined whether or not the position data of the reference point included in the model data stored in the storage unit 89 corresponds to the position of the measuring instrument 60.
If this determination is NO, the process proceeds to step S15, and if YES, the process proceeds to step S16.

  In step S15, the measuring instrument 60 is moved to a position corresponding to the reference point of the workpiece W. Specifically, the measuring instrument 60 is moved to a position corresponding to the reference point 6 of the cylinder block 1 by operating the X axis or the Z axis of the robot 65.

  Steps S16, S17, and S18 are the same as steps S3, S5, and S6 in the flowchart shown in FIG.

According to this embodiment, there are the following effects.
(4) When the position of the measuring instrument 60 does not correspond to the reference point 6 of the cylinder block 1, the measuring instrument 60 is moved to a position corresponding to the reference point 6 so that many types of cylinder blocks 1 are And versatile. Therefore, it has versatility with respect to many types of workpieces W having complicated shapes on both sides, and the versatility of equipment used in the transfer line can be improved.

  2, a measuring instrument 60v similar to the measuring instrument 60 is attached to the frame of the roller conveyor 20. And the length between the both ends 2 and 3 of the cylinder block 1 is measured by calculating | requiring the X-axis direction distance from the reference surface 41 of the stop member 40 to the press surface 51 of the press member 50 using this measuring device 60v. It is also possible to do.

DESCRIPTION OF SYMBOLS 1 ... Cylinder block 2 ... Front end part (front part of conveyance direction)
3 ... rear end (rear part in transport direction)
4, 5 ... side (conveyance direction side)
6 ... Abutting part (reference point)
10 ... Conveying positioning device 20 ... Roller conveyor (conveyance line)
DESCRIPTION OF SYMBOLS 30 ... Loader 41 ... Reference plane 50 ... Pressing member 60 ... Measuring instrument 62 ... Rod (measurement part)
70 ... Camera 80 ... Control device (control unit)
W ... Work

Claims (4)

A step of bringing a front portion of a workpiece to be conveyed in a conveyance direction into contact with a reference surface;
Measuring the distance from the origin to the reference point by abutting the measurement part of the measuring instrument in parallel with the reference surface with respect to the reference point set on the conveyance direction side of the workpiece;
A process of determining the type of workpiece by photographing the workpiece with a camera;
A step of determining a center position of the workpiece based on the measured distance and the determined model;
Moving the loader to the center position of the indexed workpiece;
A conveyance positioning method comprising: A step of bringing a front portion of a workpiece to be conveyed in a conveyance direction into contact with a reference surface;
A process of determining the type of workpiece by photographing the workpiece with a camera;
A step of determining whether or not the position of the measuring instrument corresponds to a reference point set on the side in the conveying direction of the determined model workpiece;
Moving the measuring instrument to a position corresponding to the reference point when the position of the measuring instrument does not correspond to the reference point of the workpiece;
Measuring the distance from the origin to the reference point by abutting the measurement unit of the measuring instrument in parallel with the reference plane with respect to the reference point of the workpiece;
A step of determining a center position of the workpiece by the model and the measured distance;
Moving the loader to the center position of the indexed workpiece;
A conveyance positioning method comprising: In the conveyance positioning method according to claim 1 or 2,
The conveyance positioning method, wherein the workpiece is a cylinder block or a cylinder head of an engine. A pressing member that abuts the front part in the conveyance direction of the workpiece against a reference plane arranged at a predetermined position of the conveyance line by pressing the rear part in the conveyance direction of the workpiece;
A measuring instrument that measures the distance from the origin to the reference point by abutting the measurement unit in parallel with the reference surface with respect to a reference point set on the side of the workpiece conveyance direction;
A camera to shoot the workpiece,
The workpiece model is determined based on the image data of the camera, and the center position of the workpiece is determined from the determined workpiece model and the distance measured by the measuring instrument, and a loader is installed at the determined center position of the workpiece. A control unit to be moved;
A conveyance positioning apparatus comprising:

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