JP7365065B2 - Workpiece posture control device, workpiece supply system equipped with the same, and workpiece posture control method - Google Patents

Description

The present invention is a workpiece posture control system that is used to eliminate the phenomenon of workpieces (components) transported by a conveyance path being crowded together, upside down, or overlapping, and to efficiently perform picking by robots with high precision in a short time. The present invention relates to an apparatus, a workpiece supply system equipped with the same, and a workpiece posture control method.

Conventionally, workpiece feeding devices have been installed on semiconductor chip production lines in the electronics field and on production lines in various industries, and they use cameras to image-process the state of the workpiece, and use the results to determine the state of the workpiece. It is common practice to perform controls such as reversing the front and back, eliminating overlapping, and adjusting the orientation. This has made it possible to reliably pick (take out) the workpiece, and furthermore, it has become possible to shorten the time required for picking, improving the accuracy and efficiency of picking.

For example, Patent Document 1 is entitled "Parts Pickup Method and Parts Supply Apparatus" and describes a method of photographing a plurality of parts placed on a movable tray and using the image to pick up one of the parts with a robot hand. A parts supply device is disclosed. Further, in the present invention, when overlapping parts are discovered, it is possible to eliminate the overlapping by driving the actuator to tilt the movable tray.

In addition, Patent Document 2 has the name "article pickup device," which supplies a group of bolts onto the mounting surface of a tray, searches for isolated bolts using a visual sensor, and finds that there are no isolated bolts and overlapping bolts. In such a case, a technique is disclosed in which a vibrating device is operated to loosen the overlapping state, create an isolated state of the bolt, and then pick the bolt. The loosening device is not limited to a vibration device, but may also include a gas jet or a robot supporting a tool for breaking the piles of bolts. In the present invention, when there is no isolated bolt, it is possible to easily pick the bolt by using a device for loosening the overlapping bolts so that the bolt becomes an isolated bolt.

Patent Document 3 has the name "Impact Type Parts Feeder," which uses a machine vision system to detect and image-analyze parts that are fed onto a membrane supported by a support section, and then applies an impact to the location where the orientation is to be rearranged. A technique has been disclosed in which the generator is moved or predistributed and the membrane is impacted from below, thereby applying an impact to the membrane to change the attitude of the part.

Patent Document 4 is entitled "System for Supplying Components" and describes a robot equipped with a handling arm for gripping component parts on a plate, in preparation for gripping the component parts on the plate by the handling arm. An invention is disclosed in which a vibration actuator is used to apply vibration in three dimensions (three degrees of freedom) to properly orient the object.

JP 2018-8343 Publication Japanese Patent Application Publication No. 11-300670 Japanese Patent Application Publication No. 11-180538 Patent No. 5746637

However, since the technique disclosed in Patent Document 1 only tilts using an actuator, there is a problem in that it may be difficult to reverse the front and back sides or eliminate overlapping depending on the component. Another problem is that it takes time to tilt and restore the tilt, making it difficult to quickly and efficiently correct the workpiece posture.
In addition, in the technology disclosed in Patent Document 2, since the vibration device vibrates the entire tray, the vibration is transmitted to all the workpieces, causing isolated workpieces to come into contact with each other, or even cause the workpieces to rub against each other. The problem was that the surface was easily scratched.
In the technology disclosed in Patent Document 3, the machine vision system recognizes the part and hits the bottom surface of the membrane, but the part spreads out and cannot be brought to the center by just hitting it, and the robot cannot move the part to the center. There was a problem in that picking efficiency deteriorated due to
Furthermore, in the technology disclosed in Patent Document 4, although it is possible to give various movements to the component parts by applying vibration three-dimensionally, since continuous vibration is given to the component parts, the components cannot be moved easily. There was a problem in that parts with microstructures or easily damaged parts could not be handled due to contact or rubbing. In addition, since vibration is applied in three dimensions, it is complicated, making it difficult to find the optimal vibration suitable for each part, and it takes time to consider how to apply vibration to each part, making it difficult to handle many types of parts. There was an issue.

The present invention has been made in response to such conventional circumstances, and it solves the phenomenon in which workpieces (components) transported by a transport path become densely packed and come into contact with each other, or are turned upside down or overlapped. In order to perform picking with high precision and in a short time, actuators are fixedly placed on the lower surface of the four corners of the flexible rectangular plate on which the work is transported, and the actuators are fixedly placed on the lower surface of the four corners of the flexible rectangular plate on which the work is transported. , a workpiece posture control device that controls to independently apply vertical vibrations to a rectangular plate, and also controls to apply vibrations due to impact to the rectangular plate using an actuator movably disposed below the surface of the rectangular plate; The purpose of the present invention is to provide a workpiece supply system and a workpiece posture control method equipped with the same.

In order to achieve the above object, a workpiece posture control device according to the first invention includes a rectangular plate having flexibility that supports a plurality of supplied workpieces, and fixedly arranged on the lower surface of the four corners of this rectangular plate. , a first actuator that independently applies vertical vibration to the rectangular plate, a camera that images a plurality of areas set on the rectangular plate, and a plurality of areas that Recognizes the work existing in the area, calculates the ratio of the area occupied by the work in the area when the number of the work is smaller than the desired number of pickable works, and calculates the ratio of the area occupied by the work in the area based on this ratio. a control device that controls the first actuators disposed at four corners, the control device controlling the center of amplitude of the top surface of the rectangular plate that vibrates due to the vertical vibration applied by the first actuator. The first actuator, which does not vibrate, is controlled to be applied so as to be positioned above the upper surface of the rectangular plate at the position where the first actuator is disposed.
In the workpiece posture control device configured as described above, the control device analyzes the image captured by the camera, recognizes the workpiece existing in each area, calculates the ratio of the area occupied by the workpiece in the area, and calculates the ratio of the area occupied by the workpiece within the area. Based on this, the first actuator acts to apply vertical vibration to the flexible rectangular plate from the bottom surface. In conjunction with a flexible rectangular plate, this control device moves the center of the amplitude of the upper surface of the rectangular plate that vibrates due to the vertical vibration of the first actuator to the position where the non-vibrating first actuator is placed. is controlled so that it is located above the upper surface of the rectangular plate, and acts so that an inclination is formed as an average of the vertical vibrations only by applying vertical vibrations. In other words, by adopting a flexible rectangular plate, the rectangular plate is bent to form an inclination and the workpiece is moved, and the vertical vibration caused by the first actuator is easily propagated on the rectangular plate. It has an effect. The control of the position of the upper surface of the rectangular plate to which vertical vibration is applied to the first actuator by this control device is common to the second to fifth inventions.
In addition, "recognition" of a work in this application refers to analyzing the image data of the work taken by a camera, and determining the position and posture of the work on the rectangular plate (orientation and front and back, or depending on the shape of the work, the side surface is facing upward). This means obtaining data regarding (discrimination of condition), quantity, and area (total area).

Further, in the work posture control device according to the second invention, in the first invention, the area includes four side areas including each of the four sides of the rectangular plate, and these four side areas. The area is divided into a central area that is not included in the areas, and the control device is configured to set a first threshold to a desired value for the ratio in the side area that obtained the highest ratio among the four side areas. If the first condition of exceeding the value is satisfied, the first actuators located at both ends of the side portion included in the side area that obtained the highest ratio are activated to apply vertical vibration. Executing a first control, the first condition is not satisfied, and the ratio calculated for the entire side area exceeds a second threshold set to a desired value higher than the ratio for the central area. If the second condition is satisfied, after starting the first actuator disposed on the lower surface of the rectangular plate at one pair of diagonal corners and applying the first vertical vibration, The present invention is characterized in that a second control is executed in which the first actuators of the other pair of two corners located at the corners are activated to apply a second vertical vibration.
In addition to the effects of the first invention, the workpiece posture control device configured as described above divides the rectangular plate into a side area and a center area, and the ratio of the area occupied by the side area and the center area (workpiece density ), the workpiece is moved to an area close to the central area so that the picking robot can pick the workpiece efficiently and with high precision.
In addition, the control device sets a first condition and a second condition, and in the first condition, the workpieces that are considered to be concentrated in one of the side areas are moved to the center area, and in the second condition, the workpieces that are considered to be concentrated in one of the side areas are moved to the center area, and in the second condition, the workpieces that are considered to be concentrated in one of the side areas are moved to the center area. By alternately activating the first actuators located at the two corners of the two pairs, the workpieces, which are thought to be scattered in the central area, are moved to the central area.

A workpiece posture control device according to a third aspect of the present invention includes a second actuator that is movably arranged under the rectangular plate and applies a blow to the rectangular plate, If the first condition and the second condition are not satisfied, the device calculates the area of the dense workpieces that are not isolated due to overlapping or contacting the workpieces, and determines whether this calculated area is the desired area. If the third condition of being lower than the third threshold set to is equal to or higher than the third threshold value, a fourth control is executed in which all four of the first actuators are activated to apply vertical vibration. It is something to do.
In addition to the operation of the second invention, the workpiece posture control device configured as described above determines that the workpieces that are clustered together are scattered when the first condition and the second condition are not satisfied, and the control device calculates the area of the crowded workpiece, and if the area of the crowded workpiece is smaller than the third threshold, moves the second actuator to the position of the crowded workpiece and applies a blow to disperse or disperse the workpiece. When the area of the dense workpiece is larger than the third threshold value, the first actuator is actuated as a whole to apply vertical vibration to disperse or invert the workpiece. Furthermore, by employing a flexible rectangular plate, vibrations caused by the impact of the second actuator can be easily propagated on the rectangular plate.

A fourth aspect of the workpiece posture control device according to the first aspect is that the area includes four side areas including each of the four sides of the rectangular plate, and these four side areas. a second actuator that is movably arranged at the bottom of the rectangular plate and applies a blow to the rectangular plate; When the fifth condition that the proportion in the central area exceeds a fourth threshold value set as desired is satisfied, the side area where the proportion exceeds the fourth threshold value is satisfied. Alternatively, the fifth control may be executed to move the second actuator below the central area and apply a blow.
In the workpiece posture control device having the above configuration, in addition to the effect of the first invention, when the workpiece density in any of the side areas or the central area exceeds the fourth threshold, the second actuator is activated in that area. It moves downward and applies a blow, acting to disperse or reverse the workpiece.

A workpiece supply system according to a fifth aspect of the present invention is a conveyance device provided upstream of any one of the first to fourth workpiece posture control devices to convey the workpiece to the upper surface of the rectangular plate. The present invention is characterized by comprising: a robot that picks the workpiece on the rectangular plate; and a receiving device that receives the workpiece picked by the robot.
In the workpiece supply system having the above configuration, the first to fourth workpiece posture control devices are provided to exhibit their respective functions, and furthermore, the transport device supplies the workpiece to the workpiece posture control device, and the robot supplies the workpiece posture control device to the workpiece posture control device. The work piece is picked efficiently and accurately on the rectangular plate of the machine, and the receiving device operates to receive the picked work piece.
Note that "picking" in this application refers to the operation of gripping and suctioning a workpiece by a hand (end effector) of a robot, and the operation of moving the workpiece to a receiving device.

A workpiece posture control method according to a sixth invention includes a rectangular plate having flexibility that supports a plurality of supplied workpieces, fixedly arranged on the lower surface of four corners of this rectangular plate, and each independently controlling the rectangular shape. A method for controlling the posture of the workpiece using a first actuator that applies vertical vibration to the plate and a camera that images a plurality of areas set on the rectangular plate, the method comprising: The workpieces existing in the plurality of areas are recognized by analyzing the images, and when the number of workpieces is less than the desired number of pickable works, the ratio of the area occupied by the workpieces in the area is calculated. and a step of activating the first actuators disposed at the four corners based on this ratio to apply vertical vibrations, activating the first actuators to apply vertical vibrations. The step of positioning the center of the amplitude of the top surface of the rectangular plate that vibrates due to the vertical vibration applied by the first actuator to a position above the top surface of the rectangular plate at a position where the first actuator that does not vibrate is disposed. This process is characterized by applying vertical vibrations so as to cause
Since the workpiece posture control method having the above-mentioned configuration takes the first invention as a method invention, its operation is the same as that of the first invention. Note that controlling the position of the top surface of the rectangular plate by activating the first actuator and applying vertical vibration is common to the seventh to ninth inventions.

In the workpiece posture control method according to a seventh invention, in the sixth invention, the area includes four side areas including each of the four sides of the rectangular plate, and these four side areas. A first condition that the ratio in the side area that obtained the highest ratio among the four side areas exceeds a first threshold value that is set as desired. If the above ratio is satisfied, a step of executing a first control of activating the first actuators located at both ends of the side portion included in the side area that obtained the highest ratio to apply vertical vibration. and a second condition that the first condition is not satisfied and the ratio calculated for the entire side area exceeds a second threshold value that is higher than the ratio for the central area. If satisfied, after activating the first actuator disposed on the lower surface of the rectangular plate at two corners of one diagonally opposite corner to apply a first vertical vibration, The method is characterized by comprising the step of activating the first actuators at the two corners of the pair to apply a second vertical vibration.
Since the workpiece posture control method having the above-mentioned configuration considers the second invention as a method invention, its operation is similar to that of the second invention.

In the workpiece posture control method according to the eighth invention, in the seventh invention, a second actuator that is movably arranged under the rectangular plate and applies a blow to the rectangular plate is added to control the posture of the workpiece. In the control method, if the first condition and the second condition are not satisfied, the area of the dense workpieces that are not isolated due to overlapping or contacting the workpieces is calculated, and the area of the workpieces is calculated. If the third condition that the area of the work is smaller than a third threshold value set as desired is satisfied, third control is executed to move the second actuator to the position of the dense workpiece and apply a blow. and if a fourth condition that the area is equal to or larger than the third threshold is satisfied, a fourth control of activating all four of the first actuators to apply vertical vibration. The method is characterized by comprising a step of executing the method.
Since the workpiece posture control method having the above-mentioned configuration considers the third invention as a method invention, its operation is similar to that of the third invention.

In the workpiece posture control method according to the ninth invention, in the sixth invention, a second actuator that is movably arranged under the rectangular plate and applies a blow to the rectangular plate is added to control the posture of the workpiece. The area is divided into four side areas including each of the four sides of the rectangular plate, and a central area not included in these four side areas, When the fifth condition that the proportion in the four side areas or the central area exceeds a fourth threshold value set as desired is satisfied, the proportion exceeding the fourth threshold value is The present invention is characterized by comprising a step of executing a fifth control of moving the second actuator below the obtained side area or the center area to apply a blow.
Since the workpiece posture control method having the above-mentioned configuration considers the fourth invention as a method invention, its operation is similar to that of the fourth invention.

In the workpiece posture control device according to the first invention, the center of the amplitude of the vibration on the top surface of the vibrating side of the rectangular plate due to the vertical vibration of the first actuator is located in the rectangle at the position where the non-vibrating first actuator is arranged. By being above the top surface of the plate, it is possible to form an inclination from the vibrating rectangular plate on the first actuator side to the non-vibrating rectangular plate on the non-vibrating first actuator side as an average during vertical vibration. . Therefore, there is no need to configure the inclination using elements other than vibration, so while the structure of the first actuator is simplified, only the vertical vibration of the first actuator is based on the proportion of the area occupied by the workpiece within the area. Accordingly, the actuator can be moved from the vibrating first actuator side to the non-vibrating first actuator side. Furthermore, the workpiece can be effectively dispersed or reversed simultaneously with the movement.

In addition to the effects of the first invention, the workpiece posture control device according to the second invention can prevent workpieces from crowding in any side area other than the central area, or dispersing or inverting the workpieces over the entire side area. It is possible to move it to a central area where picking can be done efficiently and with high precision.

In the workpiece posture control device according to the third invention, in addition to the effects of the second invention, when densely packed works are scattered, the second actuator is controlled depending on the size of the area of the crowded works. By moving the workpiece to the position of the dense workpiece and applying a blow, or by activating the entire first actuator and applying vertical vibration, the scattered dense workpiece can be dispersed or reversed.

In addition to the effects of the first invention, the workpiece posture control device according to the fourth invention can disperse or invert dense workpieces in each side area or central area.

The workpiece supply system according to the fifth invention employs a workpiece posture control device that can efficiently and highly accurately disperse or invert the densely packed workpieces. This makes it possible to improve the efficiency and accuracy of the series of operations in which workpieces are picked by the system and received by the receiving system.

The workpiece posture control method according to the sixth invention can exhibit the same effects as the first invention.

The workpiece posture control method according to the seventh invention can exhibit the same effects as the second invention.

The workpiece posture control method according to the eighth invention can exhibit the same effects as the third invention.

The workpiece posture control method according to the ninth invention can exhibit the same effects as the fourth invention.

1 is a conceptual diagram of a workpiece posture control device according to a first embodiment of the present invention. FIG. 2 is a conceptual diagram of a work supply system according to a second embodiment of the present invention. FIG. 2 is a system configuration diagram of a workpiece posture control device according to a first embodiment and a workpiece supply system according to a second embodiment. It is an operation flow diagram of the workpiece posture control device according to the first embodiment, and is also a conceptual diagram of the workpiece posture control method according to the third embodiment. FIG. 3 is a conceptual diagram of dividing areas set on a rectangular plate of the workpiece posture control device according to the first embodiment. FIG. 3 is a conceptual diagram of dividing areas set on a rectangular plate of the workpiece posture control device according to the first embodiment. (a) to (c) are along the passage of time, and each explains a state in which workpieces concentrated on the upstream side are dispersed by the vibration actuator and impact actuator of the workpiece posture control device according to the first embodiment. This is a conceptual diagram for (a) is a conceptual diagram for explaining a state in which a dense workpiece is dispersed by the impact of the impact actuator of the workpiece posture control device, and (b) is a conceptual diagram for explaining a state in which a dense workpiece is moved by the application of vertical vibration by the vibration actuator. (c) is a conceptual diagram for explaining a state in which a fairly large dense workpiece is dispersed by application of vertical vibration by the entire vibration actuator. Changes in the height of the top surface of the rectangular plate on the side where the vibration actuator is arranged due to vertical vibrations applied by the vibration actuator of the workpiece posture control device according to the first embodiment, and fixed to the rectangular plate without vertical vibration. FIG. 3 is a conceptual diagram showing the relationship between the heights of the upper surface of the rectangular plate on the side where the vibration actuator is arranged. (a) to (c) are along the passage of time, and are used to explain the state in which the workpieces concentrated on the right side are dispersed by the vibration actuator and impact actuator of the workpiece posture control device according to the first embodiment. It is a conceptual diagram. Note that in this application, the left and right sides are used when viewed from the upstream side where the workpiece is supplied, so the left and right sides are reversed when viewed from the front in the drawings. (a) to (d) are along the passage of time, and each explains the state in which the workpiece dispersed on the side part is dispersed by the vibration actuator and impact actuator of the workpiece posture control device according to the first embodiment. This is a conceptual diagram for (a) to (c) are conceptual diagrams illustrating the state in which scattered dense workpieces are dispersed by the impact actuator of the workpiece posture control device according to the first embodiment over time. It is.

1 to 12 regarding a workpiece posture control device according to a first embodiment of the present invention, a workpiece supply system according to a second embodiment, and a workpiece posture control method according to a third embodiment of the present invention. I will explain while referring to it.
In the embodiments of the present invention, components including the word "unit" are employed, such as an image analysis unit, a workpiece posture control unit, or a picking robot control unit. This means that specific components are "elements", "electronic circuits", "component units", or "devices in which these are assembled" for performing specific operations, and these are conceptually This is indicated as a ``department.''
FIG. 1 is a conceptual diagram of a workpiece posture control device according to a first embodiment, and FIG. 2 is a conceptual diagram of a workpiece supply system according to a second embodiment.
In FIG. 1, a workpiece posture control device 1 includes four vibration actuators 3a to 3d (first actuators) installed upright on a pedestal 4, and a workpiece (not shown) supported by the vibration actuators 3a to 3d. ), and an x-axis linear actuator 6 and a y-axis linear actuator 7a arranged on a support member 5 supported by four support legs 10 below this rectangular plate 2. , a y-axis linear guide 7b that does not include an actuator that applies driving force, a z-axis linear actuator 8, and a striking actuator 9 (second actuator) that allows movement by these linear actuators.
The vibration actuators 3a to 3d can independently apply vertical vibrations to the rectangular plate 2 from the bottom surface, and the impact actuator 9 can also move under the rectangular plate 2 and apply impact to the rectangular plate 2 from the bottom surface. It is possible to do so. Further, the strength (acceleration) and amplitude of the vibration and impact can be set as desired, and can also be controlled by a workpiece posture control section 22, which will be described later.
A camera 11 is installed above the rectangular plate 2 so as to be able to cover the entire rectangular plate 2 and to photograph and recognize the workpiece. In this embodiment, the impact actuator 9 is installed on the z-axis linear actuator 8 on the x-axis linear actuator 6, and the x-axis linear actuator 6 is installed on the y-axis linear actuator 7a and the y-axis linear guide 7b. Therefore, it is assumed that the impact actuator 9 is movable in the xyz space, but the structure is not limited to this as long as the impact actuator 9 is movable in the xyz space.
In this embodiment, the z-axis linear actuator 8 is used to enable vertical movement of the impact actuator 9 itself. However, if the impact stroke of the impact actuator 9 can be set long, the z-axis linear actuator 8 It is not necessary and can be omitted.

In addition, in FIG. 2, a workpiece supply system 19 including the workpiece posture control device 1 shown in FIG. A work 17 is prepared and transported to the work posture control device 1 by the work transport device 12, and is picked by the end effector 16 provided at the tip of the hand 15 of the picking robot 14 and delivered to the work receiving device 13. The workpiece receiving device 13 may be a transporting device for further transporting the workpiece 17 or a container such as a box weight for accommodating the workpiece 17, and is not particularly limited. Note that when picking by the picking robot 14, there are cases in which the workpiece 17 is picked only with its front side facing upward, and there are cases in which the workpiece 17 is picked regardless of its front and back sides, including the side surface.

Next, FIG. 3 is a system configuration diagram of a workpiece posture control device and a workpiece supply system. In FIG. 3, a work transport device 12 and a work receiving device 13 are configured with the work posture control device 1 already described with reference to FIG. 1 in between, and the direction of the work flow 18 is indicated by an arrow. Further, in this embodiment, a workpiece conveyor 24 is employed as the workpiece conveyance device 12, and a workpiece receiving section 25 is employed as the workpiece receiving device 13.
Further, in order to control the operation of the workpiece posture control device 1, the workpiece posture control device 1 is equipped with an analysis/control device 20, which includes a camera 11, vibration actuators 3a to 3d, an x-axis linear actuator 6, a y-axis linear actuator 7a, The z-axis linear actuator 8, the impact actuator 9, and the picking robot 14 are connected to an analysis/control device 20.
The analysis/control device 20 receives an image taken by the camera 11 from the camera 11, and an image analysis section 21 that analyzes the image. A workpiece posture control unit 22 that sends command signals to the actuators 3a to 3d, the impact actuator 9, the x-axis linear actuator 6, the y-axis linear actuator 7a, and the z-axis linear actuator 8; and image analysis by the image analysis unit 21. A picking robot control section 23 is provided that sends a command signal to the picking robot 14 based on the results.

Next, with reference to FIG. 4, a series of posture controls performed on the workpiece 17 using the workpiece posture control device 1 will be described. FIG. 4 is an operation flow diagram illustrating a series of posture controls for the workpiece 17 using the workpiece posture control device 1 according to the first embodiment, and at the same time, a workpiece posture control method according to the third embodiment. It is also a diagram for explaining. Therefore, describing the flow of posture control of the workpiece 17 in the workpiece posture control device 1 with reference to this figure is equivalent to describing the embodiment of the workpiece posture control method. Note that the reference numerals shown in FIG. 4 are the same as the reference numerals of the components shown in FIGS. 1-3, and mean that the operations are executed by the components with the reference numerals.
In FIG. 4, in the process of camera photography, the camera 11 photographs the workpiece conveyed onto the rectangular plate 2 in a recognizable manner, and the photographed image is temporarily stored in the captured image data buffer memory built into the camera 11. be done.
Next, in the workpiece labeling step, the image analysis unit 21 of the analysis/control device 20 analyzes the photographed image of the workpiece 17 stored in the imaged data buffer memory (not shown) of the camera 11, and analyzes the image formed by the workpiece 17. The lumps (including the case of one workpiece) are found in the image, the areas of the lumps are measured, and they are numbered in descending order of area. Since the shape and color of the front and back of the workpiece 17, or in some cases the colors of each side surface, are input and saved in the memory of the image analysis unit 21 in advance, it is possible to execute a workpiece labeling process that searches for chunks of the workpiece 17 based on the shape or color. It is.
Specifically, data as shown in Table 1 is acquired.

Table 1 shows an example in which 20 works 17 are present on the upper surface of the rectangular plate 2. Since they are labeled in descending order of area, No. 1 has the largest area and is measured as 4. In this embodiment, the area of the workpiece is standardized. No. The reason why 2 is not an integer, 2.7, is because the works 17 overlap. No. 1 and no. 3 indicates that four and two works 17 are in contact with each other. In addition, in the analysis based on the workpiece labeling process, since only the shortage of the number of works is determined in the subsequent process, the area may be measured while ignoring the front and back of the workpiece.
Next, in the step of determining whether the total area of the workpiece is equal to or larger than the set value, the image analysis unit 21 calculates the sum of the areas of each chunk of the workpiece obtained in the workpiece labeling step, and A comparison is made with the set value of the total workpiece area stored in the memory of the image analysis unit 21. As a result of the comparison, if the total area of the workpieces is smaller than the set value, the image analysis unit 21 determines that the number of workpieces is insufficient on the rectangular plate 2, and changes the image capturing area to the workpiece conveyance device 12, that is, the workpiece posture. A command signal is sent to the control device 1 to feed the workpiece onto the rectangular plate 2, and then the process returns to the first camera photographing step.
On the other hand, if the total area of the workpiece is equal to or greater than the set value, the image analysis unit 21 proceeds to the step of performing workpiece pattern matching.
In the process of workpiece pattern matching by the image analysis unit 21, the image analysis unit 21 of the analysis/control device 20 analyzes the photographed image of the workpiece 17 stored in the imaged data buffer memory (not shown) of the camera 11, and Only those shapes whose area per block of workpieces obtained in the labeling process is one workpiece, that is, the shape that matches the shape of the workpiece 17 stored in advance, are extracted. In addition, in the analysis at that time, the image analysis unit 21 recognizes the front and back or side surfaces when the picking robot 14 picks only the workpiece 17 on the front side.
Thereafter, the number of extracted works 17 is recognized as the number of works that can be picked by the picking robot 14, and if the number of works is smaller than a preset value stored in the memory of the image analysis unit 21, The image analysis unit 21 determines that the workpieces are concentrated somewhere, and calculates the workpiece density ratio for each area that is set by dividing the upper surface of the rectangular plate 2 in advance.
Note that when picking only the workpieces 17 on the front side, only the workpieces 17 on the front side are recognized as the number of works that can be picked, so even if the number of works itself exceeds the set value, if the number of workpieces 17 on the front side is small, the workpiece 17 will be picked. It will be determined that the area is crowded. However, the calculation of the workpiece density ratio is performed regardless of whether the workpieces 17 are front or backside, even when only the workpieces 17 on the front side are picked. Further, when picking only the workpieces 17 on the front surface, the image analysis unit 21 calculates the workpiece turn-over rate for each area in addition to the workpiece density rate.

Here, the area set on the upper surface of the rectangular plate 2 will be explained with reference to FIGS. 5 and 6. 5 and 6 are conceptual diagrams of areas set on the rectangular plate 2 of the workpiece posture control device 1.
FIG. 5 shows an example in which the area is divided into nine rectangular areas with areas 2a to 2i arranged in 3 rows and 3 columns. In the figure, the locations where the vibration actuators 3a to 3d are fixedly installed are indicated by broken lines. Further, when viewed from the front, the upper side is the upstream side of the workpiece supply system 19 and receives the workpiece 17 from the workpiece conveyance device 12, and the reference numeral 26a in the figure is the upstream side. Similarly, the lower side is the downstream side of the workpiece supply system 19 and the side that transfers the workpiece 17 to the workpiece receiving device 13, and the reference numeral 26c in the figure is the downstream side. Furthermore, the reference numeral 26b is the left side when viewed from the upstream side, and the reference numeral 26d is the right side when viewed from the upstream side. That is, areas 2a-2c correspond to the side areas including the upstream side 26a, areas 2c, 2f, and 2i correspond to the side areas including the left side 26b, and areas 2a to 2c correspond to the side areas including the downstream side 26c. 2g, 2h, and 2i, areas 2a, 2d, and 2g correspond to the side areas including the right side 26d, and area 2e corresponds to the center area.
In FIG. 6, the area is divided into four trapezoidal areas including an upstream side 26a, a left side 26b, a downstream side 26c, and a right side 26d. The rectangular central area surrounded by the upper sides of the side areas is defined as area 2p. Similarly, the locations where the vibration actuators 3a to 3d are fixedly installed are indicated by broken lines. The division of the area is not limited to the area division shown in FIGS. 5 and 6, and includes the side area including the upstream side 26a, left side 26b, downstream side 26c, and right side 26d, respectively, and any side area. If the area is divided into a central area located in the center, any area division may be used.
Returning to FIG. 4, the work density rate by the image analysis unit 21 is calculated for each area shown in FIGS. 5 and 6, and the total area of the works 17 existing in each area is calculated by It means the value (%) divided by the area. Specifically, it is as shown in Table 2 and Table 3.
In addition, the workpiece turning rate is the value (%) obtained by dividing the total area of the workpieces 17 in each area with the back side (including the side surface in some cases) facing upwards by the total area of all the workpieces 17, Alternatively, it may be a numerical value (%) obtained by dividing the number of works 17 whose back surfaces (including side surfaces in some cases) are facing up by the total number of works 17.

In Tables 2 and 3, Cup is the workpiece density rate (%) in the side area including the upstream side 26a (areas 2a-2c in FIG. 5, area 2j in FIG. 6), and Cdown is the side area including the downstream side 26c. The work density rate (%) in the area (area 2g-2i in Figure 5, area 2m in Figure 6), Cr-side is the side area including the right side 26d (area 2a, 2d, 2g in Figure 5, area 2g in Figure 6). Cl-side is the work density rate (%) in the area 2n), Cl-side is the work density rate (%) in the side area including the left side 26b (areas 2c, 2f, 2i in Figure 5, area 2k in Figure 6), and Ccenter is the work density rate (%) in the area 2n). The work density rate (%) in the central area (area 2e in Figure 5, area 2p in Figure 6), and Ciround is the entire edge area (all areas except area 2e in Figure 5, all areas except area 2p in Figure 6). The work density rate (%) in the area), "Cother" indicates the area with the highest work density rate among areas other than the area shown in parentheses. Furthermore, Cconst(up, down, sides) indicates the threshold (first threshold) of the work congestion rate in each edge area, and Cconst(around) indicates the work congestion rate in the entire edge area. (second threshold).
Note that "Cother (around)" means not only the central area but also the area including each of the side areas to obtain the maximum work density.

Then, the image analysis section 21 transmits the calculated workpiece density ratio to the workpiece posture control section 22.
The workpiece posture control unit 22, which has received the workpiece density ratio from the image analysis unit 21, divides the cases into four cases (conditional branching) by comparing the calculation result of the density ratio with the threshold value for the workpiece density ratio, and performs vibration control. The operations of the actuators 3a to 3d and the impact actuator 9 are controlled.
First, four cases will be explained. The first of the four cases, Case 1, is a case where the works 17 are concentrated on the upstream or downstream side, and Case 2 is a case where the works 17 are concentrated on the right or left side.
The workpiece posture control unit 22 controls the workpiece posture control unit 22 when the workpiece density ratio of each side area exceeds a predetermined first threshold and the highest value of the side area is Cup or Cdown (first 1 condition) is case 1, Cr-side or Cl-side (1st condition) is judged as case 2, and if Case 1 and Case 2 do not apply, then Calound is higher than Ccenter and Case 3 is determined when the predetermined second threshold value is exceeded (second condition), and Case 4 is determined when Case 1-3 does not apply. Note that it is desirable that the first threshold values in Case 1 and Case 2 are higher than the second threshold value in Case 3. If the former threshold is less than the latter threshold, the average value of the work density rate in the entire edge area is always lower than the work density rate in the edge area where the work density rate is maximum, so case 3 is applied. This is because there is no possibility of this happening.

The control performed by the workpiece posture control unit 22 in cases 1 to 4 will be described with reference to FIGS. 7 to 12.
First, the control of the vibration actuators 3a to 3d and the impact actuator 9 by the workpiece posture control section 22 in case 1 will be described with reference to FIGS. 7 to 9. 7(a)-(c) are shown over time to explain the state in which the workpieces 17 concentrated on the upstream side are dispersed by the vibration actuators 3a-3d and the impact actuator 9 of the workpiece posture control device 1. It is a conceptual diagram.
In FIG. 7A, the works 17 on the rectangular plate 2 are concentrated on the upstream side 26a, so these works 17 are placed in the central area as much as possible so that the picking robot 14 can pick them efficiently and with high precision. It is desirable to move the workpieces 17 and then to separate the workpieces 17 so that they do not overlap or come into contact with other workpieces 17. Table 2 shows an example of the work congestion rate in this state. In Table 2, Cup is the highest at 28, and the first threshold is 15, which also exceeds this threshold, so the first condition is satisfied.
Therefore, as shown in FIG. 7(b), the workpiece posture control unit 22 activates the two vibration actuators 3a and 3d disposed at both ends of the upstream side 26a, and performs the first control to apply vertical vibration. Execute this to move the work 17 to a position close to the central area. Then, as shown in FIG. 7(c), the workpiece posture control section 22 moves the impact actuator 9 to the central area, controls the impact actuator 9 to apply impact, and disperses the workpiece 17.
Note that this last impact in the central area by the impact actuator 9 may be always performed in consideration of the characteristics of the workpiece 17 itself, such as its ease of isolation, or may be omitted as an option depending on the characteristics of the workpiece 17. Good too. This is common to Cases 1-3.
Furthermore, when picking only the workpiece 17 on the front side, if the workpiece turning rate of Cup in Table 2 exceeds 50%, the workpiece posture control that receives the workpiece turning rate from the image analysis unit 21 The part 22 works by increasing the vertical vibration of the vibration actuators 3a and 3d explained in FIG. 7(b) or the impact strength of the impact actuator 9 explained in FIG. 7(c), or by increasing the amplitude (stroke). 17 may be promoted to reduce the workpiece turnover rate. The strength and amplitude of the vibration actuators 3a to 3d and the impact actuator 9 should be set appropriately depending on whether only the workpiece 17 on the front side is to be picked or whether the workpiece 17 is to be picked regardless of the front or back side, and according to the characteristics of the workpiece 17 itself. Correspond with this.
Note that the set values of the intensity and amplitude (stroke) of the vertical vibration of the vibration actuators 3a to 3d or the impact of the impact actuator 9 may be controlled to be changed depending on the workpiece density rate and workpiece turning rate. Further, the set value of the workpiece turning rate is determined in consideration of the characteristics of the workpiece 17, etc., and is not limited to 50%.

Here, with reference to FIGS. 8(a) and 8(b), a description will be given of the impact by the impact actuator 9 and the application of vertical vibration by the vibration actuators 3a to 3d. FIG. 8(c) will be described separately later.
FIG. 8(a) is a conceptual diagram for explaining a state in which the densely packed workpieces 17 are dispersed by the impact of the impact actuator 9 of the workpiece posture control device 1, and FIG. FIG. 3D is a conceptual diagram for explaining a state in which the particles are dispersed while moving due to the application of vertical vibration. Components shown in these figures that have already been described will be designated by the same reference numerals, and the description thereof will be omitted. In FIG. 8(a), the impact actuator 9 is located in an xyz space formed below the rectangular plate 2 by the x-axis linear actuator 6, the y-axis linear actuator 7a, the y-axis linear guide 7b, and the z-axis linear actuator 8. You can move freely inside. Therefore, it is possible to locally disperse or invert the work 17 by applying a blow to any of the divided areas.
In addition, in FIG. 8(b), for example, a case is shown in which the vibration actuators 3a and 3b are driven, but when the vibration actuators 3a and 3b are driven to apply vertical vibration to the rectangular plate 2, the rectangular plate 2 Combined with the flexibility of the rectangular plate 2, a vibrating inclined surface is formed, and the densely packed works 17 are tilted under gravity, i.e., the vibration actuators 3c and 3d are not vibrating vertically. It is dispersed or reversed while moving towards the side.

Here, the vertical vibration shown in FIG. 8(b) will be explained in more detail with reference to FIG. Figure 9 shows the change in the height of the top surface of the rectangular plate on the side where the vibration actuator is placed (solid line) due to the vertical vibration applied by the vibration actuator of the workpiece posture control device, and the change in height of the top surface of the rectangular plate on the side where the vibration actuator is installed, and the change in height of the top surface of the rectangular plate on the side where the vibration actuator is installed. FIG. 3 is a conceptual diagram showing the relationship between the heights (broken lines) of the top surface of the rectangular plate on the side where the vibration actuators 3a to 3d are arranged. The vertical axis indicates the amplitude or height, and ν indicates the amplitude of vibration caused by the vibration actuators 3a to 3d. Note that although the amplitude displacement is expressed by a sine curve, it is not limited to the sine curve, and other amplitude displacements may be used.
In FIG. 9, the height of the top surface of the rectangular plate 2 on the vibration side, which is fluctuating with the amplitude ν shown by the solid line, is fluctuating as the rectangular plate 2 is periodically bent by the vibration. It is shown that the height of the upper surface of the rectangular plate 2 on the side shown by the broken line, which is fixed without vertical vibration, is at a lower position than the center, that is, the position where the amplitude is 0. Therefore, the average height of the top surface of the rectangular plate 2 on the vibration side is higher than the height of the top surface of the rectangular plate 2 on the fixed side, and the vibration actuators 3a to 3d can be used to vertically vibrate the rectangular plate 2 without tilting it. By applying only this, on average, an inclined surface descending from the upper surface of the rectangular plate 2 on the vibrating side to the upper surface of the rectangular plate 2 on the stationary side is formed, and the workpiece 17 is dispersed or reversed while moving. .
In addition, in FIGS. 7(a) to (c), only the workpieces 17 concentrated on the upstream side are shown, but when moving, dispersing, or reversing the workpieces 17 concentrated on the downstream side, the vibration actuators 3a and 3d Instead, the first control is executed to activate the vibration actuators 3b, 3c disposed at both ends of the downstream side 26c to apply vertical vibrations, thereby moving the workpiece 17 to a position close to the central area. Then, as shown in FIG. 7(c), the workpiece posture control unit 22 moves the impact actuator 9 to the central area and controls the application of impact to disperse or reverse the workpiece 17. . Note that reversible vertical vibration may also be added when moving to a position close to the central area. The same applies to other cases 2 and 3.

Next, with reference to FIG. 10, the control of the vibration actuators 3a to 3d and the impact actuator 9 by the workpiece posture control section 22 in case 2 will be described. 10(a) to 10(c) follow the passage of time, and show the state in which workpieces concentrated on the right side with respect to the upstream side are dispersed by the vibration actuators 3a to 3d and impact actuator 9 of the workpiece posture control device 1. It is a conceptual diagram for explanation.
In FIG. 10(a), since the works 17 on the rectangular plate 2 are concentrated on the right side 26d, these works 17 are moved to the central area as much as possible so that the picking robot 14 can pick them efficiently and with high precision. It is desirable that each workpiece 17 is isolated, that is, dispersed or reversed so that it does not come into contact with other workpieces 17.
Therefore, as shown in FIG. 10(b), the workpiece posture control unit 22 activates the two vibration actuators 3c and 3d arranged at both ends of the right side 26d, and executes the first control to apply vertical vibration. to move the workpiece 17 to a position close to the central area. Then, as shown in FIG. 10(c), the workpiece posture control unit 22 moves the impact actuator 9 to the central area and controls the impact actuator 9 to apply impact, thereby dispersing or inverting the workpiece 17.
In addition, in FIGS. 10(a) to 10(c), only the workpieces 17 concentrated on the right side are shown, but when moving, dispersing, or reversing the workpieces 17 concentrated on the left side, the vibration actuators 3c and 3d can be replaced with The first control is executed to activate the vibration actuators 3a and 3b arranged at both ends of the left side 26b and apply vertical vibration, so that the workpiece 17 is moved to a position close to the central area. Then, as shown in FIG. 10(c), the workpiece posture control unit 22 moves the impact actuator 9 to the central area and controls the application of impact to disperse or reverse the workpiece 17. .

Next, with reference to FIG. 11, the control of the vibration actuators 3a to 3d and the impact actuator 9 by the workpiece posture control section 22 in case 3 will be described. FIGS. 11(a) to 11(d) are along the passage of time, and are used to explain the state in which the workpiece dispersed on the side is dispersed by the vibration actuators 3a to 3d and the impact actuator 9 of the workpiece posture control device 1. It is a conceptual diagram.
In FIG. 11(a), since the workpieces 17 on the rectangular plate 2 are scattered in the side areas excluding the central area, the workpieces 17 are placed in the center as much as possible so that the picking robot 14 can pick these workpieces 17 efficiently and with high precision. It is desirable to move the workpieces 17 to an area and then disperse or invert them so that each workpiece 17 is isolated, that is, does not come into contact with other workpieces 17. Table 3 shows an example of the work congestion rate in this state. In Table 3, the work density rate of any side area does not exceed the first threshold, and the value of Cround is 11, which is higher than the value of Ccenter, 6, and the second threshold Since it exceeds 10, the second condition is satisfied.
However, since they are dispersed from the beginning, it is not possible to activate the vibration actuators 3a to 3d that are clustered together as in case 1 and case 2. Therefore, as shown in FIG. 11(b), the workpiece posture control unit 22 activates the vibration actuators 3b and 3d disposed on the lower surface of the rectangular plate 2 of a pair of two corners existing on one diagonal, and By applying vibration, the workpiece 17 is first moved onto a line connecting the other diagonal. Next, as shown in FIG. 11(c), a second control is executed in which the vibration actuators 3a and 3c arranged on the lower surface of the rectangular plate 2 at the other two diagonal corners are activated to apply vertical vibration. By doing so, the workpiece 17 is moved to a position close to the central area. Then, as shown in FIG. 11(d), the workpiece posture control unit 22 moves the impact actuator 9 to the central area and controls the impact actuator 9 to apply impact, thereby dispersing or inverting the workpiece 17.

Finally, while returning to FIG. 4 and referring to FIG. 12, the control of the vibration actuators 3a-3d and impact actuator 9 by the workpiece posture control section 22 in case 4, which does not apply to cases 1-3, will be described. Case 4 is assumed to be a case where dense areas are scattered in both the central area and the edge areas. FIGS. 12(a) to 12(c) are conceptual diagrams illustrating the state in which scattered dense workpieces 17 are dispersed or reversed by the impact actuator 9 of the workpiece posture control device 1 over time. .
In FIG. 12A, it is assumed that the works 17 on the rectangular plate 2 are concentrated and scattered in either the central area or the side areas.
Therefore, as shown in FIG. 4, the image analysis unit 21 analyzes the area of the densely packed works 17. Information regarding the area is then transmitted to the workpiece posture control section 22. The workpiece posture control unit 22, which has received the information regarding the area, determines that the area of each dense workpiece 17 is lower than a desired threshold value (third threshold value), as shown in FIG. 4 as local impact. If the third condition of being small is satisfied, a command signal is sent to the impact actuator 9 to move to the position of the dense workpiece 17 and execute the third control to apply a impact. FIG. 12(b) shows a state in which one of the scattered dense workpieces 17 is dispersed by the impact of the impact actuator 9 which has received a command signal from the workpiece posture control section 22. FIG. 12C shows a state in which the distribution of the dense workpieces 17 by the impact actuator 9, which satisfies all other third conditions, has been completed.

On the other hand, if the area of the dense workpiece 17 analyzed by the image analysis unit 21 is equal to or larger than the third threshold, the workpiece posture control unit 22 determines that the fourth condition is satisfied, and the workpiece posture control unit 22 performs the overall vibration as shown in FIG. Then, a command signal is sent to all the vibration actuators 3a to 3d to execute the fourth control of starting up and applying vertical vibration. FIG. 8C shows a state in which all the vibration actuators 3a to 3d are vibrated up and down in this manner. FIG. 8(c) is a conceptual diagram for explaining a state in which a somewhat large dense workpiece is dispersed by application of vertical vibration by the entire vibration actuator. If the fourth condition is satisfied, it is considered that a rather large dense workpiece 17 is formed instead of scattered small dense workpieces 17 as shown in FIG. 12(a), as shown in FIG. 8(c). This is because it is considered more efficient to vibrate the entire rectangular plate 2 up and down to disperse the entire rectangular plate 2.
In Case 4, as in Case 1-3, the intensity of the vertical vibration of the vibration actuators 3a to 3d and the impact of the impact actuator 9 are varied with the intention of not only dispersion but also reversal, depending on the workpiece turnover rate for each area. Changes such as increasing the amplitude (stroke) or increasing the amplitude (stroke) may be controlled by the workpiece posture control section 22.
In FIG. 4, after controlling the vibration actuators 3a to 3d and the impact actuator 9 divided into cases 1 to 4 described above, the process returns to the first photographing process using the camera 11, and subsequent work labeling is performed. From the process, the process proceeds to a process of confirming that the total area of the workpieces is equal to or greater than a set value, a process of workpiece pattern matching, and then a process of confirming that the number of works that can be picked by the picking robot 14 is equal to or greater than the set value. Thereafter, if the number of workpieces that can be picked is less than the set value, the process proceeds to the step of calculating the workpiece density ratio again. When picking only when the front surface is facing upward, the process is the same except that in addition to the workpiece density rate, the workpiece turnover rate is calculated again.

Next, in the process of confirming that the number of workpieces that can be picked is greater than or equal to the set value in FIG. The picking robot control section 23 outputs information (data) regarding the position and orientation of the work 17 that can be picked, and upon receiving the information, outputs a command signal to the picking robot 14 to perform picking.
Thereafter, the workpiece posture control unit 22 checks the stop signal for the workpiece posture control device 1, and if the stop signal is confirmed, the workpiece posture control unit 22 stops and completes the operation. Now we will move on to the process of photographing.
In the workpiece posture control device 1 according to the first embodiment, the workpiece supply system 19 according to the second embodiment, and the workpiece posture control method according to the third embodiment described above, by performing workpiece labeling, The total area of the works 17 can be measured, and if there is a shortage, the additional supply of works 17 to the rectangular plate 2 can be encouraged, so the number of works 17 that are isolated during picking can be secured.
However, at the same time, it is thought that the number of works 17 that cannot be picked due to overlap or contact will increase, so the image analysis unit 21 analyzes the work 17 that can be picked through work pattern matching, and if there is a shortage, set them on the rectangular plate 2. The workpiece density ratio is calculated for each side area and center area, and is transmitted to the workpiece posture control section 22. The workpiece posture control unit 22 determines the distribution of the workpieces 17 in each area based on the workpiece density ratio, and uses the vibration actuators 3a to 3d and the impact actuator 9 in all cases to place the workpieces 17 in a place close to the central area where picking is easy. The work 17 can be dispersed or reversed. Therefore, it is possible for the picking robot 14 to perform picking efficiently and with high precision.
Since the picking by the picking robot 14 is efficient, it becomes possible to efficiently supply the workpieces 17 from the workpiece transport device 12 on the upstream side, and to perform packing and transportation by the workpiece receiving device 13 on the downstream side.

In addition, by configuring the rectangular plate 2 with a flexible material, the rectangular plate 2 that vibrates due to the vertical vibration of the vibration actuators 3a to 3d is bent, and the center of the amplitude of the upper surface of the rectangular plate 2 is set to the vibration actuator that does not vibrate. By controlling the workpiece posture control unit 22 so that an average inclination is formed only by applying vertical vibration so that the workpiece position is located above the upper surface of the rectangular plate 2 on the side 3a to 3d, elements other than vibration are eliminated. Since there is no need to use the vibration actuators 3a to 3d to form an inclination, it is possible to simplify the structure of the vibration actuators 3a to 3d, omit unnecessary operations, and effectively disperse or reverse the workpiece 17 in a short time.

Next, a modification of the workpiece posture control device 1 according to the first embodiment and the workpiece posture control method according to the third embodiment will be described.
In the modified example, the image analysis unit 21 analyzes the pickable works 17 by work pattern matching, and calculates the work density ratio for each of the four side areas and the center area set on the rectangular plate 2 if there is a shortage. Later, the work posture control unit 22, which has received the information regarding the workpiece density, determines that the workpiece density in the four side areas or the center area exceeds a desired threshold (fourth threshold). When the fifth condition is satisfied, a fifth control is executed in which the impact actuator 9 is moved below the side area or the central area where the workpiece density exceeds the fourth threshold value and a impact is applied. It is.
In this modification, when picking only the workpieces 17 whose surfaces are facing upward, the strength of the impact and the stroke size of the impact actuator 9 are changed according to the workpiece turn-over rate for each area, and the workpieces 17 are picked. The workpiece posture control unit 22 may be used to control not only dispersion but also inversion.
In this fifth control, without performing conditional branching by the workpiece posture control unit 22, when the fifth condition is satisfied, the workpiece 17 is dispersed by individually hitting the side area or the central area with the impact actuator 9. Since the picking robot 14 can cover a wide area on the rectangular plate 2, it is considered that more efficient dispersion or reversal and picking are possible.
That is, in this modification, the fifth condition is set in advance, and when the fifth condition is satisfied, the workpiece posture control section 22 branches the condition and the vibration actuator 3a is divided into cases 1-4. A workpiece posture control device that executes the fifth control without controlling the 3d and impact actuator 9, a system including the workpiece posture control device, or a workpiece posture control method including a step of executing the fifth control independently. It is true.

As explained above, the invention described in claims 1 to 9 of the present invention provides workpiece posture control for supplying workpieces (components) necessary for assembly, processing, and production in various industrial fields. It can be widely used as a device, a workpiece supply system, and a workpiece posture control method.

1... Workpiece posture control device 2... Rectangular plate 2a-2k, 2m, 2n, 2p... Area 3a-3d... Vibration actuator 4... Pedestal 5... Support material 6... X-axis linear actuator 7a... Y-axis linear actuator 7b... Y-axis Linear guide 8...Z-axis linear actuator 9...Impact actuator 10...Support leg 11...Camera 12...Work transfer device 13...Work receiving device 14...Picking robot 15...Hand 16...End effector 17...Work 18...Work flow 19...Work Supply system 20...Analysis/control device 21...Image analysis section 22...Work posture control section 23...Picking robot control section 24...Work transport conveyor 25...Work receiving section 26a...Upstream side 26b...Left side 26c...Downstream side 26d ...Right side

Claims (9)

a flexible rectangular plate that supports a plurality of supplied works; a first actuator that is fixedly arranged on the lower surface of the four corners of the rectangular plate and independently applies vertical vibration to the rectangular plate; , a camera that images a plurality of areas set on the rectangular plate; and the workpieces existing in the plurality of areas are recognized by analyzing the images taken by this camera, and the workpieces are set as desired. a control device that calculates a ratio of the area occupied by the work in the area when the number of the work is smaller than the number of work that can be picked, and controls the first actuator arranged at the four corners based on this ratio; and the control device is configured to set the center of amplitude of the top surface of the rectangular plate vibrating due to the vertical vibration applied by the first actuator to the top surface of the rectangular plate at a position where the first actuator that does not vibrate is disposed. A workpiece posture control device characterized in that the workpiece posture control device is controlled so as to apply vertical vibration so that the workpiece position is located on the upper side. The area is divided into four side areas that include each of the four sides of the rectangular plate, and a central area that is not included in these four side areas, and the control device If the first condition is satisfied that the ratio in the side area that obtained the highest ratio among the side areas exceeds a first threshold value set as desired, the highest ratio is obtained. executing a first control of activating the first actuators present at both ends of the side part included in the side area included in the side area and applying vertical vibration; If the second condition is satisfied that the ratio calculated as a whole is higher than the ratio of the central area and exceeds a second threshold value set as desired, then After activating the first actuator disposed on the lower surface of the rectangular plate at a corner to apply a first vertical vibration, activating the first actuator at the other two diagonal corners to apply a first vertical vibration. 2. The workpiece posture control device according to claim 1, wherein the second control is executed to apply two vertical vibrations. A second actuator is movably disposed below the rectangular plate and applies a blow to the rectangular plate, and the control device controls the workpiece when the first condition and the second condition are not satisfied. When the area of a dense workpiece that is not isolated due to overlapping or contact is calculated, and the third condition that the calculated area is less than a third threshold value set as desired is satisfied. In the case where the second actuator is moved to the position of the dense workpiece and a third control is executed to apply a blow, and the fourth condition that the area is equal to or larger than the third threshold is satisfied; 3. The workpiece posture control device according to claim 2, wherein said fourth control is executed to activate all four said first actuators to apply vertical vibration. The area is divided into four side areas including each of the four sides of the rectangular plate, and a central area that is not included in these four side areas, and is movable to the bottom of the rectangular plate. a second actuator for applying a blow to the rectangular plate; If the fifth condition of exceeding the fourth threshold value is satisfied, the second actuator is moved below the side area or the central area where the proportion exceeding the fourth threshold value is obtained, and a blow is applied. 2. The workpiece posture control device according to claim 1, wherein the workpiece posture control device executes a fifth control. A transport device provided upstream of the work posture control device according to any one of claims 1 to 4 to transport the work to the upper surface of the rectangular plate, and a robot that picks the work on the rectangular plate. and a receiving device that receives the workpiece picked by the robot. a flexible rectangular plate that supports a plurality of supplied works; a first actuator that is fixedly arranged on the lower surface of the four corners of the rectangular plate and independently applies vertical vibration to the rectangular plate; , a camera that images a plurality of areas set on the rectangular plate, and a method of controlling the posture of the workpiece using:
The workpieces existing in the plurality of areas are recognized by analyzing images taken by the camera, and if the number of workpieces is less than a desired number of pickable works, the workpieces occupy the area. The method includes a step of calculating an area ratio, and a step of activating the first actuators disposed at the four corners to apply vertical vibration based on the ratio, and activating the first actuator. In the step of applying vertical vibration, the center of the amplitude of the top surface of the rectangular plate that vibrates due to the vertical vibration applied by the first actuator is set to the top surface of the rectangular plate at the position where the first actuator that does not vibrate is placed. A workpiece posture control method characterized by applying vertical vibration so that the workpiece is positioned above the workpiece. The area is divided into four side areas that include each of the four sides of the rectangular plate, and a central area that is not included in these four side areas. If the first condition that the ratio in the side area that has obtained the highest ratio exceeds a first threshold value that is set as desired, the side area that has obtained the highest ratio a step of executing a first control of activating the first actuators present at both ends of the side portion included in the area to apply vertical vibration; If the second condition is satisfied that the proportion of the central area is higher than the proportion of the central area and exceeds a second threshold value set as desired, the proportion of the After activating the first actuator disposed on the lower surface of the rectangular plate to apply a first vertical vibration, the first actuators at the other two corners of the diagonal are activated to generate a second vertical vibration. 7. The workpiece posture control method according to claim 6, further comprising the step of executing second control of applying vibration. A method of controlling the posture of the workpiece by adding a second actuator that is movably disposed below the rectangular plate and applies a blow to the rectangular plate, the method satisfying the first condition and the second condition. If not, calculate the area of the dense workpieces that are not isolated due to overlapping or contacting the workpieces, and determine that the calculated area is less than a third threshold value set as desired. If the three conditions are satisfied, the second actuator is moved to the position of the dense workpiece and a third control is executed to apply a blow, and the area is equal to or larger than the third threshold value. The workpiece according to claim 7, further comprising the step of executing a fourth control of activating all four of the first actuators to apply vertical vibration when the fourth condition is satisfied. Posture control method. A method for controlling the posture of the workpiece by adding a second actuator that is movably disposed at the bottom of the rectangular plate and applies a blow to the rectangular plate, wherein the area is located on four sides of the rectangular plate. It is divided into four side areas including the respective sides and a central area that is not included in these four side areas, and the ratio in the four side areas or the central area is set as desired. If the fifth condition of exceeding the fourth threshold is satisfied, the second actuator is placed below the side area or the center area where the proportion exceeding the fourth threshold is obtained. 7. The workpiece posture control method according to claim 6, further comprising the step of executing a fifth control of moving the workpiece and applying a blow.

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