JPH0794107B2 - Inspection device in carrier - Google Patents

Description

Description: TECHNICAL FIELD The present invention relates to an inspection device in a transfer device, and more specifically, when a transfer target is transferred to a predetermined position on a transfer path, the transfer target is transferred to the transfer target. The present invention relates to an inspection device which recognizes the above and performs a necessary processing (inspection) process on the transported object.

[Prior Art] For conventional transport devices, the magazine "Automation"
In VOL30, the code number or bar code is provided on the pallet on which the workpiece to be transported is mounted, as described in "Sensing Technology for FA".
When the workpiece is transported to a predetermined position on the transport route, the code number or bar code etc. provided on the pallet is read so that the processing (inspection) processing of the NC program necessary for the workpiece is performed. It is suggested to.

[Problems to be Solved by the Invention] By the way, in the prior art, although the conveyed object can be identified by the bar code or the like provided on the pallet and the necessary processing such as the processing can be performed, Storing all the data to be processed for the transported object not only requires a machine with a large storage capacity when there are many types of transported pairs, but it also takes time to process the processing machine. There's a problem. In particular, in an inspection device in which a robot as a processing machine is configured by using a TV camera, there is a problem that not only the control data of the robot but also the inspection data by the TV camera is enormous, which causes difficulty in data processing. .

Further, since it is not possible to write processed data, date and time, etc., into a barcode or the like, there is a problem that it is difficult to control the quality of each transported object.

An object of the present invention is to provide an inspection device in a transfer device that can shorten the processing time and easily manage the quality and the like of each transferred object in view of the above-mentioned problems of the prior art.

[Means for Solving Problems] According to the present invention, a mounted body is provided with each of the transported bodies, and a storage means for reading and writing data necessary for processing of each of the transported bodies is provided. , A transport mechanism that sequentially transports this mounted body to each processing station on the transport path, and each installed at each processing station on the transport path and inspects the transported object on the mounted body for each processing station. Moreover, at least one of the robots is equipped with a television camera for imaging the inspection position of the transported object on the mounting body, a robot controller for operating the robot, and based on the imaging data imaged by the television camera. Installed in each processing station on the transport route and the inspection means having an inspection unit for inspecting the mounted body, and when each mounted body reaches each station, In an inspection device in a carrier device, comprising a storage means and a control means for performing data communication between the inspection means corresponding to each transported object, the storage means is required for inspecting the transported object on the mounting body. The microcomputer is configured to store various data and to store the inspection result of the transferred object, while the control means stops the positioning of the mounted object at the time when the mounted object reaches each processing station on the transfer route. A positioning mechanism, a connection mechanism for connecting the respective storage means of the mounting body to the inspection means at the time when the positioning of the mounting body is stopped, and an inspection of the transported object stored in the storage means. A microcomputer that reads out the content and sends it to the inspection means, and sends the inspection result of the transported object inspected by the inspection means so as to write it in the storage means of the mounting body. Characterized in that it has a.

[Operation] When the mounting body on which the transported object is mounted reaches the predetermined position on the transport path by the transport mechanism, the control means stops the positioning of the mounting body, and the storage means of the mounted body and the inspection means for the transported object. Connect. Then, the control means reads out the data necessary for the inspection written in the storage means of the mounted body and sends it to the inspection means, and the inspection means performs the inspection processing on the transported object based on the data, and The inspection result data is written in the storage means by being sent to the storage means of the mounting body.

In the present invention, as described above, the control means reads out the data stored in the storage means of the mounting body and sends it to the inspection means, and also sends the inspection result data of the inspection means to the storage means, and the inspection means conveys the data. Since it is configured not to store all the data required for body processing, it is possible to prevent the storage capacity of the inspection device from increasing.

In addition, the inspection means is based on the robot equipped with the television camera for capturing the inspection position of the transported object on the mounting body as described above, the robot control unit for operating the robot, and the image data captured by the television camera. If it is configured with an inspection unit for inspection, if the robot control unit has the control data of the robot and the inspection has not only the data necessary for the inspection but also the inspection result, the inspection processing data becomes huge. In addition, when there are many types of transported objects to be inspected, the number may be further increased, and processing time is required. In the present invention, as described above, since the storage means of the mounting body stores the data necessary for the inspection of the transported object and the inspection result data thereof, the robot controller is required for the inspection sent from the storage means. Since it is not necessary for the inspection unit to store the inspection result data while controlling the robot based on such data, the data possessed by the inspection means can be reduced, and at least the types of transported objects can be reduced. Easy to deal with.

As a result, even if there are many types of transported objects, the inspection means does not store the data necessary for the inspection or the inspection result data corresponding to each transported object, so the storage capacity of the inspection means increases. In addition, since the inspection means does not select the inspection contents by sending the data necessary for the inspection process, the inspection process can be shortened. Further, by reading out the inspection processing data and the like written in the storage means, it is possible to easily manage the individual quality of the transported object.

[Embodiment] An embodiment of the present invention will be described below with reference to the accompanying drawings.
FIG. 1 is an explanatory view showing a carrying device to which the present invention is applied, and FIG.
FIG. 3 is an overall view showing an embodiment of an inspection device in a carrying device of the present invention, FIG. 3 is a block diagram showing a storage means provided in a mounting body, and FIG. 4 is a side view showing a positioning mechanism of the mounting body. is there.

Before describing the inspection device of the present invention, a transfer device to which the inspection device is applied will be described. The transfer device is, as shown in FIG. 1, at a predetermined position of a mounting body 2 on which a transferred object 1 is mounted. A storage unit 3 capable of reading and writing data necessary for the inspection processing of the transported object 1 is provided, and when the mounting body 2 is transported by the transportation mechanism 4, the control unit 5 drives the mounting body 2 on the transportation path. Positioning and stopping at a predetermined position,
The storage means 3 of the mounting body 2 and the inspection means 6 for inspecting the transported object 1 are connected, the processing content data written in the storage means 3 is sent to the inspection means 6, and The inspection result data can be sent to the storage means 3 to be written in the storage means 3. Therefore, the transfer device is roughly provided with the respective mounting bodies 2A to 2C, the transfer mechanism 4, and the control means 5A to 5C.

Each of the mounted bodies 2A to 2C mounts each of the transported bodies 1A to 1C, and the storage means 3 is provided at a predetermined position thereof. As the storage means 3, as shown in FIG.
1, a ROM 32, a RAM 33, an ACIA 34, and a connector 35 is composed of a microcomputer, CPU31,
Data written in advance for inspecting each of the transported bodies 1A to 1C can be read from the ROM 32, RAM 33, and the inspection data can be written in the RAM 33.

The transport mechanism 4 is configured to have a conveyor, a drive source thereof, and the like for transporting the mounting bodies 2A to 2C.

The control means 5A to 5C have a positioning mechanism for positioning and stopping the mounting bodies 2A to 2C when the respective mounting bodies 2A to 2C arrive at the inspection station position on the transport route by the transport mechanism 4, and a mounting body 2A. ~ 2C, when the positioning is stopped, a connection mechanism 54 for connecting each of the mounted bodies 2A to 2C and the inspection means 6A to 6C described later in order to inspect the transported objects 1A to 1C.
56 to 56 and microcomputers 57 to 59 for reading out data from the storage means 3 and sending inspection / inspection processing result data to the storage means 3.

As shown in FIGS. 2 and 4, the respective positioning mechanisms include detection switches 51a to 53a installed at respective inspection station positions on the conveyance path, and the detection switches 51a to 53a.
When each of the mounting bodies 2A to 2C is detected, the air that drives the rods 51c to 53c fits into the grooves 2a to 2c provided in the mounting bodies 2A to 2C and stops the positioning of the mounting bodies 2A to 2C. Cylinders 51b to 53b are provided.

In FIG. 4, only the positioning mechanism of one control means 5B is shown, and the detection switches 51a, 53a and the air cylinders 51b, 53b of the positioning mechanism of the other control means 5A, 5C are not shown, It has the same configuration as the means 5B.

As shown in FIG. 2, the connection mechanisms 54 to 56 are connected to the connector 54.
a-56a and drive sources 54b-56b, which are air cylinders for connecting and disconnecting the respective connectors 54a-56a to and from the connector 35 of the storage means 3 provided in the mounting bodies 2A-2C, When 2A ~ 2C is stopped positioning by the positioning mechanism, the respective connectors 54a ~ 56a are moved by the drive of each drive source 54b ~ 56b, by being connected to the connector 35 of the storage means of the mounted body 2A ~ 2C, respectively. Microcomputer 57-59
The respective storage means 3 and the respective inspection means 6A to 6C are connected via the.

The microcomputers 57 to 59 are the connectors 54a of the connection mechanisms 54 to 56.
56a to the inspection means 6A to 6C, and when the connection mechanisms 54 to 56 perform a connecting operation, the respective storage means 3 and the inspection means 6A to 6C are connected to each other, so that the respective storage means 3 are connected.
From the corresponding data to be transferred 1A ~ 1C is read to send data to the inspection means 6A ~ 6C, and when the inspection means 6A ~ 6C inspect the transferred object 1A ~ 1C, the inspection The result data is sent to each storage means 3 so as to be written in the corresponding storage means 3. In addition, the microcomputer 57
Reference numerals 59 to 59 control the air cylinders 51b to 53b of the positioning mechanism, the air cylinders 54b to 56b of the connection mechanisms 54 to 56, the transport mechanism 4 and the like according to a predetermined program.

The inspection means 6A to 6C of the embodiment are for inspecting the personal computer, and are installed at respective inspection station positions on the transport path. Of these inspection means 6A-6C, the inspection means 6A as shown in FIG. 2 includes a TV camera 6A _1, when the mounting body 2A stops positioned in its testing position, the microcomputer from the storage means 3 of the mounting member 2A When the appearance data necessary for the inspection is read by 57, the television camera 6A ₁ captures an image of the transported body 1A, and the captured data is compared with the appearance data from the storage unit 3 to perform the inspection, and the inspection result is obtained. Is sent to the microcomputer 57.

When the mounting body 2B stops positioning at the inspection position, the inspection means 6B reads out the printing position data and the character data necessary for the inspection by the microcomputer 58 from the storage means 3 of the mounting body 2B. Data is robot controller 6B
_{When 1} and the character data are sent to the character recognition unit 6B ₂ , respectively, the robot 6B ₃ operates under the control of the robot control unit 6B ₁ according to the print position data, and the television camera 6B ₄ is transferred based on the character data. the numeric keypad of the body 1B by imaging inspected, so that fed to the microcomputer 58 the inspection result data from the robot control unit 6B ₁ and the character recognition unit 6B _2.

For this reason, this inspection means 6B is the object to be transported 1B on the mounting body 2B.
A robot 6B ₃ equipped with a TV camera 6B ₄ for imaging a position of, the data necessary for checking the storage means mounting member 2B and incorporated via the microcomputer 58, controls the position of the robot on the basis of the data Robot controller 6B ₁
And the image data captured by the television camera 6B ₄ is inspected, and the result data is stored in the storage means 3 via the microcomputer 58.
And an inspection unit including a character recognition unit 6B ₂ and a robot control unit 6B ₁ .

As shown in FIG. 2, when the mounting body 2C is positioned at the inspection position, the inspection means 6C monitors the inspection data when the microcomputer 59 reads the inspection data up to that point from the storage means 3 of the mounting body 2C. In addition to displaying it on the TV 6C ₁ , the printer 6C ₂ outputs it for recognition inspection.

Next, the operation of the inspection means of the embodiment will be described.

When the respective mounting bodies 2A to 2C carrying the respective transported bodies 1A to 1C are transported by the transport mechanism 4 and reach the respective inspection station positions on the transport path, the control means 5A to 5C at the respective inspection station positions are , After the corresponding mounting bodies 2A to 2C are positioned and stopped by the positioning mechanism, the connection mechanisms 54 to 56
According to the storage means 3 of the mounted bodies 2A to 2C and the inspection means 6A to 6C
It is connected to and via the microcomputer 57-59.

Then, the microcomputers 57 to 59 of the control means 5A to 5C read out the data necessary for the inspection contents of the respective transported bodies 1A to 1C from the storage means 3 provided in the respective mounted bodies 2A to 2C, and are connected. Sent to the inspection means 6A-6C. As a result, the inspection means 6A to 6C individually transfer the objects to be conveyed 1A to
When 1C is inspected with a predetermined content, the inspection result data is sent to the respective storage means 3 by the microcomputers 57 to 59.
The storage means 3 can store the inspection data of the corresponding transported objects 1A to 1C.

In this way, the storage means 3 is provided in the mounting body on which the transported objects 1A to 1C are mounted, and the control means 5A to 5C read the data necessary for the inspection written in the storage means 3 and inspect the inspection means 6A.
To 6C, and the inspection result data of the inspection means 6A to 6C is sent so as to be written in the storage means, so that all the data required for the inspection means 6A to 6C to inspect the transported objects 1A to 1C as in the conventional case. There is no need to remember it.

Especially, the inspection means 6B is a robot 6 having a TV camera 6B _4.
When B ₃ , the robot control unit 6B ₁ and the character recognition unit 6B ₂ are included, the robot control unit 6B ₁ has the control data of the robot 6B ₃ and the character recognition unit 6B ₂ is necessary for the inspection. If not only the data but also the inspection result is included, the inspection processing data becomes enormous, and in the case where there are many types of transported objects to be inspected, it may become even more enormous, and processing time is required. In an embodiment, as described above,
Since the storage means 3 of the mounted bodies 2A to 2C stores the data necessary for the inspection of the transported bodies 1A to 1C and the inspection result data, the robot controller 6B ₁ sends the inspection sent from the storage means 3 to the inspection means. The robot 6B ₃ is controlled based on the data necessary for the inspection, and the inspection unit does not need to store the inspection result data. Therefore, the data possessed by the inspection unit 6B can be reduced, and the object to be transported can be reduced. Many types can be dealt with easily.

As a result, even if there are many types of transported objects 1A to 1C, the inspection means
Since 6A to 6C do not store the data necessary for the inspection or the inspection result data corresponding to each transported object, it is possible to prevent the storage capacity of the inspection means from increasing, and it is necessary for the inspection process. Since it does not mean that the inspection means 6A to 6C select the inspection contents by sending such data, the inspection process can be shortened. Further, by reading out the inspection processing data and the like written in the storage means 3, it is possible to easily manage the individual qualities of the transported objects 1A to 1C.

Further, while the control means 5A-5C have the microcomputers 57-59,
Since the storage means 3 is composed of a microcomputer having a CPU 31, a ROM 32, a RAM 33, an ACIA 34 and a connector 35, data can be transferred between the storage means 3 and the control means 5A to 5C by serial communication. The serial communication may be either a contact type or a non-contact type. For example, as a non-contact type connection structure, optical coupling or electromagnetic coupling may be used. In particular, when the optical coupling type is adopted, the communication area is increased. It can be limited and does not interfere with other equipment even if it is installed close to it, and it is advantageous when reading and writing large amounts of data due to the high communication speed, while using the electromagnetic coupling method , It is possible to use high high frequency electromagnetic waves that do not interfere with other equipment as noise or are not affected by other equipment. Therefore,
Not only can a connection structure having no problem with respect to the wear of the connector be selected, but various connection structures can be selected so as not to adversely affect the processing of the inspection station. Further, if the contact-type connection structure is used, three connections including one for transmission, one for reception, and one common ground are required, and the number of connections can be at least assured, so that the connection reliability can be improved. it can.

[Effect of the Invention] As described above, according to the present invention, the control means reads out the data necessary for the inspection, which is stored in advance in the storage means of the mounting body, and sends the data to the inspection means, and the inspection means converts the data. When the inspection is performed on the basis of the inspection result data, the inspection result data of the inspection means is sent to the storage means of the mounted body by the control means, and the inspection means does not store all the data required for the processing of the transported object. Therefore, it is possible to prevent the storage capacity of the inspection means from increasing, and to shorten the inspection, and to read the data written in the storage means, which facilitates the quality control of each transported object. .

[Brief description of drawings]

FIG. 1 is an explanatory view showing a carrying device to which the present invention is applied, and FIG.
FIG. 3 is an overall view showing an embodiment of an inspection device in a carrying device of the present invention, FIG. 3 is a block diagram showing a storage means provided in a mounting body, and FIG. 4 is a main part showing a positioning mechanism of the mounting body. It is a side view. 1A to 1C ...... transported object, 2A to 2C ... mounted body, 3 ... storage means, 4 ... transport mechanism, 5A to 5C ... program control means,
54-56 …… Connection mechanism, 57-59 …… Microcomputer, 6A-6C …… Inspection means, 6B ₁ …… Robot control section, 6B ₂
…… Character recognition unit, 6B ₃ …… Robot, 6B ₄ …… TV camera.

Continuation of the front page (56) References JP-A 61-203805 (JP, A) JP-A 60-16348 (JP, A) JP-A 63-28543 (JP, A)

Claims (1)

[Claims] 1. A mounting body on which each of the transported bodies is mounted, and a storage means for reading and writing data required for processing of each of the transported bodies is provided, and the mounting body on a transport path. A transport mechanism that sequentially transports each processing station, and each transport station is installed on each transport station and inspects the transported object on the mounting body for each processing station, and at least one of each An inspection unit having a robot, one of which is equipped with a TV camera for imaging the inspection position of the transported object on the mounting body, a robot control unit for operating the robot, and an inspection unit for inspecting based on the imaging data imaged by the TV camera. And installed at each processing station on the transfer route, and when each mounted body reaches each station, it corresponds to the storage means of the mounted body and each transported object. In the inspection device in the transfer device, the storage device stores data necessary for inspecting the transferred object on the mounting body, and the transferred object. On the other hand, the control means includes a positioning mechanism for stopping the positioning of the mounting body when the mounting body reaches each processing station on the transport path, and a positioning means for positioning the mounting body. At the time of stopping, a connection mechanism for connecting each storage means of the mounted body and the inspection means to each other so as to be capable of data communication, and data necessary for inspection of the transported object stored in the storage means and sent to the inspection means. And sends the inspection result data of the transported object inspected based on the necessary data by the inspection means so as to be written in the storage means of the mounting body. Inspection apparatus in the conveyance apparatus, characterized in that it comprises a chromatography data.