Teaching aids

Abstract

To provide a teaching assistance tool which can set a height position of an imaging device at each work place to a height position that becomes a constant difference of elevation regardless of an operator who performs teaching.SOLUTION: A teaching assistance tool is used for teaching that stores an imaging height position, which is a position in a height direction of an imaging device 24 when imaging with respect to each of a plurality of work places provided on objects 14, 15, in a work device 12. The tool comprises: a bracket 50 which is fixedly attachable to the imaging device 24; and a longitudinal attachment 52 which is attachable to / detachable from the bracket 50. The bracket 50 is attached to the imaging device 24 and the attachment 52 is attached to the bracket 50, and a height position of the imaging device 24 in the state that a tip of the attachment 52 is brought into contact with the work places for the objects 14, 15 becomes the imaging height position.SELECTED DRAWING: Figure 2

Description

[Technical field]

[0001] The present invention relates to a teaching assistance tool for assisting teaching of an imaging height position of an imaging device in a working device equipped with an imaging device. [Background technology]

[0002] For example, as described in Patent Documents 1 and 2 below, a work device that confirms the exact position of a work location on a target object on a plane based on image data captured by an imaging device and performs work at the confirmed position is used in various fields. In such an imaging device, a worker may teach the imaging device before having the imaging device perform work. Specifically, the teaching is to have the working device store the position of the imaging device in the height direction at the time of imaging for each of a plurality of work locations provided on the target object of the work by the working device. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2019-209433 A [Patent Document 2] JP 2015-112619 A Summary of the Invention [Problem to be solved by the invention]

[0004] The above teaching involves adjusting the height of the imaging device relative to the work location to a rough height using a tape measure or the like so that the height difference is at a focal distance, then making fine adjustments while referring to the image captured by the imaging device, and storing the height position for imaging. Therefore, the height position of the imaging device at each work location (the height difference of the imaging device relative to each work location) may vary from work location to work location, or may vary depending on the worker performing the teaching. Note that such teaching variation may lead to variation when correcting the position of the work location from the image data of the imaging device during work using the work device.

[0005] The present invention has been made in consideration of such circumstances, and has an objective of providing a teaching assistance tool that can set the height position of the imaging device for each work location to a height position that results in a constant height difference, regardless of the worker performing the teaching. [Means for solving the problem]

[0006] In order to solve the above problems, the teaching assistant tool of the present invention comprises: A teaching assistance tool for assisting teaching performed by an operator before a task is performed in a task apparatus that includes a movably held imaging device and performs a task on an object based on imaging data captured by the imaging device, the teaching assistance tool comprising: The teaching is to store, in the working device, an imaging height position, which is a position in a height direction of the imaging device at the time of imaging, for each of a plurality of working locations provided on the target object, and The teaching aid tool is: a bracket that can be fixedly attached to the imaging device; and a longitudinal attachment that can be detached from the bracket, The imaging height position is defined as the height position of the imaging device when the bracket is attached to the imaging device and the attachment is attached to the bracket and the tip of the attachment is abutted against the work location of the object.

[0007] The teaching auxiliary tool (hereinafter, sometimes simply referred to as the "tool") of this configuration is configured so that the tip of the tool coincides with the focal position of the imaging device when attached to the imaging device. That is, the worker positions the imaging device near the work location, attaches this tool to the imaging device, and lowers the imaging device toward the work location so that the tip (lower end) of the tool abuts against the work location. If the height position of the imaging device at that time is stored as the imaging height position corresponding to that work location, teaching for one work location is completed. Next, only the attachment is removed, and the next work location is positioned near the next work location, and the attachment is attached to the bracket, and the same work as above is performed, and teaching for the work location is completed. By repeating this process, teaching for multiple work locations is completed.

[0008] Therefore, with a tool of this configuration, teaching is completed without checking the captured image data, which makes it possible to shorten the time required for teaching work, and it is possible to teach at each work location a height position where the height from each work location to the imaging device is constant. Also, with a tool of this configuration, stable teaching can be performed regardless of the worker performing the teaching.

[0009] In the above configuration, the attachment can be configured to be detachable from the bracket by moving the attachment in a direction perpendicular to the longitudinal direction of the attachment.

[0010] With a tool of this configuration, no misalignment in the vertical direction occurs when the attachment is attached to the bracket, making it possible to carry out stable teaching.

[0011] In the above configuration, the bracket has two locking grooves extending around a circumference on its underside, and the attachment has two lockable portions formed protruding from its upper end and engaging with the two locking grooves, and the attachment can be configured to be locked to the bracket by the locking portions engaging with the locking grooves.

[0012] With a tool of this configuration, the attachment can be rotated around an axis to engage with the bracket, and since there is no misalignment in the vertical direction, stable teaching can be performed.

[0013] In the above configuration, the two locked portions may be configured to be positioned such that they are shifted in the circumferential direction from positions that are line symmetrical.

[0014] With a tool of this configuration, the attachment can be attached to the bracket at the same circumferential position, so the length of the tool can be kept constant and stable teaching can be performed.

[0015] In the above configuration, the imaging device includes an imaging unit that captures images and an illumination unit that is fixed to the imaging unit and illuminates the location imaged by the imaging unit, and the bracket can be configured to be attachable to the illumination unit.

[0016] A tool of this configuration can be used for teaching on different work devices, even if the imaging units are different for different work devices, for example, even if the focal lengths are different, by adopting the same lighting unit and using an attachment that matches the focal length of the imaging device.

[0017] In the above configuration, the bracket can have a recess into which the lighting unit is fitted, and an outer edge portion forming the recess can be formed with a notch of the same depth as the bottom surface of the recess.

[0018] With a tool of this configuration, it is possible to visually check the attachment status of the bracket to the lighting unit by checking whether the bottom surface of the bracket's recess is in contact with the underside of the lighting unit, thereby preventing errors in teaching due to improper attachment.

[0019] In the above configuration, the lighting unit includes a connection cable extending from a side surface, and the bracket includes an outer edge portion that forms the recess. Notch The connecting cable may be inserted through a groove having a size different from that of the connecting cable.

[0020] A tool with this configuration can always position the bracket in the circumferential direction relative to the lighting unit in the same position, making it possible to perform stable teaching. Effect of the Invention

[0021] According to the present invention, it is possible to provide a teaching assistance tool that can set the height position of the imaging device for each work location to a height position that results in a constant height difference, regardless of the worker performing the teaching. [Brief description of the drawings]

[0022] [Figure 1] FIG. 1 is a conceptual diagram for explaining the operation of a working device in which the teaching assist tool of the present embodiment is used; [Diagram 2] FIG. 1 is a side view showing a state in which the teaching assistant tool of the present embodiment is attached. [Diagram 3] FIG. 1 is a top view showing a state in which the teaching assist tool of the present embodiment is attached. [Figure 4] Side view of the bracket shown in Figure 2 [Diagram 5] Plan view of the bracket shown in Figure 2 [Figure 6] A side cross-sectional view of the bracket shown in FIG. 2 (cross-section AA in FIG. 5) [Figure 7] Bottom view of the bracket shown in Figure 2 [Figure 8]Side view of the attachment shown in Figure 2 [Figure 9] Plan view of the attachment shown in Figure 2 [Figure 10] A side view to explain the process of attaching the attachment to the bracket. [Figure 11] A cross-sectional view (cross-section BB in FIG. 10) for explaining the process of attaching the attachment to the bracket. [Figure 12] A side view to explain the process of attaching the attachment to the bracket. [Figure 13] A cross-sectional view (cross-section CC in FIG. 12) for explaining the process of attaching the attachment to the bracket. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0023] Hereinafter, as a mode for carrying out the present invention, examples of the present invention will be described in detail with reference to the drawings. Note that the present invention is not limited to the following examples, and can be carried out in various forms with various modifications and improvements based on the knowledge of those skilled in the art.

[0024] A teaching assist tool 10 (hereinafter sometimes simply referred to as "tool 10") according to an embodiment of the present invention is used for teaching in a screw fastening device 12, which is a device that fastens two or more members with screws in order to attach a plurality of members, such as a door trim for a vehicle. Before describing the teaching assist tool 10, the screw fastening device 12 as a working device and the teaching operation in the screw fastening device 12 will be described first.

[0025] The screw fastening device 12 includes a mounting table 20 on which a plurality of members, which are the work objects, are mounted, a work head 22 which performs screw fastening on the work objects, a moving device (not shown) which moves the work head 22 to any point on a plane, a lifting device (not shown) which raises and lowers the work head 22, an imaging device 24 which takes an image of the work object, and a control device (not shown) which controls the device itself. Note that FIG. 1 shows only the main parts of the screw fastening device 12. As shown in FIG. 1, the work objects mounted on the mounting table 20 include, for example, a first panel member 14 and a second panel member 15, in which a boss 14B having an insertion hole 14A is formed in the first panel member 14, and a through hole 15A is formed in the second panel member 15. This screw fastening device 12 screws a screw 16 into the insertion hole 14A, and fastens the first panel member 14 and the second panel member 15 together by sandwiching the second panel member 15 between the screw 16 and the first panel member 14.

[0026] The work head 22 is configured to include a holding section 30 that holds the screws 16, a supply section 32 that supplies the screws 16 to the holding section 30, and a driver section 34 that raises and lowers and rotates the bit. An imaging device 24 is also fixed to the work head 22, and the imaging device 24 can be raised and lowered together with the work head 22 by the lifting device. The imaging device 24 includes a camera (imaging section) 36 that is held in a position to capture an image downward, and an illumination section 38 that is positioned below the camera 36 and illuminates the image capture location.

[0027] A process of screw fastening of a door trim in the screw fastening device 12 configured as above will be briefly described. First, a worker places a plurality of panel members including the first panel member 14 and the second panel member 15 on the placement table 20 in a stacked manner. In this state, a plurality of fastening points (work points) are formed as shown in FIG. 1. When the plurality of panel members are placed, the approximate positions of the plurality of fastening points are determined, and the screw fastening device 12 detects the exact positions and performs the screw fastening process. Specifically, as shown in FIG. 1(a), the screw fastening device 12 moves the imaging device 24 above the first fastening point (reference position) and lowers it to an imaging height position where the camera 36 is focused, and the fastening points are imaged by the camera 36. The screw fastening device 12 calculates the deviation from the reference position from the image data, corrects the work position by the driver unit 34, and moves the driver unit 34 above the corrected work position as shown in FIG. 1(b). Then, as shown in FIG. 1(c), the driver unit 34 is lowered to perform the screw fastening process. These operations are then repeated for multiple fastening points. When the work for one object is completed and the worker sets the next object, the screw fastening process for that object is performed in the same manner.

[0028] Before causing the screw fastening device 12 to perform the above-mentioned work, the worker teaches the screw fastening device 12. This teaching includes a task of storing in the control device the height position of the imaging device 24 when imaging each fastening location with the imaging device 24. More specifically, this teaching is a task of storing in the control device for each fastening location the height position at which the camera 36 is focused when imaging each of the multiple work locations, specifically, for example, the distance by which the imaging device 24 is lowered from the reference position of the lifting device.

[0029] Conventionally, the teaching has been performed in the following manner. First, the worker performs an operation input to the screw fastening processing device 12 to move the imaging device 24 above the fastening point. Using a tape measure or the like, the imaging device 24 is positioned at an approximate height position so that the distance from the fastening point (height difference from the fastening point) is the height position at which the camera 36 is focused. Next, the imaging device 24 captures an image, and depending on whether the image data is in focus or not, the height of the imaging device 24 is fine-tuned, and the imaging height position (distance lowered from the reference position), which is the final height position, is stored. This operation is performed for each fastening point, and the teaching of the imaging height position is completed. Thus, the conventional teaching method has problems in that it takes a relatively long time to teach one fastening point, and there is a risk of variation occurring for each fastening point, which may cause variation when correcting the fastening point. There is also a problem in that the teaching varies depending on the worker.

[0030] In order to deal with the above problems, a teaching assist tool 10 of this embodiment is used. The tool 10 will be described in detail below. As shown in Fig. 2, the tool 10 is made up of a bracket 50 and an attachment 52, and has an elongated shape tapered toward the tip (lower end). The tool 10 is detachable from the imaging device 24, more specifically, from the illumination unit 38, and in this embodiment, it is attached and used only for teaching work.

[0031] The tool 10 is also structured such that the attachment 52 can be attached and detached to the bracket 50. The tool 10 is structured such that the bracket 50 can be attached and detached to the lighting unit 38, and the tool 10 can be smoothly attached to the lighting unit 38 by first attaching only the bracket 50 to the lighting unit 38 and then attaching the attachment 52 to the bracket 50.

[0032] First, the mounting structure of the bracket 50 to the lighting unit 38 will be described. As shown in Figures 1 to 3, the lighting unit 38 has a disk-shaped lower portion 38A and a truncated cone-shaped upper portion 38B, and emits light from the lower surface. The lighting unit 38 also includes a connection cable 38C, which extends from the side surface of the lower portion 38A.

[0033] The bracket 50 is a generally annular member having an opening 50A, and is attached to the lighting unit 38 from below. As shown in Figs. 3 to 6, a circular recess 60 is formed at the upper end of the bracket 50, into which the lower portion 38A of the lighting unit 38 fits. In addition, a plurality of notches 64 (three in this embodiment) are formed in the upper outer edge portion 62 of the bracket 50 forming the circular recess 60. As shown in Fig. 6, the depth of the notches 64 is the same as the depth of the recess 60. In other words, the bottom surface 60A of the recess 60 and the bottom surface 64A of the notches 64 are flush with each other. This allows an operator to visually check whether the lower surface of the lighting unit 38 is in contact with the bottom surface 60A of the recess 60 when the bracket 50 is attached to the lighting unit 38 by fitting the lighting unit 38 into the recess 60 of the bracket 50. In addition to the above-mentioned notch 64, an insertion groove 66 for inserting the above-mentioned connection cable 38C is formed in the upper outer edge portion 62. The width of the insertion groove 66 (the circumferential dimension at the upper outer edge portion 62) is slightly larger than the outer diameter of the connection cable 38C and smaller than the width of the notch 64, so that it can be easily distinguished from the notch 64.

[0034] 8, the attachment 52 is made up of a base 70 having an upper portion formed into a downward cone shape, and a longitudinal shaft 72 extending downward from the lower end of the base 70. A portion 72A on the tip (lower end) side of the shaft 72 is thinner than an upper portion 72B, and a lower surface 72C is formed flat.

[0035] Next, the structure for attaching and detaching the bracket 50 and the attachment 52 will be described. The attachment 52 has two claws 74, 75 formed to protrude from the upper surface of the base 70, as shown in Fig. 8. Each of the two claws 74, 75 is composed of an erect portion 74A, 75A erected on the upper surface of the base 70, and a flange portion 74B, 75B extending from the upper end of the erect portion 74A, 75A toward the center 70A of the base 70. As shown in Fig. 9, the erect portions 74A, 75A of the two claws 74, 75 are arranged on a circumference centered on the center 70A of the base 70, and are formed into an arc shape extending on the circumference when viewed from above. The two claw portions 74, 75 are not positioned symmetrically with respect to each other across the center 70A (more specifically, they are not positioned symmetrically with respect to a line passing through the center 70A), but are formed so that they are shifted in the circumferential direction.

[0036] On the other hand, as shown in Figs. 4 and 7, the bracket 50 has an insertion groove 80 on the lower surface side, which extends radially through the center and opens to one side in the radial direction (the lower side in Fig. 7), and two locking grooves 82, 83 extending circumferentially from the insertion groove 80. The insertion groove 80 is shaped to extend radially with a width larger than the width of the two claws 74, 75 of the attachment 52 described above. The insertion groove 80 has a substantially constant width in a radially inner portion 80A (upper side in Fig. 7). In contrast, the portion 80B (lower side in Fig. 7) on the opening side in the radial direction has a side wall surface 80C on one side inclined with respect to the direction in which the insertion groove 80 extends, and is shaped so that the width becomes wider toward the opening.

[0037] One of the two locking grooves, locking groove 82, communicates with the innermost part of the rear portion 80A and extends in the circumferential direction, while the other locking groove 83 communicates with the opening side portion 80B on the same circumference as the one locking groove 82 and extends in the same direction (clockwise in FIG. 7) as the one locking groove 82. Also, as shown in FIG. 6, these two locking grooves 82, 83 have an L-shaped cross section.

[0038] Next, a method of attaching the attachment 52 to the bracket 50 attached to the lighting unit 38 will be described. First, the two claws 74 and 75 provided on the attachment 52 are inserted horizontally along the insertion groove 80 formed in the bracket 50. Also, as shown in FIG. 9, the attachment 52 is provided with an arrow 76 indicating the insertion direction, and is inserted along the arrow, that is, with one of the two claws, the claw 74, at the front. The state in which the two claws 74 and 75 of the attachment 52 are inserted into the insertion groove 80 of the bracket 50 is shown in FIG. 10 and FIG. 11. As described above, the two claws 74 and 75 are in a positional relationship shifted in the circumferential direction from the position where they are line-symmetrical, so that even if the other claw 75 is inserted at the front, one claw 74 does not enter the insertion groove 80. In other words, the attachment 52 is attached to the bracket 50 in the same state, and it is possible to avoid a situation in which the posture changes depending on the attachment state.

[0039] 10, an arrow 78 is provided on the side surface of the base 70 of the attachment 52, and by rotating the attachment 52 about its axis in that direction, the two claws 74, 75 enter the two locking grooves 74, 75 of the bracket 50, respectively. As a result, the flanges 74B, 75B of the claws 74, 75 engage with the L-shaped locking grooves 82, 83, completing the attachment of the attachment 52 to the bracket 50.

[0040] Next, a method of teaching the imaging height position of the imaging device 24 using the teaching auxiliary tool 10 of this embodiment configured as described above will be described. First, the worker attaches only the bracket 50 to the lighting unit 38, and then performs an operation input to the screw fastening processing device 12 to move the imaging device 24 above the fastening point. Then, the worker attaches the attachment 52 to the bracket 50, lowers the work head 22 as shown in FIG. 2, and abuts the lower surface 72C of the tip 72A of the attachment 52 against the fastening point. At this position, the length of the tool 10 is determined so that the camera 36 is focused on the fastening point. That is, this position is stored as the imaging height position. Specifically, the distance lowered from the reference position at this time is stored as the lowering distance of the imaging device 24 when imaging the fastening point.

[0041] Then, the work head 22 is raised, the attachment 52 is removed from the bracket 50, and the attachment 52 is moved to above the next fastening point. Then, the same operation as for the first fastening point is performed, the imaging height position corresponding to this fastening point is stored, and these operations are repeated for each of the remaining fastening points.

[0042] As described above, by using the teaching assistance tool 10, teaching for one fastening point can be completed without checking image data captured by the imaging device 24, thereby shortening the time required for teaching work. In addition, with the teaching assistance tool 10, it is possible to teach at each fastening point a height position where the height from each fastening point to the imaging device is constant, and stable teaching can be performed regardless of the worker performing the teaching.

[0043] As described above, the tool 10 has a structure in which the attachment 52 is attached to the bracket 50 by moving it horizontally and then rotating it about an axis extending vertically, that is, the attachment 52 can be attached and detached by moving it in a direction perpendicular to its own longitudinal direction relative to the bracket 50. Therefore, the tool 10 is capable of performing stable teaching since no misalignment in the vertical direction occurs when the attachment 52 is attached to the bracket 50.

[0044] Furthermore, in this tool 10, the claws 74, 75 as the two locked portions are positioned in a circumferentially displaced relationship from their line-symmetrical positions. This allows the attachment 52 to be attached to the bracket 50 in the same position and with the same posture, making it possible to keep the length of this tool 10 constant and perform stable teaching.

[0045] Furthermore, the tool 10 can be easily adapted to various cameras by creating attachment lengths that are suited to cameras with different focal lengths.

[0046] <Other embodiments> The teaching assist tool 10 in the above embodiment is configured to be detachable from the lighting unit 36 ​​of the imaging device 24, but is not limited to this and may be attached to any location that moves up and down together with the imaging device 24. For example, the teaching assist tool 10 may be configured to be directly attached to the camera 36, ​​or may be configured to be attached to a holder that holds the camera 36 and the lighting unit 38.

[0047] The teaching assistance tool 10 in the above embodiment is configured to rotate the attachment 52 around an axis and attach it to the bracket 50, but is not limited to this. For example, the attachment may be configured to slide horizontally so that the locked portion of the attachment engages with the bracket.

[0048] The shapes of the bracket and attachment of the teaching assistant tool of the present invention, and the structure for attaching and detaching them are not limited to those of the tool 10 in the above embodiment, and various shapes and structures can be used depending on the mounting position.

[0049] In addition, although the teaching assistance tool 10 in this embodiment was used in the screw fastening processing device 12 as a work device, it is not limited to this and can be used in various work devices that use image data from the liftable imaging device 24. [Explanation of symbols]

[0050] 10...teaching auxiliary tool, 12...screw tightening processing device (work device), 14...first panel member (object), 15...second panel member (object), 16...screw, 24...imaging device, 36...camera (imaging section), 38...illumination section, 38C...connection cable, 50...bracket, 52...attachment, 60...recess, 60A...bottom surface, 62...upper outer edge portion (outer line portion), 64...notch, 64A...bottom surface, 66...insertion groove, 74, 75...claw portion (retained portion), 80...insertion groove, 82, 83...retaining groove

Claims

1. A teaching assistance tool for assisting teaching performed by an operator before a task is performed in a task apparatus that includes a movably held imaging device and performs a task on an object based on imaging data captured by the imaging device, the teaching assistance tool comprising: The teaching is to store, in the working device, an imaging height position, which is a position in a height direction of the imaging device at the time of imaging, for each of a plurality of working locations provided on the target object, and The teaching aid tool is: a bracket that can be fixedly attached to the imaging device; and a longitudinal attachment that can be detached from the bracket, A teaching support tool characterized in that the height position of the imaging device when the bracket is attached to the imaging device and the attachment is attached to the bracket and the tip of the attachment is abutted against the work location of the object becomes the imaging height position.

2. 2. The teaching assistance tool according to claim 1, wherein the attachment can be attached to and detached from the bracket by moving the attachment in a direction perpendicular to a longitudinal direction of the attachment.

3. The bracket has two engaging grooves extending circumferentially on its underside, The teaching assistance tool of claim 2, wherein the attachment has two engageable portions formed protruding from an upper end and engaging with the two engagement grooves, and is configured to be engaged with the bracket by the engageable portions engaging with the engagement grooves.

4. The teaching assistance tool according to claim 3 , wherein the two engaged portions are positioned such that they are shifted in the circumferential direction from positions that are line symmetrical.

5. The imaging device includes an imaging unit that captures an image, and an illumination unit that is fixed to the imaging unit and illuminates an area imaged by the imaging unit, The teaching assistance tool according to claim 1 , wherein the bracket is attachable to the lighting unit.

6. The bracket has a recess into which the lighting unit is fitted, 6. The teaching assistant tool according to claim 5, wherein a notch having the same depth as the bottom surface of the recess is formed in an outer edge portion that defines the recess.

7. The lighting unit includes a connection cable extending from a side surface, 7. The teaching assistance tool according to claim 6, wherein the bracket has an insertion groove, on an outer edge portion forming the recess, the insertion groove having a size different from that of the notch and through which the connection cable is inserted.

Images