JP2931381B2 - Processing inspection method - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a processing inspection method for inspecting whether or not processing is performed on a processed workpiece.

[Conventional technology]

Conventionally, when checking the processing dimensions and the like of a processed part on which processing such as drilling has been performed, the processing position is actually measured manually by using a measuring tool, and the measured value is given in advance to the processing position data. However, the workability was poor and there was a problem that much time was required.

Therefore, using a robot, for example, Japanese Patent Laid-Open No. 59-2327
No. 92 (B25J 19/00) and JP-A-62-130477 (G0
As seen in 6K 9/20) etc., a planar image of the object to be measured is formed using an optical reading device such as a camera attached to the tip of the robot, and dimensions and the like are calculated from this image and checked. It is possible.

[Problems to be solved by the invention]

However, the above-described method requires an expensive device such as a camera, and further, since dimensions and the like are checked by image recognition, the device for this recognition is also expensive, and the overall size is increased. And the time required for the inspection becomes longer.

There is a three-dimensional measuring device for measuring three-dimensional dimensions. However, since the measurement requires a lot of time, it is difficult to take an immediate response and the device is expensive.

The present invention has been made in consideration of such conventional drawbacks, and an object thereof is to easily use a robot such as a horizontal articulated (scalar) robot or a vertical articulated robot. It is an object of the present invention to provide a processing inspection method capable of inspecting whether or not processing can be performed on a workpiece.

[Means for solving the problem]

In order to achieve the above object, in the machining inspection method of the present invention, a marker is attached to a hand portion at the tip of a robot arm, and a machining target is machined according to a predetermined program data relating to a machining position of an object to be measured. The present invention is characterized in that marking is performed on a measurement object with a marker, and whether or not the processing is possible is inspected based on a difference between a marking position of the marker and a processing position of the measurement object.

[Action]

When the robot arm is operated according to the given program data and marking is performed on the DUT using a marker, the marking formed at the processing position on the program and the actual processing may be misaligned, or processing omission may occur. If it occurs, part or all of the marking remains on the object to be measured, and it is possible to inspect at a glance whether or not processing is possible by visually observing the object to be measured after the marking.

〔Example〕

 Embodiments will be described with reference to the drawings.

FIG. 1 shows a configuration in the case of performing processing inspection using a scalar robot (1), wherein (2) is a fixed base of the robot (1), and (3) is on a fixed base (2). (4) is a horizontal first arm rotatably supported at the upper end of the fixed shaft (3), and (5) is pivoted to the tip of the first arm (4). The second arm (6), which is freely supported, is an up-and-down axis supported by the tip of the second arm (5). The first and second arms (4), (4)
The vertical axis (6) is moved in the X, Y plane (horizontal plane) by the rotation of (5).
And a driving machine (7) supported by the second arm (5)
As a result, the elevating shaft (6) moves in the Z-axis direction (vertical direction).

Reference numeral (8) denotes a hand unit provided at the lower end of the elevating shaft (6), which incorporates a stamp (9) serving as a marker and a spring (10). A mark (9) is made on the measurement object.

In this case, even if the stamp (9) is strongly pressed onto the object to be measured, a relief is formed by the elasticity of the spring (10).
The operation of the robot (1) is not affected, and such a configuration is disclosed in, for example, Japanese Patent Application Laid-Open No. 61-169117 (B21C 51/00).

(11) is an object to be measured set on a horizontal reference surface (13) of the measuring table (12). The A and B surfaces of the object to be measured (11) parallel to the reference surface (13) are Holes (14) are formed in each case.

Note that the seal (9) of the hand part (8) is
It has an outer diameter substantially equal to the inner diameter of the hole (14) of 1).

When performing a machining inspection on the workpiece (11), program data on a machining position of a hole (14) to be formed in the workpiece (11) is sent to a control device (not shown) of the robot (1). In accordance with the program data, the first and second arms (4) and (5) are rotated to guide the elevating shaft (6) to the machining position, and the driving machine (7)
As a result, the elevating shaft (6) is lowered, and marking is performed on the DUT (11) by the stamp (9).

Fig. 2 shows the measured object (1
The surface condition of 1) is shown. In FIG. 1I, the marking position by the stamp (9), that is, the processing position of the program data and the position of the actually processed hole (14) coincide. Therefore, the marking portion is not displayed on the DUT (11) and the processing dimension is OK.

On the other hand, II, III, and IV in the same figure, the actual processing is not performed accurately at the marking position by the program data, and the marking part (15) of the stamp (9) is displayed on the DUT (11). In this case, the hole (14) is processed in the case of NG, and IV is the case of processing omission.

Therefore, by marking the DUT (11) in accordance with the program data, it is possible to check at a glance whether or not the processing is possible. The time is short, and prompt response is possible.

In addition, if the SCARA type robot (1) is used as in the embodiment, it is possible to easily perform the inspection on each surface of the DUT (11) having a plurality of planes parallel to the reference surface (13).

In the case where the actual machining is shifted from the machining position as shown in II and III in FIG. 2, the actual hole (14) and the marking part ( By manually measuring the deviation from 15),
It becomes possible to feed back accurate data for processing the object to be measured (11).

In the above embodiment, the first and second arms (4),
X and Y indicate the current position of the vertical axis (6) moved by (5).
When the operation of the robot (1) is stopped when the marking position by the stamp (9) is largely deviated from the actual processing position, the position information at this time is read by providing a display means for displaying the coordinates or the like. Immediately determine defective points.

〔The invention's effect〕

As described above, according to the processing inspection method of the present invention, the marking is performed on the workpiece by using the robot in accordance with the program data relating to the processing position of the workpiece. Can be easily inspected only by the difference between the actual processing position and the actual processing position, and can be easily visually judged. In addition, since the time required for marking is short, the inspection can be performed in a short time, Moreover, since it is only necessary to attach a marker to the robot, effects such as a simple configuration and low cost can be obtained.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 shows an embodiment of a processing inspection method according to the present invention, FIG. 1 is a configuration diagram of an inspection apparatus, and FIG. 2 is a plan view of an object to be measured. (1) ... Scalar robot (4), (5) ... First,
Second arm (8) Hand part (9) Seal
(11)… DUT.

Claims (1)

(57) [Claims] A marker is attached to a hand portion at the tip of a robot arm, and the marker is marked on the processed workpiece in accordance with a predetermined program data relating to a processing position of the workpiece. A processing inspection method, wherein whether or not the processing is performed is inspected based on a difference between a marking position by a marker and a processing position of the workpiece.