JP2002028883A - Calibrating device and inspecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a calibrating device capable of accurately calibrating a detecting means at no cost. SOLUTION: A CPU 200 receives the detection signal outputted from the detecting means 500 in the unabutting state of the detecting means 500 on an abutted object member 120, i.e., in a no-load state, as a first detection signal. The CPU 200 controls first and second motors 430 and 450 so that the displacement section of the detecting means 500 fitted to the other end section 464 of a second arm section 460 is vertically abutted and pressed to the plate section 122 of the abutted object member 120. The CPU 200 receives the detection signal outputted from the detecting means 500 as a second detection signal. The detection signal of the detecting means 500 is calibrated based on the first detection signal and the second detection signal.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a calibration device for calibrating a detecting means attached to a robot device and an inspection device for inspecting a switch device attached to the robot device.

[0002]

2. Description of the Related Art Conventionally, a mobile telephone has a main body and a movable part connected to the main body and movably provided with respect to the main body. The movable part comes into contact with an object and presses the object. There is a robot device configured so that the pressure can be adjusted. Such a robot apparatus is provided with a detecting means for detecting the pressing force in the movable part, and controls the operation of the movable part according to a detection signal detected from the detecting means. Or,
The movable unit is provided with a switch unit that is turned on and off by a pressing force, and controls the operation of the movable unit according to an on / off signal detected from the switch unit.

Conventionally, in order to calibrate the detection signal of the above-mentioned detecting means and to inspect the operation of the switching means, a jig is manually abutted against these detecting means and the switching means. That is, a detection signal obtained by abutting the jig against the detection means with a predetermined pressing force is measured, and the detection signal is calibrated based on the measurement result. The ON / OFF operation is confirmed by contacting the switch, and the normal or abnormal operation of the switch means is inspected based on the result.

[0004]

The above-mentioned manual calibration of the detecting means and the inspection of the switching means have the following disadvantages. First, work efficiency is poor due to manual work. Second, the pressing force when pressing the jig against the detecting means and the switch means varies depending on the operator and each time the work is performed, and the results of calibration and inspection also vary. Third, if the pressing direction of the jig is inclined when the jig is pressed against the detecting means or the switch means, it is difficult to accurately measure the detection signal and confirm the on / off operation. Fourth, it is conceivable to incorporate an actuator for pressing the jig against the detecting means and the switch means into the jig in order to avoid manual work. However, the calibration of the jig is complicated and the cost is increased. The present invention is to solve such a problem of the related art, and an object of the present invention is to provide a calibration device that does not require cost and can accurately calibrate a detection unit. It is in. Also, the present invention is inexpensive,
An object of the present invention is to provide an inspection device capable of accurately inspecting the on / off operation of the switch means.

[0005]

A calibration device according to the present invention has a main body and a movable portion connected to the main body and movably provided with respect to the main body, wherein the movable portion is an object. A robot device configured to be capable of adjusting the pressing force when pressing the object by contacting the object, and detecting the pressing force attached to the movable portion and applied by the movable portion to the object. A detection signal that outputs a detection signal corresponding to the first detection signal; a first detection signal that is the detection signal when no load is applied to the detection means when there is no load; Calibration means for calibrating the detection signal of the detection means based on the second detection signal which is the detection signal when the object is pressed with the pressing force. Therefore, the second part obtained by pressing the movable part against an immovable object with a known predetermined pressing force.
Calibration of the detection signal of the detection means is performed based on the detection signal and the first detection signal which is a detection signal at the time of no load in which no pressing force is applied to the detection means. It is unnecessary, inexpensive, and can accurately calibrate the detection means.

The inspection apparatus of the present invention has a main body and a movable portion connected to the main body and movably provided with respect to the main body. A robot device configured to be capable of adjusting a pressing force when pressing an object, switch means attached to the movable unit and turned on / off by a pressing force applied to the object by the movable unit; Judgment as to whether the function of the switch means is normal or abnormal based on whether or not the switch means has been turned on / off when the movable part has pressed the object with a predetermined pressing force whose value is known in advance. Means. Therefore, it is determined whether the function of the switch means is normal or abnormal based on whether the switch means has been turned on and off by pressing the movable part against an immovable object with a known predetermined pressing force. As a result, it is possible to accurately inspect the ON / OFF operation of the switch means without requiring any labor as compared with the related art, requiring no cost.

[0007]

Next, a first embodiment of the present invention will be described with reference to the drawings. FIG. 1 is a configuration diagram showing a configuration of a calibration device according to a first embodiment of the present invention, and FIG. 2 is a characteristic diagram showing input / output characteristics of a detection unit.

Referring to FIG. 1, calibration apparatus 1
000 will be described. The calibration device 1000 is calibrated by including a jig unit 100, a CPU 200 (corresponding to a calibration unit in the claims), a motor driver 300, a robot device 400, a detection unit 500, and the like.

The jig unit 100 includes a housing 110 and a housing 11.
And the contact target portion 120 attached to the contact portion 120. The housing 110 is installed on, for example, the floor 1. The contact target portion 120 includes, for example, a rectangular plate-shaped plate portion 122 and a connecting member 124 that connects the plate portion 122 to the housing 110. The other end of a second arm portion 460 of the robot device 400 described later. Section 464 and detection means 500
2. That is, the contact target member 120 is connected to the robot device 4 via the housing 110.
00 is provided immovably in the main body portion 410 of the main body.

The CPU 200 performs a calibration by inputting a detection signal output from the detection means 500 and controls the motor driver 300 so that the robot device 40
0 is controlled. Motor driver 300
Is a first motor 4 provided in the robot device 400.
30, for supplying a drive signal to the second motor 450 to drive it.

The robot apparatus 400 includes a main body 410,
A movable section 420 connected to the main body 410 and movably provided with respect to the main body 410 is provided.
The main body 410 is detachably attached to the housing 110. The movable section 420 includes a first motor 430 and a first arm section 44.
0, a second motor 450, a second arm 460, and the like. The first motor 430 is attached to the main body 410 and rotatably supports the one end 442 of the first arm 440. The second motor 450 includes a first arm 440.
Is attached to the other end 444 of the second arm 460.
62 is rotatably supported. The CPU 200 supplies a control signal to the motor driver 300, so that the first and the second
By controlling the rotation of the motors 430 and 450, the first arm 440 and the second arm 460 are driven to rotate around the first and second motors 430 and 450, respectively.

The detecting means 500 is attached to the other end 464 of the second arm 460, detects the pressing force applied to the object by the other end 464, outputs a detection signal corresponding to the pressing force, and outputs a detection signal corresponding to the pressing force.
The input is made to U200. Detection means 500
Has a main body and a displacement portion held by the main body so as to be displaceable in a predetermined direction. The output of a detection signal by the detection means 500 is a displacement amount when the displacement portion comes into contact with an object and is displaced in a predetermined direction. It is configured to be performed according to.

Next, the operation of the calibration apparatus 1000 configured as described above will be described. First,
The CPU 200 determines that the detection unit 500 is
The detection signal output from the detection means 500 in a state where it is not in contact with, ie, in a no-load state, is input as a first detection signal. Then, in order to calibrate the detection means 500, the first and second arms 440, 46 of the robot device 400 are used.
The first and second motors 430 and 450 are controlled so that the angle formed by each of the 0 extending directions is 90 degrees.

Next, the CPU 200 operates the second arm 460.
Of the detection means 500 attached to the other end 464 of the target member 120 so as to be vertically pressed against the plate portion 120 of the contact target member 120, that is, the movable portion 420 is displaced by the displacement portion. The first and second motors 430 and 450 are controlled so as to be moved in a direction coinciding with the predetermined direction. That is, the first motor 43 is stopped in a state where the rotation of the second motor 450 is stopped.
0 is rotated counterclockwise in the drawing. The rotation of the first and second motors 430 and 450 is controlled by the CPU 200, so that the pressing force when the other end 464 of the second arm 460 is pressed by the contact target member 120 can be adjusted. It is configured as follows.

At this time, it is assumed that the pressing force with which the other end 464 of the second arm 460 of the movable section 400 is pressed against the contact target member 120 by the rotational torque of the first motor 430 is known in advance. This pressing force may be measured in advance by any measuring means. At this time, the CPU 200 inputs the detection signal output from the detection means 500 as a second detection signal. A first detection signal that is a detection signal at the time of no load in which no pressing force is applied to the detection unit 500;
A second detection signal when the movable unit 400 presses the contact target member 120 with a predetermined pressing force whose value is known in advance.
The detection signal of the detection means 500 is calibrated based on the detection signal.

That is, as shown in FIG. 2, when the detection signal of the detection means 500 is directly proportional to the pressing force, the first detection signal S1 when the pressing force L = 0.
And the second detection signal S2 when the known pressing force L = L1, the inclination of the detection signal of the detection means 500 is calibrated. Thereby, the detection of the pressing force by the detection means 500 is correctly performed, and the control of the robot device 400 can be performed based on the above-described calibrated detection signal. The known pressing force L1 is, for example, the maximum pressing force that the robot device 400 can output.

Therefore, conventionally, the detecting means 50 is manually operated.
Compared to the case where the calibration of 0 has been performed, the robot apparatus 400 performs the work, so that the calibration can be performed in a short time. In addition, when manual pressure is applied, the pressing force varies and the repeatability of the measurement result of the detection signal is low. However, since the robot device 400 is used, the detection signal can be accurately measured. In addition, the calibration device 100
Since there is no need to provide any special driving means or detecting means in the zero, a simple configuration is sufficient, the occupied space is small and the cost can be reduced. In addition, since the calibration device 1000 has a simple configuration, the degree of freedom in layout when the contact target member 120 is provided can be increased. For example, a plurality of detection devices 500 are calibrated by mounting a plurality of robot devices 400. In addition, by providing the contact target member 120, it becomes easy to calibrate the detection means 500 in a plurality of types of states where the posture of the movable section 420 of the robot apparatus 400 is different. In place of the contact target member 120, an object that cannot be moved with respect to the main body 410 of the robot apparatus 400, for example, a wall or a pillar fixed to the floor 1 can be used. There is no need to provide 120. Further, if the main body 410 of the robot device 400 exists within the movable range of the detection means 500, this part of the main body 410 may be used instead of the contact target member 120. There is no need to provide the target member 120.

The pressing force at which the other end 464 of the second arm portion 460 of the movable portion 400 is pressed against the contact target member 120 by the rotational torque of the first motor 430 is known in advance. The contact target member 120 may be provided with a pressure detecting means or a load detecting means, and a detection signal obtained from these means may be input to the CPU 200 to detect the pressing force and obtain a known pressing force. In this case,
The CPU 200 can also check whether the movable section 400 (for example, the first and second motors 430 and 450) is operating normally based on the detection signals of these pressure detecting means or load detecting means.

Next, a second embodiment will be described. In the second embodiment, the detecting means 40 shown in FIG.
By providing a switch unit that performs an on / off operation by a pressing force applied to an object instead of 0, an inspection apparatus for the switch unit is configured. That is, the on / off signal of the switch means is input to the CPU 200. Movable part 4
00 determines whether the function of the switch is normal or abnormal based on whether the switch has been turned on and off when the object has been pressed with a predetermined pressing force whose value is known in advance. That is, the CPU 200 corresponds to a determination unit in claims. In this case, the switch means has a switch main body and a displacement section held so as to be displaceable in a predetermined direction by the switch main body, and the on / off operation by the switch means is such that the displacement section comes into contact with the object and If the operation is performed by displacing in a predetermined direction, the configuration may be substantially the same as that of the first embodiment. And
The operation and effect are almost the same as those of the first embodiment.
Explaining only the differences, the inspection can be performed in a short time because the robot device 400 performs the operation compared to the case where the inspection of the switch unit is conventionally performed manually. In addition, when manual pressure is applied, the pressing force varies, and the determination result of the on / off signal varies, but since the robot device 400 is used, the switch means can be accurately inspected.

[0020]

As described above, the calibration device of the present invention has a main body and a movable portion connected to the main body and provided movably with respect to the main body. A robot device configured to be capable of adjusting a pressing force when pressing against the object by contacting the object, and detecting a pressing force attached to the movable portion and applied by the movable portion to the object. Detecting means for outputting a detection signal corresponding to pressure; a first detection signal which is the detection signal when no load is applied to the detection means when no load is applied; and a value of which is previously known by the movable section. A calibration unit configured to calibrate a detection signal of the detection unit based on a second detection signal that is the detection signal when the object is pressed with a predetermined pressing force. Therefore, the second detection signal obtained by pressing the movable portion against an immovable object with a known predetermined pressing force, and the first detection signal when no load is applied to the detecting means when no pressing force is applied. Since the calibration of the detection signal of the detection means is performed based on the detection signal, the calibration of the detection means can be accurately performed with less labor and cost compared to the related art.

Further, the inspection apparatus of the present invention has a main body and a movable portion connected to the main body and movably provided with respect to the main body. A robot device configured to be capable of adjusting a pressing force when pressing an object, switch means attached to the movable unit and turned on / off by a pressing force applied to the object by the movable unit; Judgment as to whether the function of the switch means is normal or abnormal based on whether or not the switch means has been turned on / off when the movable part has pressed the object with a predetermined pressing force whose value is known in advance. Means. Therefore, it is determined whether the function of the switch means is normal or abnormal based on whether the switch means has been turned on and off by pressing the movable part against an immovable object with a known predetermined pressing force. As a result, it is possible to accurately inspect the ON / OFF operation of the switch means without requiring any labor as compared with the related art, requiring no cost.

[Brief description of the drawings]

FIG. 1 is a configuration diagram showing a configuration of a calibration device according to a first embodiment of the present invention.

FIG. 2 is a characteristic diagram showing input / output characteristics of a detection unit.

[Explanation of symbols]

1000: Calibration device, 100: Jig unit, 200: CPU, 300: Motor driver, 4
00 ... Robot device, 500 ... Detection means.

Claims (11)

[Claims] A movable portion connected to the body portion and movably provided with respect to the body portion, wherein the movable portion comes into contact with an object and presses the object. A robot device configured so that pressure can be adjusted, and a detection unit attached to the movable unit, which detects a pressing force applied to the object by the movable unit and outputs a detection signal corresponding to the pressing force, A first detection signal which is the detection signal at the time of no load in which no pressing force is applied to the detection means, and the first detection signal when the movable portion presses the object with a predetermined pressing force whose value is known in advance. A calibration unit configured to calibrate a detection signal of the detection unit based on a second detection signal that is a detection signal. And a movable portion connected to the main body portion and movably provided with respect to the main body portion, wherein the movable portion comes into contact with an object and presses the object. A robot device configured such that pressure can be adjusted; switch means attached to the movable unit and turned on / off by a pressing force applied to the object by the movable unit; Determining means for determining whether the function of the switch means is normal or abnormal based on whether or not the switch means has been turned on and off when the object is pressed with a known predetermined pressing force, Inspection equipment characterized. 3. A non-movable contact target member is provided on the main body, and the movable member is pressed by the contact target member with the known predetermined pressing force, whereby the second detection signal is generated. The calibration device according to claim 1, wherein the calibration device is obtained. 4. The switch according to claim 1, wherein an immovable contact member is provided on the main body, and the movable portion is pressed by the contact member against the predetermined pressure. 3. The inspection apparatus according to claim 2, wherein on / off operation of the means is determined. 5. The calibration device according to claim 1, wherein the predetermined pressing force is detected by a pressure detection unit or a load detection unit provided on the object. 6. The inspection apparatus according to claim 2, wherein the predetermined pressing force is detected by pressure detecting means or load detecting means provided on the object. 7. The detecting means has a main body and a displacement part held by the main body so as to be displaceable in a predetermined direction, and the output of the detection signal by the detecting means is such that the displacement part comes into contact with an object. 2. The calibration device according to claim 1, wherein the calibration is performed in accordance with a displacement amount when the displacement is performed in the predetermined direction. 8. The calibration apparatus according to claim 7, wherein the pressing of the movable section against the object is performed by moving the movable section in a direction coinciding with the predetermined direction. 9. The switch means includes: a switch body;
A displacing portion held by the switch body so as to be displaceable in a predetermined direction;
The inspection apparatus according to claim 2, wherein the off operation is performed by displacing the displacement unit in the predetermined direction by contacting the displacement unit. 10. The inspection apparatus according to claim 9, wherein the pressing of the movable section against the object is performed by moving the movable section in a direction coinciding with the predetermined direction. 11. The calibration apparatus according to claim 1, wherein said detection means outputs a detection signal in direct proportion to the pressing force.