JP2014124724A - Machined hole inspection equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To accurately determine whether a machined state of a machined hole to be inspected is right or wrong, by a simple configuration.SOLUTION: An operation for inserting a fitting jig, which is gripped with a robot's hand, into a machined hole to be inspected, which is formed in a workpiece, is performed, and power consumption for driving the insertion operation is measured. It is determined whether a machined state of the machined hole to be inspected is right or wrong, based on a state in which the power consumption exceeds a predetermined threshold Pa or timing when the power consumption exceeds the predetermined threshold Pa.

Description

  The present invention relates to an apparatus for confirming the quality of a hole processing result.

Regarding the inspection of the drilling result, conventionally, the machining hole position of the workpiece is actually measured, or the fit between the workpiece and the template is confirmed, and the wear and displacement of the tool are confirmed.
Or the prior art of patent documents 1-4 is known.

  The conventional technique described in Patent Document 1 is a technique that can save the man-hours by visual observation and determines the quality of the workpiece online during processing. Using a substantially linear correlation between workpiece temperature and spindle power consumption, when each measured value of workpiece temperature and power consumption exceeds a predetermined threshold, the workpiece in the corresponding process In this case, it is determined that a defect has occurred, and a warning is issued to judge the quality of the workpiece by online remote operation on the assembly line.

  Further, Patent Document 2 holds a series of drilling tools and shock absorbers 4 or multiple tools 5 that are mounted on or controlled by a robot arm or similar device and that are connected to multiple punches 7. For example, the following items are disclosed with respect to a flexible electromechanical drilling device.

  In other words, the multiple punch 7 itself can be connected to the base body 3 having the linear gear device 1 and the electromechanical drive unit 2 fixed to the tool changer 6. The spring retractor is eliminated and the drilling tool position is fully controlled in all directions, and the motor current during drilling and complete feedback of the tool position provides good drilling for the material being drilled. It is possible to judge what happened.

  In Patent Document 3, checker pins facing each hole of an inspection object having a large number of holes are arranged, and each checker pin and the inspection object are relatively moved in conjunction with the movement of the slide of the press. A structure is provided in which an interlocking mechanism for moving the checker pins closer to and away from each other is provided, and a detector for detecting that any checker pin has been moved back against the object to be inspected is disclosed.

  Further, for example, as shown in the embodiment of Patent Document 4, an inspection mold jig that is a male mold with respect to a processed workpiece is used to superimpose the workpiece on the inspection jig to be processed. There is known a method of checking whether a hole or a diaphragm formed in an object fits in an inspection jig well, thereby inspecting tool breakage, wear, and displacement.

JP 2003-048062 A Special table 2008-529801 gazette Japanese Utility Model Publication No. 61-27523 JP-A-8-117889

  Conventionally, the inspection of the drilling result has been performed by, for example, a method in which a human actually measures the position of the drilled hole in the workpiece, or confirms the fit between the workpiece and the template, and confirms tool wear and displacement. Yes. This method takes time and man-hours, and automation is desired.

  An inspection robot can be considered as a specific example of automation. Basically, it is conceivable to determine whether the inspection is good or bad based on an operation in which the robot selects and holds the inspection jig and inserts it vertically into the workpiece hole. When considering such an inspection robot, automatically selecting and acquiring a jig corresponding to the hole to be inspected, or aligning the jig to the position of each processing hole in the workpiece is the design and manufacturing of the workpiece. This can be achieved by controlling the robot with information. On the other hand, it has been a problem to be able to accurately determine the quality of the machining state of the machining hole to be inspected based on such an operation with a simple configuration.

  An object of the present invention is to realize a machined hole inspection apparatus that automatically performs quality inspection of machined holes, and in particular, it is possible to accurately determine the quality of a machined state of a machined hole to be inspected with a simple configuration. It is to provide a machined hole inspection apparatus.

  The machined hole inspection apparatus of the present invention is an apparatus for inspecting the normal / abnormal of the machined state of each machined hole of a workpiece having one or more machined holes formed by the machined hole, and inspects any machined hole. A jig insertion unit that realizes an operation for inserting a jig corresponding to the inspection target hole into the inspection target hole as a target hole by a drive unit, a power measurement unit that measures power consumption of the drive unit, A processing hole inspection for determining normality / abnormality of the processing state of the inspection target hole based on the power consumption measured by the power measuring means during the jig insertion operation and a predetermined threshold value set in advance. Means.

  According to the machined hole inspection apparatus of the present invention, a machined hole inspection apparatus that automatically inspects the quality of machined holes is realized. You will be able to judge accurately.

It is a schematic block diagram of the whole processing system containing the processing hole inspection apparatus of this example. (A) is an example of a workpiece after drilling, and (b) is an example of drilling information. (A) is an external view of an inspection robot, and (b) is an example of the mold set station. (A) is jig information and (b) is an example of position information. (A)-(d) is a figure which shows jig | tool insertion, measurement electric power, etc. in the case of a normal hole. (A)-(c) is a figure which shows jig | tool insertion, measurement electric power, etc. in the case of an abnormal hole. It is a hole inspection process flowchart figure.

Embodiments of the present invention will be described below with reference to the drawings.
In addition, the fitting in this description means fitting loosely (with a margin). Therefore, basically, if there is no burr or the like in the hole, physical fitting is performed when the fitting jig is inserted. It is assumed that resistance does not occur. In this sense, the term “fitting” may be regarded as simply meaning insertion.

FIG. 1 is a schematic configuration diagram of the entire machining system including the machining hole inspection apparatus of this example.
In the illustrated example, for example, an arbitrary workpiece to be processed is conveyed on a belt conveyor, and stops at a predetermined position in the machining center 10 (hole processing apparatus). Then, drilling is performed in the machining center 10 with a drill or the like. For example, a plurality of holes having different hole diameters as shown in FIG. 2 (a) (although there may be the same ones) are formed at various locations on the workpiece (workpiece). In the illustrated example, there are three types of hole diameters, large, medium, and small, with two holes in the middle and one large and small hole each.

  Not limited to this example, the machining center 10 can drill holes of various shapes on the workpiece. Here, “shape” means shape and size. In FIG. 2A, in order to show a simple example, the shapes are all circular and only the sizes (hole diameters) are different. Of course, the shape is not limited to this example. However, in the description of this example, the difference in shape means that only the hole diameter is substantially different.

Regardless of the general definition, in this specification, for example, an apparatus for performing drilling as shown in FIG. 1 is referred to as a “machining center”.
In the machining center 10, a plurality of holes shown in FIG. 2 (a) are made in the workpiece while appropriately changing the drill. For this purpose, for example, the drilling information 20 shown in FIG. As will be described later, in the processing hole inspection device 30 in the subsequent stage, such drilling information 20 is acquired from the machining center 10 and the quality confirmation processing of the drilling result is executed using the drilling information 20 as well. .

  For example, as shown in the figure, the drill is changed by using a drum type punch having various drills provided on the circumference. By rotating the drum, the drill used at that time is positioned directly below, and the drum body is lowered as it is (of course, the drill is rotated), so that the work placed on the lower side of the drum body A hole will be drilled. In addition, the position where a hole is made is recognized by referring to the drilling information 20 described above. Although not specifically shown, the correspondence between the rotation angle of the drum (the reference position is determined and the rotation angle therefrom) and the type of drill (hole diameter in this example) is registered in a storage device (not shown). Thus, the drill to be used is configured to be movable to a position immediately below.

  Of course, the hole punching device is not limited to the drum type, and may be a robot type similar to a specific example of the machined hole inspection apparatus 30 described later. In this case, for example, a plurality of types of drills can be attached to and detached from the distal end portion of the arm of the robot, and a drive mechanism (not shown) for rotating the attached drill is provided.

  The workpiece drilled in the machining center 10 is conveyed to the machining hole inspection device 30. The machined hole inspection apparatus 30 is an apparatus for inspecting the quality (normal / abnormal) of the machined state of each machined hole of a workpiece in which one or more machined holes are formed by the above-described machine (machining center 10).

  The machined hole inspection apparatus 30 includes, for example, an inspection robot shown in FIG. 3A and a mold set station shown in FIG. However, the mold setting station may be regarded as a part of the inspection robot. In any case, in the mold setting station, the various fitting jigs mounted are arranged at positions where they can be attached to and detached from an arm (described later) of the inspection robot. These various fitting jigs are, for example, male jigs corresponding to each hole shape.

  The inspection robot has a number of axes that allows the gripping (attached) fitting jig to be moved to a position corresponding to each inspection target hole or further inserted into each inspection target hole. In other words, for example, the inspection robot moves the fitting jig gripped (attached) to the hand to a vertical position with respect to the inspection target hole of the workpiece, and further moves the fitting jig from there to the inspection target hole. It has the number of axes that can be moved in the insertion direction (in the case of inspection of a workpiece having only one hole to be inspected, it is possible to use a cylinder type).

  This is an existing technology and will not be described in detail. In the example shown in FIG. 3A, the first arm, the second arm, the hand, and six axes from 1 to 6 axes are provided. With these configurations, the fitting jig grasped by the hand is inserted perpendicularly into each inspection target hole.

  Various fitting jigs are mounted in advance on the mold setting station shown in FIG. In other words, each of the reference numerals a, b, c,..., J, k, and l shown in the drawing is a fitting jig. As shown in the drawing, the shape of the fitting jig is not limited to a circle, but includes a triangle, a quadrangle, and the like. However, in the description of this example, all the fitting jigs used are round.

  The inspection robot obtains the necessary fitting jig from the mold set station each time (gripping with the above hand; however, it is not limited to the example of grasping / separating, and anything that can be detached) can be used. The quality of the drilling result is confirmed by performing an operation of inserting the fitting jig perpendicularly to the corresponding hole to be inspected, and when the quality confirmation is completed, the fitting jig is returned to the die set station. If other holes are to be inspected (or if inspection is performed using two types of fitting jigs described later), another fitting jig is obtained from the mold set station, etc. Insertion operation for inspection (quality confirmation) is performed.

The object to be inspected (work that has been drilled) is fixed to a work table (not shown).
As for the shape (external shape, etc.) of the inspection object itself, before the inspection process, the management number of the inspection object or the like is manually or automatically input to the inspection robot based on the information on the inspection object and information from the previous process. Can be recognized. Of course, information for this purpose is registered in advance, but this will not be described in particular.

  Regarding the number, position, and shape (shape and size; hole diameter, etc.) of the processing holes to be inspected of the inspection object, a management table (such as the above drilling information 20) in a predetermined storage area is based on the input management number. ) Automatically read from the inspection robot. The predetermined storage area may be, for example, a storage area of a storage device (memory or the like) included in the machining center 10, or may be a storage area of a storage device (memory or the like) included in the processing hole inspection device 30. Good. An example of this management table is the drilling information 20. Accordingly, the machining center 10 naturally holds a management table (information used when forming a drilled hole; hole machining information), which is acquired (or held) by the machined hole inspection device 30. By using this, it is possible to realize automatic selection / grip processing of a fitting jig, which will be described later. The machining center 10 and the drilling inspection device 30 may be configured to communicate with each other via a communication line.

  Note that the drilling information 20 is provided for each workpiece, for example. For example, a unique management number is assigned to each work in advance for each type. Each punching information 20 is assigned a corresponding management number, and the punching information 20 corresponding to the input management number is read.

  The machined hole inspection apparatus 30 also holds jig information 40 shown in FIG. 4A (described later), position information 50 shown in FIG. The jig information 40 and the position information 50 can also be referred to as related information for each jig.

  The inspection robot sequentially inspects each processed hole of the workpiece to be inspected (assumed to be an inspection target hole), and inspects each time using a fitting jig (corresponding) corresponding to the inspection target hole at that time. Will perform the action. At that time, the management table (drilling information 20), jig information 40, and position information 50 are referred to in order to automatically select and acquire the corresponding fitting jig and move it to a predetermined position.

  That is, when the inspection robot reads the processing information (position, hole diameter, etc.) regarding an arbitrary inspection target hole from the management table (drilling information 20), the inspection robot refers to the processing information, the jig information 40, the position information 50, and the like. Thus, the male fitting jig corresponding to the shape (shape, size, etc .; hole diameter in this example) of the hole to be inspected is selectively grasped by the hand from the mold setting station. Move the fitting jig to the vertical position with respect to the hole to be inspected while holding it with the hand. In addition, the selection process of the fitting jig | tool using the said various information 20, 40, 50 is demonstrated later.

  When the fitting jig grasped by the hand as described above is moved to the vertical position with respect to the inspection target hole, the fitting jig is inserted perpendicularly to the inspection target hole. The position of the vertical position (distance from the hole) is constant, and the moving speed of the robot joint (feed axis) for inserting the fitting jig into the hole to be inspected from the vertical position is also constant. However, the robot may be controlled, but is not limited to this example.

Here, the various information 20, 40, 50 will be described with reference to FIGS. 2B, 4A, and 4B.
The drilling information 20 shown in FIG. 2B includes No. 21, coordinates 22, a hole diameter 23, and the like.

  No. 21 may be a simple serial number, or may indicate the order of drilling holes. The coordinate 22 indicates a position where a hole is made on the workpiece. The hole diameter 23 is a diameter of a drill for drilling holes (diameter and the like), and may be regarded as meaning a diameter of a processed hole (diameter and the like). In this example, since all the processed holes are circular, the type of drill can be distinguished by the diameter, so the hole diameter 23 is used. )

  The machining center 10 is configured so that a drill corresponding to the hole diameter 23 can be selected if the hole diameter 23 is known by referring to other information not shown. Not limited to this example, some information (referred to as drill information) indicating the type of drill or the like may be used instead of the hole diameter 23. Of course, in this case, drill information may be used instead of the hole diameter 41 described later. The hole diameter may also be regarded as an example of drill information.

  The jig information 40 shown in FIG. 4A includes a hole diameter 41, a jig ID 42, a jig ID 43, and the like. The hole diameter 41 is the diameter (diameter, etc.) of each processed hole. Here, in this example, two types of fitting jigs (jig ID 42 and jig ID 43) are registered corresponding to each hole diameter 41. Here, it is assumed that a unique identification number (jig ID) is assigned to each fitting jig in advance. However, the present invention is not limited to this example. Any device can be used as long as each jig can be identified.

  The above-mentioned two types of fitting jigs are “a fitting jig that fits the shape of the hole to be inspected” (for example, a fitting jig having a diameter slightly smaller than the hole diameter 41) and “a hole to be inspected”. Is a fitting jig that is one rank larger than the shape of the fitting (for example, a fitting jig having a diameter slightly larger than the size of the hole having a hole diameter of 41). If the hole diameter 41 = 40 mm, for example, a fitting jig with a diameter = 39 mm is registered in the jig ID 42, and a fitting jig with a diameter = 41 mm is registered in the jig ID 43.

  Further, the position information 50 shown in FIG. 4B includes a jig ID 51, a pallet position 52, and the like. Corresponding to each jig ID 51, for example, information indicating a mounting position of the fitting jig on the mold setting station (a specific example is not particularly shown) is registered in the pallet position 52. Note that the present invention is not limited to this example, and any information may be used as long as the predetermined fitting jig can be grasped by the hand. For example, the hand may always be gripped at the same position, and the mold setting station may be rotated to grip a predetermined fitting jig. In such a structure, the pallet position Reference numeral 52 denotes a rotation angle of the mold setting station.

  Here, a plurality of motors and the like are mounted on the robot, and each arm (joint) is rotationally driven by each motor to move an arm, a hand, and the like. As described above, which motor is driven in order to move the fitting jig held by the hand to the vertical position with respect to the inspection target hole is not particularly mentioned.

  Thereafter, for the operation of inserting the fitting jig vertically from the vertical position with respect to the inspection target hole, for example, a motor (not shown) for operating (extruding / returning) the hand is driven. Although not limited to this example, there is a motor that drives a configuration (such as a feed axis of the jig) for realizing an operation of inserting the fitting jig perpendicularly to the inspection target hole. For example, based on the measured value of the electric power of such a motor, the inspection target hole is inspected as described later. However, the motor for measuring power is not limited to such a motor, and may be another indirect drive motor.

  As described above, in this method, as an example, a configuration (such as a jig feed shaft) for realizing the above-described hand operation (operation for inserting a fitting jig perpendicular to the hole to be inspected). The power of a driving unit (a predetermined motor or the like as described above) is measured. Then, it is determined whether or not the measurement value exceeds the threshold value by comparing the measurement result with a preset threshold value.

  Here, an example of the operation of the robot and an example of a measurement result of the electric power of the predetermined motor corresponding thereto are shown in FIGS. FIG. 5 shows a case where the inspection target hole is normal, and FIG. 6 shows a case where the inspection target hole is abnormal. Hereinafter, the normal operation will be described first with reference to FIG. 5 and 6 show a case where a fitting jig (for example, a fitting jig having a diameter slightly smaller than the diameter of the hole) that matches the shape of the inspection target hole is used.

  FIG. 5A shows a state where the fitting jig grasped by the hand is moved to a vertical position with respect to the inspection target hole. This is moved using the corresponding coordinates 22. FIG. 5B shows an operation in which the fitting jig is inserted vertically into the inspection target hole from the state of FIG. 5A, and the operation is completed (the fitting jig is placed at the bottom of the hole. It shows a state when it touches or is inserted to a predetermined position. For example, in the case of a through hole, since the bottom of the hole does not exist, it is determined that the operation is completed when the tip of the fitting jig reaches a position where it can be considered that the hole has passed through the hole (measured and set in advance).

  In addition, in the conventional technology, there is a technology to stop the robot operation when some kind of load is applied to the robot operation, but in this method, the robot operation is stopped before such a large load is applied. can do. For example, when the power measurement value exceeds a threshold value due to the fitting jig coming into contact with the bottom of the hole, the operation is stopped (operation completed). It is not necessary to determine whether or not it is in contact with the bottom of the hole. When the power measurement value exceeds the threshold value, the robot operation is stopped (operation completion). After the stop, for example, an operation of returning the fitting jig to the original position (mounting position on the mold setting station) is performed.

  FIGS. 5C and 5D show an example of measurement results of the electric power of the predetermined motor accompanying the operations of FIGS. 5A to 5B. FIG. 5C shows a type in which the operation is completed when the fitting jig contacts the bottom of the hole, and FIG. 5D shows an example of a measurement result of the motor power when the hole is the through hole.

First, based on the various information described above, the robot selects a fitting jig corresponding to the hole to be inspected at that time, and grabs it from the mold setting station (“Set jig” in the figure). The operation until the combined jig is moved to the vertical position indicates energy necessary for moving the jig irrespective of the state of the inspection target hole of the workpiece. In particular, the electric power of the predetermined motor at this time is very small and substantially uniform. For example, from the left end (start of processing) shown in FIG. that the mixture starts "when power relating to operation of the up (position of the vertical position) (the illustrated P _L).

Actually, the motor power may be measured from the illustrated “fitting start” time point.
When the operation of inserting the fitting jig perpendicularly to the inspection target hole is started from the “fitting start” time point (above the vertical position), the fitting jig approaches the workpiece (the tip enters the hole). The energy required to move the fitting jig appears as motor power consumption (P _{L in the} drawing) while the fitting jig is inserted into the hole without stress. That is, as shown in the figure, the power consumption is almost the same as that before the “fitting start” time point.

In the following description, power consumption may be described, but power consumption is synonymous with the above power.
After that, even if the robot reaches the final position where the fitting jig cannot be sent any more (when the tip of the fitting jig reaches the bottom of the hole and comes into contact), the robot keeps the fitting jig for a while. The insertion operation is continued, and stress is applied in the feeding direction until the robot stops the jig insertion operation. For this reason, stress is applied in the feed axis direction, and the power consumption is higher than the energy (P _{L in the} drawing) required for the feeding operation of the fitting jig (P _{H in the} drawing).

Therefore, shown in FIG. 5 (c) as shown in "fitting completion" point forward (drawing on the right), so that the power consumption to maintain a high state while rapidly (e.g. the illustrated P _H). This continues until the robot stops the feeding operation of the fitting jig.

As shown in FIG. 5 (c), when a fitting jig is inserted into a well-worked workpiece (its inspection target hole), a predetermined insertion period (for example, “fitting start” time point (the above vertical position) ) from "fitting completion" time immediately before; in advance be obtained by actual measurement), the power value hardly changes, shows the energy (e.g., the illustrated P _H) required for the jig move, insert period power since the time of completion would soar dramatically (for example, the illustrated P _H).

In addition, when the hole to be inspected is a through hole, etc., if a fitting jig is inserted into a work with good machining (the hole to be inspected), for example, even if the hand is extended to the maximum, The tip of the jig does not collide with anything. Therefore, in this case, as shown in FIG. 5 (d), the power consumption will remain the most varied without power consumption from start to finish (e.g., shown in P _H).

Since the values of the low power consumption (P _L ) and the high power consumption (P _H ) can be obtained by actual measurement in the field in advance, the threshold value Pa is set using these values. The threshold Pa may be anything as long as the condition “P _L <Pa <P _H ” is satisfied. For example, an intermediate value (Pa = (P _L + P _H ) / 2) may be considered.

  By comparing the measured value of power consumption with this threshold value Pa, it can be determined whether or not the work (its inspection target hole) is defective. This is because, in the case of using the above-mentioned “fitting jig adapted to the shape of the hole to be inspected”, basically in any of the cases shown in FIGS. When the measured value of power consumption exceeds the threshold value Pa within the predetermined insertion period), the hole to be inspected is determined to be abnormal (defective).

  When the inspection target hole is normal, in the case of FIG. 5C, after the predetermined insertion period (for example, immediately after; in other words, when the insertion operation is completed), the measured value of the power consumption is the threshold value. Pa will be exceeded. On the other hand, in the case of FIG. 5D, the measured power consumption value does not exceed the threshold value Pa even after the predetermined insertion period.

  Further, in the case of the example of FIG. 5D, the predetermined insertion period is, for example, the time from the “fitting start” time point until the tip of the fitting jig passes through the hole to be inspected (also this It may be measured and set in advance). Alternatively, in the example of FIG. 5D, the predetermined insertion period may be, for example, the time from the “start of fitting” point to the maximum position (for example, the position where the hand is extended to the maximum). Good.

  Here, in this technique, an example is shown in which inspection is performed using two types of fitting jigs for one inspection target hole. However, the present invention is not limited to this example, and for example, only one type of fitting jig is used. May be inspected. In this case, “a fitting jig adapted to the shape of the hole to be inspected” is used. The normal / abnormal determination result is used as a final determination result.

  On the other hand, when two types of fitting jigs are used, the normal / abnormal judgment result using the “fitting jig that fits the shape of the hole to be inspected” is abnormal as described in detail later. In the case of a determination, the final determination result may be used, but in the case of a normal determination, the final determination result is not used. Subsequently, a “fitting jig that is one rank larger than the shape of the hole to be inspected” is used. The final determination result is obtained by performing the inspection. Details will be described later with reference to flowcharts and the like.

  As described above, FIG. 5 shows a case where a “fitting jig adapted to the shape of the hole to be inspected” is used (when the diameter of the fitting jig is smaller than the diameter of the hole to be inspected). An example of operation and power consumption when the processing is good is shown (however, it is not always good: the hole diameter may be too large).

  Hereinafter, FIG. 6 will be described. 6 (a) and 6 (b), a “fitting jig that fits the shape of the hole to be inspected” is used as in FIG. 5 (when the diameter of the fitting jig is smaller than the diameter of the hole to be inspected). ) Shows the insertion operation of the fitting jig when the position of the hole to be inspected is abnormal. FIG. 6C shows the power consumption characteristic according to such an example.

  In addition to this example, for example, even when a “fitting jig that is one rank larger than the shape of the hole to be inspected” is used, the power consumption characteristics as shown in FIG. That is, the power consumption characteristics as shown in FIG. 6C are not limited to the examples in FIGS. 6A and 6B. For example, the inspection target hole is normal, but the diameter of the fitting jig is the inspection target hole. It can also be obtained when the diameter is larger than.

Hereinafter, first, the power consumption characteristics of FIG. 6C according to the examples of FIGS. 6A and 6B will be described.
The example of FIGS. 6A and 6B shows a case where the diameter of the hole to be inspected is appropriate but the position is incorrect. In this way, even when the hole to be inspected of the workpiece is defective, the energy required to move the fitting jig is the power consumption (P _L ) appears.

That is, FIG. 6A shows a state in which the robot (its hand) has moved from “beginning of operation” through “set jig” to “beginment of fitting” (above-mentioned vertical position). As shown in FIG. 6 (c), while moving to the vertical position, the power consumption has become the P _L. Moreover, even after the insertion start the fitting jig inspected hole from this state, until the tip of the fitting jig reaches the workpiece, as illustrated, the power consumption is stuck in the above P _L. Then, when the tip of the fitting jig reaches the workpiece, the position of the hole is incorrect as described above in this example, so that the tip of the fitting jig does not enter the inspection target hole, for example, FIG. It collides with the workpiece as shown in. Therefore, at a timing earlier than (t4 in FIG. 6 (c)) timing power consumption FIG 5 (c) is _{P H} (t3 shown), power consumption is _{P H.} Than this, by previously setting the t3, power consumption (become substantially the same as t3 in the case of not) by the earlier or not than timing t3 that the P _H, or is substantially the same as t4 Whether it is normal or not can be determined. However, as described above, this determination content varies depending on the type (diameter) of the fitting jig. However, the determination method is not limited to the above-described determination method, and may be determined as follows, for example. Note that t3 and t4 are obtained and set in advance by actual measurement or the like.
(1) In the case of using the "fit fitting jig to the shape of the inspection target hole" is (exceeds a threshold Pa) power consumption is P _H in the case where the timing is earlier than t3, the abnormal determination To do.

On the other hand, if the through-holes, since the power consumption if properly as shown in FIG. 5 (d) is not supposed to be P _H, the power consumption regardless of the timing becomes P _H (exceeding the threshold Pa) that Therefore, it is determined as abnormal.

Even if correctly diameter also position of the hole, if there is something wrong with the machining of the inner peripheral surface of the hole (e.g., the so-called "burr" and the like), and fitting jig caught halfway inserted, the power consumption P _H It is possible that In this case, the timing at which power consumption is P _H will, in early the arbitrary timing (both from t3 later than t4, power consumption is P _H in the "insertion operation middle" (threshold It will exceed Pa))).
(2) In the case of using the "1 rank larger fitting jig than the shape of the inspection target holes" is the power consumption is P _H (exceeding the threshold Pa) normal if timing is substantially the same as t4 And other than this, it is determined as abnormal. That is, if the “fitting jig one rank higher than the shape of the inspection target hole” cannot be inserted into the inspection target hole and collides with the workpiece surface as shown in FIG. become. Moreover, the end to the power consumption is not a P _H (not exceed the threshold Pa) case, that is, even if she can insert the inspected holes the "1 rank larger fitting jig than the shape of the inspection target hole" abnormal It will be determined. In addition, regarding this determination, it does not matter whether it is a through hole or not.

The timing of each timing t3, t4 and power consumption is P _H may be the elapsed time from the beginning of treatment, it may be a time elapsed from "the setting jig" time The elapsed time from the “start of fitting” time may be used.

  As described above, inspection using a fitting jig appropriate for the shape (size, etc .; diameter, etc.) of the processed hole fits normally and uses a fitting jig that is one rank larger. If it becomes abnormal, the shape (size, diameter, etc.) of the processed hole is within the range between the diameters of these two types of fitting jigs. In this case, the inspection result of the processed hole can be determined to be normal. As described above, according to the present method, it is possible to determine not only an abnormality in which the diameter of the machining hole is too small or an abnormality in which a positional deviation occurs but also an abnormality in which the diameter of the machining hole is too large.

FIG. 7 shows an example of such a determination process.
Here, the processing of FIG. 7 is executed by the machined hole inspection apparatus of this example (such as the inspection robot of FIG. 3). The machined hole inspection device (the inspection robot, etc.) of this example is not particularly shown, but an arithmetic processor such as a CPU / MPU, a storage unit such as a memory, an input / output interface for controlling various motors and sensor data Etc. The storage unit stores in advance a predetermined application program (not specifically described) for inspection robot operation control, but also stores a predetermined application program for realizing the processing of FIG. 7 by an arithmetic processor. Yes. The processing shown in FIG. 7 is realized by the processor reading and executing the application program.

The storage unit further stores jig information 40 and position information 50. Further, drilling information 20 may be stored.
In the process of FIG. 7, first, the first inspection target hole (inspection hole) is determined (step S11). For example, the corresponding drilling information 20 is acquired based on the product number, model, etc. of the workpiece, and the first record is set as the first processing target record.

  And the 1st jig | tool according to a test object hole is discriminate | determined (step S12). For example, the jig information 40 is searched by using the hole diameter 23 in the processing target record of the drilling information 20, and the jig ID 42 of the corresponding record is acquired. Further, the position information 50 is searched using the jig ID 42, and the pallet position 52 of the corresponding record is acquired. Also, the coordinates 22 of the processing target record are acquired.

  The first jig is the “fitting jig adapted to the shape of the hole to be inspected” (for example, a fitting jig having a diameter slightly smaller than the diameter of the hole to be inspected). It can be said that the fitting jig is appropriate for the shape (size; diameter, etc.). Therefore, if there is no problem in the processing state of the hole to be inspected, there will be no collision in the middle, and therefore the power consumption should not increase during the insertion operation and exceed the threshold value Pa.

Then, an inspection operation using the first jig is started (step S13).
This is because the position of the first jig on the mold setting station and the position coordinates of the inspection target hole are known from the information acquired in steps S11 and S12, and the robot is controlled using these. The first jig is grasped from the mold setting station by the hand, and an operation of moving the first jig to a vertical position with respect to the inspection target hole while being grasped by the hand is executed.

  Subsequently, when the operation of inserting the first jig from the vertical position into the inspection target hole is started, and then the power consumption exceeds a predetermined threshold (such as Pa) before reaching the predetermined final position. Is determined to be abnormal (step S15). If it is determined YES in step S14, it is desirable to immediately stop the movement (insertion) operation of the first jig. As a result, it is possible to prevent a situation in which the load further increases and causes a failure or damage to the jig / workpiece.

  On the other hand, when the power consumption reaches a predetermined final position without exceeding a predetermined threshold (Pa or the like) (step S16, YES), it is determined that the first jig is normal (intermediate determination is Normal), and then the process proceeds to an inspection using the second jig.

  The predetermined final position is, for example, a position immediately before the “end of fitting” position, or a position where the tip of the first jig passes through the hole when the inspection target hole is a through hole (or , When the hand is extended to the maximum).

  Note that whether or not the predetermined final position has been reached can be determined, for example, by measuring in advance the time from when the movement starts from the vertical position until the final position is reached. Alternatively, a determination may be made by providing a sensor or the like at the final position. In addition, even if the shape (shape, size, etc .; hole diameter in this example) and position of the hole to be inspected are appropriate, if there is “burrs” etc. on the inner peripheral surface of the hole, the first jig will be caught. Some physical stress (load) may occur. In such a case, even if it is caught somewhat, the load is small, and the power consumption does not exceed a predetermined threshold (Pa or the like), and the determination in step S16 is YES.

  However, it has been confirmed through experiments and the like that a “whisker”, which is a sudden change in the power waveform as shown in the figure, occurs due to some physical stress caused by the first jig being caught by “burrs” or the like. Yes. Since the peak power value of this “beard” is smaller than the above threshold value (Pa or the like), the processing hole burr detection is also performed by further providing a threshold value (Pbari; Pbari <Pa) for detecting the burr of the processing hole. Can do. In this case, for example, when step S14 is NO, it is further determined whether or not the power consumption exceeds a threshold value for burr detection (Pbari). If the threshold value is exceeded, burr detection is output. (Notification / display, etc.) may be used.

In this way, this method can also be applied to detection of burrs in processed holes.
Also for the second jig, the processing until the insertion of the jig into the inspection target hole is substantially the same as the first jig. That is, the second jig corresponding to the inspection target hole is discriminated (step S17). For example, the jig information 40 is searched by using the hole diameter 23 in the processing target record of the drilling information 20, and the jig ID 43 of the corresponding record is acquired. Further, the position information 50 is searched using the jig ID 43, and the pallet position 52 of the corresponding record is acquired. The second jig is, for example, the “fitting jig that is one rank larger than the shape of the inspection target hole” (for example, a fitting jig having a diameter slightly larger than the diameter of the inspection target hole).

  Then, based on the acquired information, an inspection operation using the second jig is started (step S18). This is because the position of the second jig on the mold setting station and the position coordinates of the hole to be inspected can be known from the acquired information, and the robot is controlled using these to set the mold with the hand. The second jig is gripped from the station, and the second jig is moved to a vertical position with respect to the inspection target hole while being held by the hand.

  Subsequently, when the operation of inserting the second jig into the inspection target hole from the vertical position is started, and then the power consumption exceeds a predetermined threshold (Pa or the like) before reaching the predetermined position, (Step S19, YES), it is determined to be normal and passed (Step S22). That is, it is determined that the final determination is normal. Then, the next hole to be inspected is determined (for example, the second record) (step S23), and the process returns to step S12. However, this is to return to step S12 when there is still an uninspected hole (step S24, NO), and when inspection execution of the inspection target hole is completed (when there is no next inspection target hole). (Step S24, YES) The process ends.

  If step S19 is YES, it is desirable to immediately stop the movement (insertion) operation of the second jig. As a result, it is possible to prevent a situation in which the load further increases and causes a failure or damage to the jig / workpiece.

On the other hand, for example, when the power consumption reaches the predetermined position without exceeding a predetermined threshold (Pa or the like) (step S20, YES), it is determined as abnormal (step S21).
Note that the predetermined position is a position corresponding to a timing slightly later than a position corresponding to the timing t2, for example. That is, it is assumed that the tip of the second jig is slightly in the inspection target hole. That is, in the normal case, the second jig cannot collide with the inspection target hole and should collide with the workpiece surface. Therefore, if the second jig can be inserted into the inspection target hole to some extent, the diameter of the inspection target hole is larger than the diameter of the second jig and larger than the appropriate size. Therefore, it is determined as abnormal.

  The predetermined position can also be determined whether or not the predetermined position has been reached by, for example, measuring and registering in advance the time required to move the fitting jig from the vertical position to the predetermined position. .

  As described above, in the machined hole inspection apparatus of the present example, all the inspection objects of the workpiece are based on the part number and model number of the workpiece by linking with the machine operation information of the drilling process (above drilling information 20 and the like). The shape (shape, size, etc.), position, etc. of the hole is automatically input to the processing hole inspection device (its inspection robot, etc.). Thus, the inspection robot can automatically select the fitting jig corresponding to each inspection target hole of the workpiece, automatically move it to the inspection position, insert it, and inspect it.

  A power sensor for measuring the power consumption of a predetermined motor among the motors that operate each joint of the inspection robot is attached in advance, and a threshold value corresponding to this power consumption is registered. In addition, information relating to the fitting jig corresponding to the shape (shape, size, etc.) of each processed hole is registered in advance.

  At the time of inspection, the inspection robot refers to the machine operation information and registration information, and grips the fitting jig corresponding to the processing hole to be inspected with its hand or the like. The operation of inserting into the hole to be inspected is performed. During this operation, the measurement result of power consumption by the power sensor is monitored (compared with the threshold value Pa).

  The power consumption for causing the inspection robot to perform the operation for the inspection is known in advance by experiments or the like (and is almost constant). Also, if the operation of the robot arm, hand, etc. is obstructed in any way, the joint (motor) will be loaded (torque) and the power consumption of the motor will increase (however, the voltage and current will not increase) The increase in power is caused by the change in power factor due to a change in the phase difference between current and voltage (shrinking), which has been confirmed by the applicant. In this method, the power consumption of such a motor is monitored, and normality / abnormality determination is performed based on whether or not there is an abnormal increase in power consumption (beyond the threshold value Pa). For example, a method of simply determining that an abnormality occurs when the power consumption exceeds a threshold value is considered as an example, but this method also proposes a method using the two types of fitting jigs described above.

  That is, in this method, the shape of the processed hole is based on the design information of the processed hole (for example, the drilling information 20 and the like) and the inspection information (for example, the jig information 40 and the position information 50 and the like) set in advance. An appropriate fitting jig (hereinafter referred to as an appropriate jig) according to the shape (size, size, etc.) is determined, and a fitting jig that is one rank higher than the appropriate jig (hereinafter referred to as an upper limit jig). ) Is also determined, and inspection is performed using these two types of fitting jigs.

When an operation to insert a proper jig into a machining hole with a good machining result is performed, the proper jig can start to be inserted into the machining hole, and the proper jig does not collide with any part of the machining hole during insertion. Can be inserted, for example, up to the final position (eg, hitting the bottom of the hole or penetrating the hole). When the electric power of a predetermined joint of the robot (the drive motor thereof) during the insertion operation of the appropriate jig is measured, the movement from the start / insertion start of the appropriate jig to the insertion end position (that is, during the insertion operation) So, it changes at almost constant power. The insertion end position is, for example, a position immediately before the final position. Therefore, if normal, the middle insertion operation, is intended to remain substantially constant power (e.g., the P _L, etc.), never exceeding the threshold Pa power consumption is rapidly increasing. Then, after a period corresponding to the “middle operation”, for example, when the proper jig collides with the bottom of the hole (when the final position is reached), the torque is applied from the time of collision with the bottom. Increases rapidly and exceeds the threshold value Pa.

As described above, when a normal machined hole (hole to be inspected) is inspected using an appropriate jig, not only before fitting (insertion) starts but also during fitting (insertion). close to the load state, low power consumption for moving the arm and hand or the like (e.g., the P _L, etc.) is to be measured. Thus, at least except when the fitting is completed, the power consumption is a low value (and is substantially constant) and does not exceed the threshold value Pa.

  On the other hand, for example, even if the shape (shape, size, etc.) of the hole itself is appropriate, the position is wrong, so even if it is an appropriate jig, it will collide with the workpiece without being inserted into the inspection target hole. There is a case. Alternatively, even in the case of “abnormality of the hole being too small”, even if the jig is an appropriate jig, it collides with the workpiece without being inserted into the inspection target hole. Alternatively, if there is an abnormality in the hole shape due to the deterioration of the cutting tool state of the processing machine, the fitting is not successful and the fitting jig cannot be inserted to the fitting end position.

  In any case, if there is an abnormality such as a position error or a hole that is too small, even if it is an appropriate jig, the power consumption increases abnormally before the fitting end position (during the insertion operation). The threshold value will be exceeded. Therefore, in the inspection robot for the inspection of the quality of hole drilling, if the power consumption increases abnormally and exceeds the threshold during the insertion operation of the appropriate jig, it can be determined that there is some abnormality in the hole drilling (however, I won't do it until the cause is identified).

  On the other hand, if the power consumption does not increase abnormally during the insertion operation of the inspection robot (as described above, it may increase abnormally at the fitting end position (final position), or may not increase abnormally until the end. In some cases, it is temporarily determined to be normal. This is because it is not possible to detect all abnormalities with only a proper jig. In other words, the abnormality that “the size of the hole is not appropriate” includes “the abnormality that the hole is too large” and “the abnormality that the hole is too small”. Even if there is a “too large abnormality”, it may not be determined as an abnormality.

  For this reason, in this method, two inspections using the two types of fitting jigs are performed. In other words, the fitting jig is switched to the “upper limit jig”, and the inspection is performed by substantially the same operation as in the case of the appropriate jig. However, this time, if it is a normal processing hole, the “upper limit jig” cannot be inserted (fitted) into the hole.

  When the above-mentioned “upper limit jig” is used, if it is a normal machining hole, it will collide with the workpiece at this point / position (referred to as insertion start point / insertion start position). From this, for example, it is determined whether or not the power consumption exceeds the threshold Pa within a predetermined time range including the insertion start time, and when it exceeds the threshold, it is determined normal. On the other hand, when the power consumption does not exceed the threshold value Pa within a predetermined time range, it is determined as abnormal.

  As described above, the power consumption does not exceed the threshold value Pa in the case of an appropriate jig, and the power consumption exceeds the threshold value Pa in the case of an upper limit jig, particularly at the insertion start time (including before and after). In this case, it can be determined that the size of the inspection target hole is within the normal range (larger than the appropriate jig and less than the upper limit jig).

Thus, according to this method, not only can the hole shape (shape, size, etc.) and position be determined to be normal, but can also be determined whether the hole depth is normal. .
The inspection robot described above is an example of a processing hole inspection apparatus that can automatically inspect the quality of processing holes by selectively using a plurality of types of fitting jigs, and is not limited to this example. As another example of the machined hole inspection apparatus according to this method, a form similar to a “drum-type drill” as a specific example of the machining center 10 may be used. That is, in this example, various fitting jigs are provided on the circumference of the drum instead of the various drills. Then, each time, the drum is controlled to rotate so that the fitting jig to be used is directly below the drum. When the “fitting jig to be used” is located immediately below the drum, the drum itself is moved in the horizontal direction based on the position information (coordinate information, etc.) of the inspection target hole (or conversely, the inspection target The workpiece is moved in the horizontal direction) (if the hole position is normal), the “fitting jig to be used” is controlled to be positioned directly above the hole to be inspected. Then, by lowering the drum itself downward from this position, the “fitting jig to be used” is inserted into the inspection target hole.

  In this example, various motors such as a motor for rotating the drum, a motor for moving the drum itself in the horizontal direction, a motor for moving the drum itself in the vertical direction (gravity direction; ascending or descending, etc.) There is. Then, for example, the power consumption of a motor for moving the drum itself in the vertical direction is measured and used for abnormality determination. However, the present invention is not limited to this example. For example, in the case of a configuration in which the workpiece is moved toward the drum, the power consumption of the motor for this movement may be measured and used for abnormality determination.

  In this example, the abnormality determination method is substantially the same as the above example (and will not be described in detail in detail), and a threshold value, a time range, and the like are set by performing an actual measurement in advance. It is determined whether or not the measured value exceeds a threshold value. If the measured value exceeds the threshold value, it is determined whether or not the elapsed time is within the time range.

  In the case of this drum, basically, the rotation position (angle, etc.) of the drum is registered in place of the pallet position 52, and the drum is rotated based on the rotation position of the drum. A selection is made.

According to this method described above, the following effects can be obtained.
First, in the conventional example in which a fitting jig is manually selected and inserted into a hole to be inspected manually by a human in the past, an inspection failure has occurred due to an erroneous selection or a fitting failure due to jig insertion blurring. However, this problem does not occur because it can be automated.

  Further, in this method, the processing hole inspection device such as the inspection robot performs a hole processing abnormality determination using the power consumption related to the operation for inserting the fitting jig into the hole for the hole inspection. If there is no wattmeter, a wattmeter may be provided. Of course, when a power meter for measuring the power consumption of the drive motor has already been installed for other purposes, it is not necessary to add a power meter. If a conventional example of inspection automation using a checker pin, for example, is considered, a configuration for detecting checker pin movement (contact, retraction, etc.) (eg limit switch, cam switch, etc.) However, this method does not require such a configuration addition.

  In addition, when the fitting is normal, the electric power is almost the same as that in the idle state. Therefore, it is possible to determine the normality / abnormality of drilling with a small amount of electric power change. Further, when it is determined that the power consumption exceeds the threshold value, the fitting jig feeding operation of the inspection robot can be stopped immediately. Since the robot can be stopped not only when the fitting is poor but also when the normal fitting is completed without continuously applying a load to the motor, there is an effect that physical stress is minimized and failure is difficult.

  In addition, since the conventional checker pins use a plurality of pins according to the shape and position of a plurality of holes, when using this to automate the inspection, it is difficult to realize positioning control during the inspection. But it was time consuming. Furthermore, a checker pin must be created for each type of drilling, and a configuration (for example, a limit switch) for detecting the above-described checker pin movement (contact, retraction, etc.) for each checker pin. Or a cam switch), which is very laborious and costly.

  On the other hand, in this method, the position coordinates of each hole may be obtained by using the processing data (the information 20 and the like) in the machining center 10. For example, by using the position coordinate data of each processing hole of the processing data, the fitting jig can be automatically moved to the processing hole position. Furthermore, on the basis of the processing data and separately set information, a fitting jig (inspection jig corresponding to the shape of the processing hole) used for inspection can be automatically selected each time. By performing the above-described inspection operation, it is possible to detect various abnormalities such as processing abnormality due to processing tool wear, processing hole position misalignment, processing hole diameter error, and the like. In other words, the hole machining inspection is automated, and it is possible to reduce time and effort for setting information in advance, and to easily prepare a tool (a fitting jig) necessary for the inspection. In addition, an effect of inspecting a plurality of types of processing holes with a single robot or the like can be obtained.

  Further, for each processed hole, the inspection can be performed by changing the fitting jig that should be fitted into the processed hole and the fitting tool having a thickness one rank higher. That is, whether or not the size of the hole is within an appropriate range by performing an inspection using two types of fitting jigs (appropriate jig and upper limit jig) according to the type (shape, etc.) of the hole. You can check. In particular, it is possible to determine an abnormality that the hole is too large.

Furthermore, an inspection apparatus can be realized by diverting a processing apparatus. As described above, the machined hole inspection apparatus according to the present method can be easily realized without taking time and effort.
Note that the above is an example, and the present invention is not limited to this example. For example, it is assumed that only the drilling information 20 is used (acquisition of the position coordinates of the machining hole), and the selection / acquisition of the jig corresponding to the inspection target hole and the operation of causing the robot hand to hold the jig are performed. It doesn't matter if you do. Even in this case, it is possible to obtain a specific effect that the predetermined power accompanying the jig insertion operation for the hole inspection is measured and the normality / abnormality of the processed hole can be determined based on this.

  In the above description, the bottom of the hole does not exist in the case of the through-hole. However, by placing a structure such as a plate on the bottom of the hole, a “hole that does not penetrate” shape is provided. As a matter of course, it is possible to construct the above in a pseudo manner.

10 Machining center (MC)
20 Drilling information 21 No.
22 Coordinate 23 Hole diameter 30 Processing hole inspection device 40 Jig information 41 Hole diameter 42 Jig ID
43 Jig ID
50 Position information 51 Jig ID
52 Pallet position

Claims (9)

An apparatus for inspecting normal / abnormal of the machining state of each machining hole of a workpiece in which one or more machining holes are formed by a hole machining apparatus,
Jig insertion means for realizing an operation for inserting a jig corresponding to the inspection target hole into the inspection target hole using any of the processed holes as the inspection target hole, by a drive unit;
Power measuring means for measuring the power consumption of the drive unit;
A processing hole inspection for determining normality / abnormality of the processing state of the inspection target hole based on the power consumption measured by the power measuring means during the jig insertion operation and a predetermined threshold value set in advance. Means,
A machined hole inspection apparatus comprising:   When the measured power exceeds the threshold during the insertion operation of inserting the jig that matches the shape of the inspection target hole into the inspection target hole by the jig insertion means, The machined hole inspection apparatus according to claim 1, wherein it is determined that the inspection target hole has an abnormality.   When the inspection target hole is too small or the position is wrong, the jig that matches the shape of the inspection target hole collides with the workpiece without being inserted into the inspection target hole and is loaded. The machined hole inspection apparatus according to claim 2, wherein the measured power rises and exceeds the threshold value. As a jig corresponding to the machining hole, a first jig that fits the shape of the machining hole and a second jig that is one rank larger than the shape of the machining hole are used.
The jig insertion means first performs an operation for inserting the first jig into the inspection target hole, and then performs an operation for inserting the second jig into the inspection target hole,
The processing hole inspection means determines normality / abnormality of the processing state of the inspection target hole based on the measured power accompanying the insertion operation of each of the first jig and the second jig. The machined hole inspection apparatus according to claim 1.   The machined hole inspection means is configured such that when the measured power does not exceed the threshold during the insertion operation of inserting the first jig into the inspection target hole, and the second jig is inserted into the inspection target hole. The machined hole inspection apparatus according to claim 4, wherein when the measured power exceeds the threshold value during the insertion operation to insert into the machined hole, it is determined that the machining state of the inspection target hole is normal.   The processing hole inspection means determines whether the measured power exceeds the threshold value from the start of the operation of inserting the jig corresponding to the inspection target hole into the inspection target hole, whether or not the measured power exceeds the threshold value. 2. The machined hole inspection apparatus according to claim 1, wherein a time required for the inspection is measured in advance, and whether the inspection target hole is normal or abnormal is determined based on whether the time is shorter than the time.   The jig insertion means acquires hole processing information used when forming the processed hole by the hole processing apparatus, and refers to the hole processing information and preset information related to each jig. 5. The processing hole inspection apparatus according to claim 1, wherein the jig corresponding to the inspection target hole or the first jig and the second jig is discriminated. The hole processing information includes the shape and position information of each processing hole,
In the jig related information, a jig corresponding to the shape of the processing hole and a mounting position of the jig are registered.
The jig insertion means determines that a jig corresponding to the shape of the inspection target hole is a jig corresponding to the inspection target hole, and attaches the jig at the mounting position, 8. The machined hole inspection apparatus according to claim 7, wherein the mounted jig is moved to a position corresponding to the inspection target hole based on the position information. 9. The machined hole inspection apparatus according to claim 8, wherein the jig is mounted by gripping the jig with a robot hand.