JP6325768B2 - Measuring system and measuring method - Google Patents

Description

  The present invention relates to a measurement system for measuring an actual dimension of an actual workpiece.

  As a measuring device for measuring the dimension of a workpiece which is a measurement object, for example, a three-dimensional measuring device as in Patent Document 1 is known. The three-dimensional measuring apparatus of Patent Document 1 includes an articulated robot, and a laser-side member is attached to the tip of the articulated robot. A plurality of lasers are arranged at a predetermined pitch on the laser side member, and a master work side member is arranged below the laser side member so as to face the laser side member. Two master works are arranged on the master work side member so as to face the laser. In addition, the master work side member is configured so that the object to be measured can be disposed between the two master works, and one of the plurality of lasers faces the object to be measured.

  In the three-dimensional measuring apparatus configured as described above, the laser beam is radiated from each laser to the master work and the object to be measured simultaneously while moving the laser side member left and right by an articulated robot. And measure the shape. Then, it is determined whether there is a difference between the shape of the measured object and the shape of the master work.

Japanese Patent Laid-Open No. 2003-315026

  In the three-dimensional measuring apparatus of Patent Document 1, in order to measure the master work and the object to be measured at the same time, a number of lasers corresponding to the total number of the master work and the object to be measured are arranged. Arranged according to the position. Therefore, if the laser is arranged in accordance with the shape of a large workpiece such as an engine or a pump as the master workpiece and the object to be measured, the laser side member is enlarged. When the laser side member is enlarged, the arm is bent by the load of the laser side member, and the dimensions of the master work and the object to be measured cannot be accurately calculated.

  Accordingly, an object of the present invention is to provide a measurement system that can accurately calculate the dimensions of a workpiece regardless of the shape of the workpiece.

  The measurement system of the present invention includes a measurement unit for measuring a dimension, a measurement robot capable of moving the measurement unit, and a movement of the measurement robot to control the movement of the measurement unit, thereby moving a reference dimension. Measure the dimensions of the master workpiece that is molded in the order and the dimensions of the actual workpiece that is molded based on the reference dimension using the measurement unit, and measure the master workpiece that is the dimension of the measured master workpiece. And a control device that calculates the actual dimension of the actual workpiece based on the dimension and the actual workpiece measurement dimension that is the measured dimension of the actual workpiece.

  According to the present invention, since the master workpiece and the actual workpiece are measured in order, there is no need to form a measurement unit corresponding to the shape of the workpiece as in the prior art. Therefore, the measuring part can be prevented from becoming large, and the dimensions of the workpiece can be accurately calculated regardless of the shape of the workpiece.

  In the above invention, the control device moves the measuring robot to measure the dimensions of the master workpiece, and then continuously measures the dimensions of the plurality of actual workpieces to calculate the actual dimensions of each of the actual workpieces. It may be configured to.

  According to the above configuration, it is possible to reduce the number of times the measuring unit travels between the master work and the actual work being conveyed. Thereby, the cycle at the time of measuring a dimension can be shortened.

  In the above invention, when the controller sequentially measures the dimensions of the plurality of actual workpieces to calculate the actual dimensions of each of the actual workpieces, the controller measures the dimensions of the master workpiece for each of the actual workpieces. The actual dimension of the actual workpiece may be calculated.

  According to the above configuration, the dimensions of the master workpiece are measured and compared each time the actual workpiece dimensions are measured, so that the influence of measurement errors due to temperature changes and temporal changes when measuring the dimensions can be reduced. . As a result, a more accurate actual dimension can be calculated.

  In the above invention, the master workpiece may be arranged in an area near the actual workpiece when measuring the dimension of the actual workpiece.

  According to the above configuration, the measurement error due to the non-linear response of the measurement robot differs depending on the position of the measurement unit, but since the master work and the actual work are placed close to each other, the measurement error associated with the position is substantially the same Can be. As a result, the actual dimension can be calculated more accurately.

  In the above invention, the apparatus includes a transfer device for moving the master work and the actual work, and the control device moves the master work after measuring the dimensions of the master work, and moves the master work to a position where the master work is placed. The movement of the transfer robot may be controlled so as to place the actual work.

  According to the above configuration, since the actual work is placed at the position where it was placed on the master work, the temperature due to the positioning error of the measurement robot and the difference in the measurement location due to repeated travel of the measurement unit when measuring the dimensions It is possible to reduce the influence of measurement errors due to changes and the like.

  In the above invention, when measuring the dimensions of the master workpiece and the actual workpiece between two measurement base points, the control device moves the measurement unit from a start position located on the side of the measurement base point to the measurement base point. Then, it may be configured to acquire position coordinates relating to the measurement base point and measure the dimensions of the master workpiece and the actual workpiece based on the acquired position coordinates.

  According to the above configuration, the trajectory error due to the robot when moving the measuring unit tends to be substantially equal to zero when the moving distance is short. Therefore, by setting the starting point position close to the measurement base point, it is possible to obtain position coordinates that hardly include a trajectory error, that is, it is possible to obtain more accurate position coordinates. By measuring the dimensions of the master workpiece and the actual workpiece based on the position coordinates, it is possible to measure a dimension with less error.

  In the above invention, when measuring the dimensions of the master workpiece and the actual workpiece between two measurement base points, the control device moves the measurement unit from a start position located on the side of the measurement base point to the measurement base point. Then, the movement distance from the starting position to the measurement base point may be acquired, and the dimensions of the master workpiece and the actual workpiece may be measured based on the acquired movement distance.

  According to the above configuration, the trajectory error due to the robot when moving the measuring unit tends to be substantially equal to zero when the moving distance is short. Therefore, by setting the starting position close to the measurement base point, it is possible to obtain a moving distance that hardly includes a trajectory error, that is, it is possible to obtain a more accurate moving distance. By measuring the dimensions of the master workpiece and the actual workpiece based on this moving distance, it is possible to measure a dimension with less error.

  The measurement method of the present invention has a measurement unit for measuring dimensions, a measurement robot that can move the measurement unit, and a control device that moves the measurement unit by controlling the movement of the measurement robot. A measurement method of a measurement system comprising: the control device controls movement of the measurement robot to move the measurement unit, and uses the measurement unit to measure the dimensions of a master workpiece formed according to a reference dimension. A master workpiece measuring step for measuring the workpiece, and the control device controls the movement of the measuring robot to move the measuring section, and uses the measuring section to measure the dimensions of the actual workpiece formed based on the reference dimensions. Based on the actual workpiece measurement process, the master workpiece measurement dimension which is the measured dimension of the master workpiece, and the actual workpiece measurement dimension which is the measured dimension of the actual workpiece. Serial and a actual dimension calculating step of calculating the actual dimension of the actual work, which is the master work measuring step and the actual workpiece measuring dimensions step method performed sequentially.

  According to the present invention, since the dimensions of the master workpiece and the actual workpiece are measured in order, it is possible to prevent the measuring unit from becoming large according to the shape of the workpiece as in the prior art. Thereby, the dimension of a workpiece | work can be calculated correctly irrespective of the shape of a workpiece | work.

  In the above invention, in the actual workpiece measuring step, the dimensions of the plurality of actual workpieces may be continuously measured.

  According to the above configuration, it is possible to reduce the number of times the measuring unit travels between the master work and the actual work being conveyed. Thereby, the cycle at the time of measuring a dimension can be shortened.

  In the above invention, in the master work measuring step, the dimensions of the master work may be measured every time the dimensions of the actual work are measured in the actual work measuring step.

  According to the above configuration, the dimensions of the master workpiece are measured and compared each time the actual workpiece dimensions are measured, so that the influence of measurement errors due to temperature changes and temporal changes when measuring the dimensions can be reduced. . As a result, a more accurate actual dimension can be calculated.

  The said invention WHEREIN: You may have the master workpiece conveyance process which moves the said master workpiece after the said master workpiece measurement process, and puts the said actual workpiece in the position where the said master workpiece was put.

  According to the above configuration, since the actual work is placed at the position where it was placed on the master work, the temperature due to the positioning error of the measurement robot and the difference in the measurement location due to repeated travel of the measurement unit when measuring the dimensions It is possible to reduce the influence of measurement errors due to changes and the like.

  According to the present invention, the workpiece dimensions can be accurately calculated regardless of the workpiece shape.

It is a side view showing the measuring system of a 1st embodiment concerning the present invention. It is a top view which shows the measuring device of the measuring system of FIG. It is a block diagram which shows the electrical structure of the measurement system of FIG. It is a flowchart which shows the procedure of the measuring method of the measuring system of FIG. It is a figure which shows the measurement error and installation error at the time of a measurement. It is a side view which shows the measurement system of 2nd Embodiment which concerns on this invention. It is a front view which shows the master work and actual work of the measurement system of FIG. It is a block diagram which shows the electrical structure of the measurement system of FIG. It is a flowchart which shows the procedure of the measuring method of the measuring system of FIG. It is a figure which shows the procedure of the dimension measurement by the measurement system of FIG. It is a figure which shows the measurement error and installation error at the time of a measurement.

  Hereinafter, measurement systems 1 and 1A according to first and second embodiments of the present invention will be described with reference to the drawings described above. In addition, the concept of the direction used in the following description is used for convenience in description, and does not limit the orientation of the constituent elements of the invention in that direction. Moreover, the measurement systems 1 and 1A described below are only one embodiment of the present invention. Therefore, the present invention is not limited to the embodiments described below, and additions, deletions, and modifications can be made without departing from the spirit of the invention. In other words, the configuration of each embodiment may be deleted or combined to form another embodiment.

(First embodiment)
In a manufacturing facility for manufacturing parts and products, for example, a casting machine and a plurality of different processing machines are installed, and workpieces cast by the casting machine are successively processed by the processing machine. And in order to measure whether the various dimensions of the cast and processed actual work 3 (see FIG. 1) are in accordance with the design dimensions, the manufacturing facility is equipped with a measuring system 1 as shown in FIG.

  A measurement system 1 according to the first embodiment of the present invention includes a master work 2 shown in FIG. The master workpiece 2 is a workpiece formed according to the design dimension (reference dimension) and is a reference workpiece. Moreover, the actual work 3 formed based on the design dimension is conveyed to the measurement system 1, and the dimension of the conveyed actual work 3 is measured. If measurement is performed without correcting the dimensions of the actual workpiece 3, measurement errors due to nonlinear response or the like are included in the measured dimensions. In the measurement system 1, a dimension that does not include such a measurement error, that is, an actual dimension of the actual workpiece 3, a measured dimension of the master workpiece 2 (master workpiece measurement dimension), and a dimension of the actual workpiece 3 (actual workpiece measurement dimension). It has the function to calculate based on. The measurement system 1 having such a function includes a measurement robot 4 and a control device 5.

[Measurement robot]
The measurement robot 4 is a vertical articulated robot, for example, and is a vertical 6-axis robot in this embodiment. The measurement robot 4 includes a base 10, five arms 11 to 15, and a wrist tip 16. The base 10 is fixed to a floor (or underframe or the like), and a first arm 11 is provided on the base 10. The first arm 11 is configured to be rotatable about an R axis that is a vertical axis with respect to the base 10. A second arm 12 is provided at the tip of the first arm 11, and the second arm 12 is configured to be swingable in the front-rear direction around the L axis that is a horizontal axis with respect to the first arm 11. ing. A third arm 13 is provided at the distal end of the second arm 12, and the third arm 13 is configured to be rotatable with respect to the second arm 12 about the U axis. Here, the U-axis is a horizontal axis that is parallel to the L-axis and different from the L-axis.

  A fourth arm 14 is provided at the tip of the third arm 13, and the fourth arm 14 is configured to rotate about the S axis with respect to the third arm 13. Here, the S-axis is an axis that is orthogonal to the U-axis and coincides with the axis of the third arm 13. A fifth arm 15 is provided at the tip of the fourth arm 14, and the fifth arm 15 is configured to rotate about the B axis with respect to the fourth arm 14. Here, the B-axis is a horizontal axis that is parallel to the L-axis and different from the L-axis and the U-axis. Further, a substantially cylindrical wrist tip 16 is provided at the tip of the fifth arm 15. The wrist tip 16 is attached to the fifth arm 15 so that the T-axis that is the axis thereof is orthogonal to the B-axis, and is configured to be rotatable about the T-axis with respect to the fifth arm 15. . The measuring robot 4 includes a measuring instrument 17, and the measuring instrument 17 is attached to the tip of the wrist tip 16.

  As shown in FIGS. 2A and 2B, the measuring instrument 17 is a device for measuring the coordinates of a target point (for example, a measurement base point described later), and includes a measuring instrument main body 21 and a touch sensor 22. Have. The measuring instrument main body 21 is attached to the tip of the wrist tip 16 and rotates together with the wrist tip 16. A touch sensor 22 is attached to the tip of the measuring instrument main body 21. The touch sensor 22 protrudes from the measuring instrument main body 21A and extends along the T axis. The touch sensor 22 is formed in the shape of a bowl whose tip is bent at a substantially right angle with respect to the remaining portion, and is configured to output a touch signal when an object hits the tip.

  The measurement robot 4 configured as described above includes first to sixth drive motors 31 to 36 as shown in FIG. These first to sixth drive motors 31 to 36 are servo motors, for example, and are provided corresponding to the arms 11 to 15 and the wrist tip 16, respectively. It is configured to rotate or swing around a corresponding axis. Encoders 41 to 46 are attached to these drive motors 31 to 36, respectively, and the encoders 41 to 46 are configured to output encoder signals relating to the angular displacement amounts of the corresponding drive motors 31 to 36. . The drive motors 31 to 36 and the encoders 41 to 46 are electrically connected to the control device 5 together with the touch sensor 22.

[Control device]
The control device 5 receives encoder signals output from the encoders 41 to 46, and controls the movements of the drive motors 31 to 36 based on the received encoder signals. That is, the control device 5 performs feedback control of the drive motors 31 to 36 based on the encoder signal. Below, the structure of the control apparatus 5 is demonstrated in more detail.

  The control device 5 is composed of a computing unit such as a microcontroller, a PLC (programmable logic controller), and a logic circuit, for example. The control device 5 includes a storage unit 51, a drive control unit 52, an encoder value calculation unit 53, a measurement calculation unit 54, and a position calculation unit 55, and the above-described calculator operates according to a program or the like. Thus, the function blocks 51 to 55 are realized. The storage unit 51 stores various programs and information. In the present embodiment, a measurement program that is an operation program when measuring the dimensions of the master work 2 and the actual work 3 and information related thereto are stored in the storage unit 51. It is remembered.

  The drive control unit 52 is electrically connected to the drive motors 31 to 36, and controls the operation of the drive motors 31 to 36 based on a measurement program stored in the storage unit 51. That is, the drive control unit 52 has a function of moving the measuring instrument 17 by controlling the operation of the measuring robot 4. The drive control unit 52 has a function of receiving touch signals from the pair of touch sensors 22 and 23 and stopping the operation of the drive motors 31 to 36 based on the touch signals.

  The encoder value calculation unit 53 has a function of receiving encoder signals from the encoders 41 to 46 and calculating the angular displacement amounts of the corresponding drive motors 31 to 36 based on the encoder signals. The angular displacement information related to the calculated angular displacement amount is transmitted to the drive control unit 52, and the drive control unit 52 has a function of performing feedback control of the movements of the drive motors 31 to 36 based on the angular displacement information. The encoder value calculation unit 53 transmits angular displacement information to the position calculation unit 55.

  The position calculation unit 55 has a function of calculating the coordinates of the tip of the touch sensor 22 based on the angular displacement amounts of the drive motors 31 to 36 calculated by the encoder value calculation unit 53. The position calculation unit 55 can calculate the coordinates of the contact point with the object by calculating the coordinates of the tip of the touch sensor 22 when a touch signal is input to the drive control unit 52. The position calculation unit 55 transmits the coordinates of the contact point to the measurement calculation unit 54.

  The measurement calculation unit 54 has a measurement function of measuring the distance between two measurement base points using the coordinates of the contact point calculated by the position calculation unit 55. The measurement calculation unit 54 measures the actual workpiece 3 based on the measured dimension between the measurement base points of the master work 2 (master workpiece measurement dimension) and the dimension between the measurement base points of the actual workpiece 3 (actual workpiece measurement dimension). It has a function to calculate the actual dimension between the base points.

[Master work]
Here, the master work 2 and the actual work 3 to be compared will be described. The master work 2 is installed at a predetermined measurement position of the measurement system 1 as shown in FIG. 1 and can be lifted from the measurement position and conveyed. The actual workpiece 3 is placed at the measurement position from which the master workpiece 2 has been removed, and the measurement system 1 includes a transfer robot 6 for exchanging the master workpiece 2 and the actual workpiece 3. Yes.

[Transport robot]
The transfer robot 6 that is a transfer device is, for example, a vertical articulated robot. In the present embodiment, the transfer robot 6 is the same vertical six-axis robot as the measurement robot 4. The transfer robot 6 is configured such that each of the arms 61 to 65 and the wrist tip 66 are rotated or swinged by driving six drive motors (not shown), and a hand 67 is attached to the tip of the wrist tip 66. Is attached. The hand 67 includes a hand drive motor (not shown), and is configured so that the master work 2 and the actual work 3 can be gripped by opening and closing the hand with the hand drive motor.

  An encoder (not shown) is attached to each drive motor of the transport robot 6 configured in this manner, and each encoder outputs an encoder signal related to the angular displacement amount of the associated drive motor. It has become. The encoder is electrically connected to the transport control device 7 shown in FIG. 3 together with the drive motor.

[Transport control device]
The transport control device 7 is composed of an arithmetic unit such as a microcontroller, a PLC (programmable logic controller), and a logic circuit, for example, and stores various programs and information. In the present embodiment, a transfer program that is an operation program for transferring the master work 2 and the actual work 3 is stored in the transfer control device 7. The conveyance control device 7 has a function of controlling the movement of the drive motor based on the operation program and performing feedback control of the drive motor based on the encoder signal from the encoder.

  The transfer control device 7 controls the movement of the transfer robot 6 according to the transfer program, and replaces the master work 2 and the actual work 3 placed at the measurement position. The transfer control device 7 is electrically connected to a control device 5 that controls the movement of the measurement robot 4, and the master work 2 and the actual work 3 are switched in accordance with the operation of the measurement robot 4.

The measuring system 1 configured in this way is designed to measure the dimensions of the master workpiece 2 and the actual workpiece 3 in order to measure whether the various dimensions of the cast and machined actual workpiece 3 (see FIG. 1) are as designed. The dimensions are measured, and the actual dimensions of the actual workpiece 3 are calculated (measured) based on these two measured dimensions. Hereinafter, in the measurement system 1, a measurement method for measuring the distance between the left and right ends of the actual workpiece 3A, that is, the actual dimension _HA of the width of the actual workpiece 3A will be described.

[Measurement method]
In the measurement system 1, the master workpiece measuring dimensions H _M is the width of the master work 2A is first installed in the measuring position is measured. Thereafter, the master workpiece 2 at the measurement position is moved to place the actual workpiece 3 at the same measurement position, and the actual workpiece measurement dimension H _W that is the width of the actual workpiece 3 placed at the measurement position is measured. Then, in the measurement system. 1A, calculated actual dimensions H _A by comparing the master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W. Hereinafter, the measurement method will be described in more detail with reference to FIGS.

In the measurement system 1, when the master work 2 is transported by the transport robot 6 and placed at the measurement position, the measurement process is started, and the control device 5 performs the master work measurement process (step S1). The master work measuring step, the master workpiece measuring dimension H _M of the master work 2 is measured. Hereinafter, detail procedures for measuring the master workpiece measuring dimension H _M with reference to FIGS. 2 (a) and (b).

  When the master work measurement process starts, the movement of the measurement robot 4 is controlled based on the drive control unit 52 and the measurement program, and the measuring instrument 17 is moved to the first starting position. The first origin position is a position near one measurement base point M1 of two measurement base points M1 and M2 at which the dimension between them is measured, and is away from one measurement base point M1 to the outside of the master work 2 The position of the touch sensor 22 is set so that the tip of the touch sensor 22 does not come into contact with the workpieces 2 and 3 even if an installation error occurs when the workpieces 2 and 3 are replaced. Moreover, the drive control part 52 drives a 6th drive motor based on a measurement program, and orient | assigns the front-end | tip of the touch sensor 22 to one measurement base point M1 (refer Fig.2 (a) solid line).

  When the measuring device 17 is moved and the touch sensor 22 is directed to one measurement base point M1, the drive control unit 52 feedback-controls the movement of the measuring robot 4 to move the measuring device 17, and the tip of the touch sensor 22 is moved to one of the measurement base points M1. The measuring instrument 17 is moved until it reaches the measurement base point M1 (see arrow A in FIG. 2A). When the tip of the touch sensor 22 comes into contact with one measurement base point M1 and a touch signal is transmitted, the drive control unit 52 stops the movement of the measurement robot 4 (see the two-dot chain line in FIG. 2A), and the position The calculation unit 55 calculates the coordinates of the tip of the touch sensor 22, that is, the coordinates of one measurement base point M1.

  When the coordinates of one measurement base point M1 are calculated, the drive control unit 52 controls the movement of the measurement robot 4 based on the measurement program, and moves the measuring instrument 17 to the second starting point position. The second starting point position is a position near the other measurement base point M2 and away from the other measurement base point to the outside of the master work 2. Even if an installation error occurs when the works 2 and 3 are replaced, The tip of the touch sensor 22 is set at a position where it does not hit the workpieces 2 and 3, respectively. Moreover, the drive control part 52 drives the 6th drive motor 36 based on a measurement program, and orient | assigns the front-end | tip of the touch sensor 22 to the other measurement base point M2 (refer FIG.2 (b)).

  When the measuring instrument 17 is moved and the touch sensor 22 is directed to the other measurement base point M2, the drive control unit 52 moves the measuring instrument 17 while feedback controlling the movement of the measuring robot 4, and the tip of the touch sensor 22 is moved to the other measurement base point M2. The measuring instrument 17 is moved until it reaches the measurement base point M2 (see arrow B in FIG. 2B). When the tip of the touch sensor 22 comes into contact with the other measurement base point M2 and a touch signal is transmitted, the drive control unit 52 stops the movement of the measurement robot 4 (see the two-dot chain line in FIG. 2B), and the position The calculation unit 55 calculates the coordinates of the tip of the touch sensor 22, that is, the coordinates of the other measurement base point M2.

The two measurement base points M1 and M2 calculated in this way include a trajectory error of the measurement robot 4 at the time of measurement. This trajectory error is associated with the non-linear response of an articulated robot such as the measurement robot 4 and tends to be smaller as the moving distance of the measuring instrument 17 is shorter and larger as the moving distance of the measuring instrument 17 is longer. In the measurement system 1, by moving the touch sensor 22 to the first and second starting positions near the measurement base points M1 and M2, the distance that the measuring instrument 17 moves during measurement can be shortened, thereby calculating The scale of the trajectory error included in the coordinates to be performed can be reduced. Thus, it is possible to reduce the size of the trajectory error included in the master workpiece measuring dimension H _M described later is calculated on the basis of the coordinates, can be error measure less master workpiece measuring dimension H _M.

When the coordinates of the two measurement base points M1 and M2 are calculated in this way, the measurement calculation unit 54 measures the master workpiece measurement dimension H which is a dimension between the two measurement base points based on the coordinates of the two measurement base points M1 and M2. _M is calculated. In the present embodiment, the coordinates of the measurement base points M1 and M2 are expressed in an XYZ orthogonal coordinate system (the same applies to the measurement base points W1 and W2 to be described later), and the coordinates of the measurement base point M1 measured to simplify the explanation are ( X _M , Y _M1 , Z _M ), and the coordinates of the measurement base point M2 are (X _M , Y _M2 , Z _M ). Then, the master workpiece measuring dimension H _M can be calculated by Equation (1) as follows.

H _M = √ {(X _M −X _M ) ² + (Y _M2 −Y _M1 ) ² + (Z _M −Z _M ) ² }
= | Y _M2 −Y _M1 | (1)
Thus the master work measuring dimension H _M is calculated master work measuring step is completed, the workpiece transfer step (step S2) is performed.

  In the workpiece transfer process, the transfer control device 7 controls the movement of the transfer robot 6 and the hand 67, and transfers the master workpiece 2 placed at the measurement position to the standby position. After the transfer, the transfer control device 7 controls the movement of the transfer robot 6 and the hand 67, and moves the actual work 3 being carried to the measurement position to a position substantially the same as the measurement position where the master work 2 is placed. Place. At this time, the actual work 3 is placed in substantially the same posture as the placed master work 2. That is, the actual work 3 is placed so that the two measurement base points W1 and W2 for measuring the dimension between the actual work 3 and the two measurement base points M1 and M2 of the master work 2 substantially coincide with each other. When the actual work 3 is placed, the work transfer process is finished, and the actual work measurement process (step S3) is performed.

In the real work measuring step, the actual workpiece measuring dimension H _W of the actual workpiece 3 is measured. The measurement method of the actual workpiece measurement dimension H _{W is the same as} the measurement method of the master workpiece measurement dimension H _M. That is, the drive control unit 52 first moves the measuring instrument 17 to the first starting point position and directs the tip of the touch sensor 22 toward one measurement base point W1 (see the solid line in FIG. 2A). Then, the drive control unit 52 moves the measuring device 17 to apply the tip of the touch sensor 22 to one measurement base point W1, and when the touch signal is transmitted, the movement of the measurement robot 4 is stopped and the one of the measurement base points W1 is stopped. Coordinates (X _M , Y _W1 , Z _M ) are calculated (see the two-dot chain line in FIG. 2A). Incidentally, it is possible to reduce the size of the trajectory error measuring instrument 17 is included in the coordinates and the actual workpiece measuring dimension H _W is calculated by shortening the distance traveled is the same even if the actual work.

When the coordinates of one measurement base point W1 are calculated, the drive control unit 52 moves the measuring instrument 17 to the second starting point position and directs the tip of the touch sensor 22 toward the other measurement base point W2 (FIG. 2B). ) See solid line). Then, the drive control unit 52 moves the measuring device 17 so that the tip of the touch sensor 22 contacts the other measurement base point W2, and when the touch signal is transmitted, stops the movement of the measurement robot 4 and measures the other measurement base point. The base point W2 (X _M , Y _W2 , Z _M ) is calculated (see the two-dot chain line in FIG. 2B).

When two measurement reference point W1, W2 are calculated, measurement computation unit 54 computes the actual workpiece measuring dimension H _W which is the dimension between them based on these two coordinates of the measurement origin W1, W2. Incidentally, the actual workpiece measuring dimension H _W can be calculated by Equation (2) as follows.

H _W = √ {(X _W −X _W ) ² + (Y _W2 −Y _W1 ) ² + (Z _W −Z _W ) ² }
= | Y _W2 −Y _W1 | (2)
Thus the master work measuring dimension H _W is computed master work measuring step is completed, the actual dimension calculation step (step S4) is performed.

The actual dimension calculation step, measurement computation unit 54 compares the master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W to calculate the actual dimension H _A. Because the size is calculated by the measurement computation unit 54, the measurement error G _M of the machine difference and the like due to the dead zone error and arm dimensions due to _backlash, includes a G _W, the measurement error G _{M, G W} is affecting the measurement of the actual dimensions _{H a} real workpiece 3. For example, the Y coordinate _Y M1 which is _measured, Y _M2, Y _{W1, Y W2,} the actual Y coordinate _{Y AM1,} Y _AM2, Y _{AW1, Y AW2} a measurement error _G M, it can be represented by the _{G W} master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W is calculated can be expressed as equation (3) and (4).

_{H M = | Y M2 -Y M1} | = | (Y AM2 + G M) - (Y AM1 -G M) |
_{= | Y AM2 -Y AM1 + 2G} M | ··· (3)
H _W = | Y _W2 −Y _W1 | = | (Y _AW2 + G _W ) − (Y _AW1 −G _W ) |
= | Y _AW2 −Y _AW1 + 2G _W | (4)
Based on these master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W, when calculating their difference [Delta] H, it is as Equation (5).

ΔH = H _M −H _W
= | (Y _AM2 −Y _AM1 + 2G _M ) | − | (Y _AW2 −Y _AW1 + 2G _W ) |
= | (Y _AM2 −Y _AM1 ) | − | (Y _AW2 −Y _AW1 ) |
_{+2 | (G M -G W)} | ··· (5)
Master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W is, since the measurement by placing the master work 2 and the actual workpiece 3 at substantially the same measuring position, the measuring system 1, the measurement error G _M, G _W is substantially Equal (G _M ≈G _W ). Therefore, the difference ΔH between the master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W is as shown in Equation (6).

ΔH≈ | (Y _AM2 −Y _AM1 ) | − | (Y _AW2 −Y _AW1 ) | (6)
Here, the difference _Y AM2 _{-Y AM1} corresponds to the design dimensions _{H P} of the master work 2A, the difference _Y AW2 _{-Y AW1} corresponds to actual dimensions _{H A} real workpiece 3A. Therefore, when replacing by applying the design dimensions H _P and the actual dimension H _A in equation (6), so that Equation (7).

H _A ≈H _P −ΔH (7)
That is, the actual dimensions H _A can be calculated by subtracting the difference ΔH from the design dimensions H _P. The formula (7) makes it possible to calculate the actual dimensions H _A measurement error has been removed, can be calculated actual dimensions H _A more accurately. When the actual dimension _HA is calculated, the actual workpiece 3 is transported from the measurement position by the transport robot 6 and the actual dimension calculating step ends. Then, 1 is added to the number of measurements i (step S5), and the measurement end determination step (step S6) is performed.

  In the measurement end determination step, the measurement calculation unit 54 determines whether or not the number of measurement i is equal to or greater than the predetermined number n (n ≧ 1). If it is determined that the number of times is less than the predetermined number, the process returns to the actual workpiece measurement process. On the other hand, if it is determined that the number of times is equal to or greater than the predetermined number, the process proceeds to the master work transfer process (step S7). In the master work transfer process, the transfer control device 7 controls the movement of the transfer robot 6 and the hand 67, moves the master work 2 transferred to the standby position to the measurement position, and places it on the measurement position. When the master work 2 is placed, the master work conveyance process is completed, and the reference dimension measurement process (step S1) is performed.

For example, if n = 1, the master work measured dimension H _M of the master work 2 every time for calculating the actual dimension H _A is compared is measured. Accordingly, since measures the master work measurement dimension H _M of the master work 2 compares each time to perform measurement of the actual dimensions H _A real workpiece 3, the influence of the measurement error caused by temperature change or variation with time or the like during measurement Can be reduced. As a result, a more accurate actual dimension _HA can be calculated. Also in the case of n ≧ 2, the master workpiece measuring dimension H _M of the master work 2 the real dimension H _A every time the operation n times is compared is measured. Thereby, the frequency | count (namely, the frequency | count to which it goes and goes) which replaces the master workpiece | work 2 and the real workpiece | work 3 can be reduced. Thereby, the cycle at the time of measuring can be reduced.

In the measurement system 1 is configured in this way, considering that the two measurement error G _M, the size of G _W small at the stage of measuring the respective coordinates. Cancel the other hand, in case of calculating the actual dimension H _A is measured coordinates measurement error G _M, G _M also include G _W, and a value comparable to G _W values between them comparable By doing this, the final object is to eliminate the calculation error from the actual dimension _HA of the actual work 3. And in the measurement system 1, the objective is achieved by the method mentioned above.

  Moreover, since the measurement system 1 places the actual workpiece 3 at the measurement position that has been placed on the master workpiece 2, the positioning error and measurement location of the measurement robot 4 due to repeated travel of the measuring instrument 17 when measuring the dimensions are measured. It is possible to reduce the influence of a measurement error due to a temperature change or the like due to the difference.

Further, according to the measuring system 1, the actual workpiece 3 is measured is disposed offset from the position mounted error as shown in FIG. _{5 ΔD (= (ΔD 2 +} ΔD 1) / 2) even if there is actual size H _A It can be measured. In FIG. 5, the positioning error ΔD is large for convenience of explanation, but it is originally smaller than the positioning error ΔD shown in FIG. 5.

According to the measurement system 1 configured in this way, the master work 2 and the actual work 3 are measured in order, and therefore it is necessary to form a measuring instrument 17 according to the shape of the works 2 and 3 as in the prior art. Absent. Therefore, the measuring instrument 17 can be prevented from becoming large, and the actual dimension _HA can be accurately calculated regardless of the shapes of the workpieces 2 and 3.

(Second Embodiment)
The measurement system 1A of the second embodiment is similar in configuration to the measurement system 1 of the first embodiment. Specifically, the configurations of the workpieces 2A and 3A and the measuring instrument 17A and the measuring method are different. In the following, the configuration of the measurement system 1A of the second embodiment and the measurement method thereof will be mainly described with respect to the differences from the measurement system 1 of the first embodiment. Omitted.

[Master work]
As shown in FIG. 6, the measurement system 1A includes a master work 2A. The master work 2A is installed at a predetermined position of the measurement system 1A as shown in FIG. 7, and the actual work 3A can be installed at a measurement position adjacent to the master work 2A. In other words, in the measurement system 1A, the actual work 3A is disposed adjacent to the area near the master work 2A. Further, the master work 2A has a pair of holes 2a, 2b are formed, the pair of holes 2a, vertical dimension between 2b are formed as designed dimension H _P. On the other hand, two pairs of holes 3a and 3b are formed in the actual work 3A. Vertical dimension between the pair of holes 3a, 3b are respectively formed on the basis of the design dimension H _P. However, there may not have been formed as designed dimension H _P by various factors in the casting and machining process, a pair of holes 3a, in order to measure the vertical dimension between 3b, measurement system 1A of the wrist front end portion 16 A measuring instrument 17 </ b> A is attached to the front end portion.

[Measuring instrument]
The measuring instrument 17A is a device for measuring a distance between two predetermined measurement base points, and includes a measuring instrument main body 21A and a pair of touch sensors 22A and 23A. The measuring instrument main body 21 </ b> A is attached to the tip of the wrist tip portion 16 </ b> A and rotates together with the wrist tip portion 16. The pair of touch sensors 22A and 23A is attached to the distal end portion of the measuring instrument main body 21A. The pair of touch sensors 22A and 23A have probes 22a and 23a, respectively, and output a touch signal when an object hits the probes 22a and 23a. The pair of touch sensors 22A and 23A is electrically connected to the control device 5A, and the output touch signal is input to the control device 5A.

  The probes 22a and 23a configured in this manner protrude from the measuring instrument main body 21A and extend in parallel to each other. Further, the other probe 23a is configured to move in parallel so as to move away from the one probe 22a, and to change the interval between the probe 22a and the probe 23a. The measuring instrument 17A includes a sensor driving motor 37, and the sensor driving motor 37 translates the other probe 23a of the measuring instrument 17A via a driving mechanism (for example, a ball screw mechanism) (not shown). It is configured. Each of the drive motors 37 is provided with an encoder 47, and the encoder 47 is configured to output an encoder signal related to the angular displacement of the drive motor 37 to the control device 5A.

[Control device]
As shown in FIG. 8, the control device 5 </ b> A includes, for example, a computing unit such as a microcontroller, a PLC (programmable logic controller), and a logic circuit, and includes a storage unit 51, a drive control unit 52, and an encoder value calculation unit 53. And a measurement calculation unit 54. The encoder value calculation unit 53 calculates the angular displacement amount of the sensor drive motor 37 based on the encoder signal from the encoder 47 and transmits angular displacement information regarding the calculated angular displacement amount to the drive control unit 52. Yes.

  The drive control unit 52 controls the movement of the sensor drive motor 37 based on the measurement program stored in the storage unit 51, and the angular displacement relating to the angular displacement amount of the sensor drive motor 37 transmitted from the encoder value calculation unit 53. Based on the information, the movement of the drive motor 37 is feedback-controlled. Further, the drive control unit 52 has a function of receiving touch signals from the pair of touch sensors 22A and 23A and stopping the operations of the drive motors 31 to 37 based on the touch signals. Further, the angular displacement information of the sensor drive motor 37 is also transmitted to the measurement calculation unit 54.

The measurement calculation unit 54 has a measurement function for calculating a dimension between the measurement base points based on the angular displacement information of the sensor drive motor 37 and the angular displacement information of the drive motors 31 to 36. Moreover, the measurement calculation part 54 is based on the dimension between the measurement base points of the master workpiece 2A (master workpiece measurement dimension) and the dimension between the measurement base points of the actual workpiece 3A (actual workpiece measurement dimension) as described later. It also has a function of calculating the actual dimension between measurement base points. Hereinafter, measurement of the actual dimension _HA between the pair of holes 3a and 3b in the measurement system 1A will be described.

[Measurement method]
In the measurement system 1A, the dimensions of the master work 2A and the actual work 3 that are arranged adjacent to each other are measured. In this case, the measurement robot 4A is moved to bring one touch sensor 22A of the measuring instrument 17A into contact with one measurement base point, and then the other touch sensor 23A is touched with the measurement robot 4A stopped. The sensor 22A is moved to measure the dimensions of the master work 2A and the actual work 3A based on the movement distance. Below, the specific method is demonstrated.

In measurement system 1A, first pair of holes 2a, a dimension between 2b master workpiece measuring dimension H _M and 3a, to measure the actual workpiece measuring dimension H _W which is the dimension between 3b. Next, measurement system 1A is adapted to calculate the actual dimensions H _A by comparing the measured master work measured dimension H _M and the actual workpiece measuring dimension H _W. Hereinafter, a measurement method for measuring and calculating the actual dimension _HA will be described in more detail with reference to FIGS.

As shown in FIG. 9, in the measurement system 1A, when the actual workpiece 3 is transferred to the measurement position by a transfer robot (not shown), the measurement process is started, and the control device 5A performs the master workpiece measurement step (step S11). . The master work measuring step, the master workpiece measuring dimension H _M of the master work 2A is measured. Hereinafter, mainly detail procedures for measuring the master workpiece measuring dimension H _M with reference to FIG.

  When the master work measurement process starts, the drive control unit 52 drives the sensor drive motor 37 based on the measurement program, and moves the other touch sensor 23A until the predetermined interval L is reached between the pair of touch sensors 22A and 23A. Further, the drive control unit 52 controls the movement of the measurement robot 4A based on the measurement program, and moves the measuring instrument 17A to the starting position. When the other touch sensor 23A is thus moved and the measuring instrument 17A is moved to the starting position, the touch sensors 22A and 23A are inserted into the pair of holes 2a and 2b of the master work 2A (FIG. 10A). )reference).

  Thereafter, the drive control unit 52 feedback-controls the movement of the measurement robot 4A to move the measuring instrument 17A upward, and one touch sensor 22A comes into contact with the upper side of the inner peripheral surface of the one hole 2a located on the lower side. The measuring instrument 17A is moved to the first contact point (first measurement base point) (see arrows C and D in FIG. 10A). When one touch sensor 22A moves to the first contact point and contacts the inner peripheral surface of one hole 2a, a touch signal is transmitted, and the drive control unit 52 moves the measurement robot 4A based on this touch signal. (See FIG. 10B). At this time, the other touch sensor 23 </ b> A moves together with the one touch sensor 22 </ b> A while maintaining the specified interval L, and moves to the first measurement start point.

  Thereafter, the drive control unit 52 controls the movement of the sensor drive motor 37 to move the other touch sensor 23A downward from the first measurement start point (see arrow E in FIG. 10B) and is located on the upper side. The other touch sensor 23A is moved to a second contact point (second measurement base point) that contacts the lower side of the inner peripheral surface of the other hole 2b. When the other touch sensor 23A moves to the first contact point and contacts the inner peripheral surface of the other hole 2b, a touch signal is transmitted, and the drive control unit 52 moves the sensor drive motor 37 based on the touch signal. (See FIG. 10C).

Then, based on the angular displacement amount of the sensor drive motor 37 obtained from the encoder value calculation unit 53, the measurement calculation unit 54 moves the other touch sensor 23A, that is, moves from the first measurement start point to the second contact point. The distance ΔD _M is calculated. The dimension obtained by subtracting the movement distance ΔD _M from the specified interval L is the distance between the first and second contact points, that is, the master workpiece measurement dimension H _M , and the measurement calculation unit 54 calculates the movement distance ΔD _M from the specified interval L. subtraction to computing the master workpiece measuring dimension H _M.

Thus master workpiece measuring dimension H _M and is calculated, the drive control unit 52 operates the control with a pair of touch sensor 22A of the sensor drive motor 37, an increasing spacing 23A, movement of the further measuring robot 4A And the pair of touch sensors 22A and 23A are removed from the pair of holes 2a and 2b. In this way, when the pair of touch sensors 22A and 23A are removed from the pair of holes 2a and 2b, the master work measurement process is completed, and the actual work measurement process (step S12) is performed.

In the real work measuring step, the actual workpiece measuring dimension H _W of the actual workpiece 3A is measured. The measurement method of the actual workpiece measurement dimension H _{W is the same as} the measurement method of the master workpiece measurement dimension H _M. That is, the drive control unit 52 widens (or narrows) the distance between the pair of touch sensors 22A and 23A until the distance between the pair of touch sensors 22A and 23A reaches the specified distance L, and either of the pair of touch sensors 22A and 23A. Insert into a pair of holes 3a, 3b. Then, the measuring instrument 17A is moved so that the one touch sensor 22A is applied to the inner peripheral surface (specifically, the third contact point) of the one hole 3a. Accordingly, the other touch sensor 23A moves to the second measurement start point, and the other touch sensor 23A moved to the second measurement start point is moved to move the inner peripheral surface (specifically, the fourth contact point) of the other hole 3b. ). Then, the measurement calculation unit 55 of the control device 5A calculates the movement distance ΔD _W (movement distance from the second measurement start point to the fourth contact point) of the other touch sensor 23A, and further, based on this movement distance ΔD _W. It calculates the actual workpiece measuring dimension H _W. By calculating in this way, the actual workpiece measurement dimension H _W with less error can be measured, as in the case of the master workpiece measurement dimension H _M.

Another set of a pair of holes 3a in the same manner, when calculating the actual workpiece measuring dimension H _W of 3b, the drive control unit 52 has a pair of holes 3a to expand the interval between the pair of touch sensors 22A, 23A, a pair of 3b The touch sensors 22A and 23A are removed. When the pair of touch sensors 22A and 23A are removed from the pair of holes 3a and 3b, the actual workpiece measurement process is finished, and the actual dimension calculation process (step S13) is performed.

The actual dimension calculation step, measurement computation unit 54 of the control device. 5A calculates the actual dimension H _A is compared with the master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W. Because the size is calculated by the measurement computation unit 54, the measurement error G _M such deadband error due to _backlash, includes a G _W, the measurement error G _M, G _W is the actual workpiece 3A This makes it difficult to measure the actual dimension _HA . For example, the moving distance [Delta] D _M, [Delta] D _W computed, the actual travel distance [Delta] D _AM, [Delta] D _AW and measurement errors _G M, can be represented by a _{G W,} measured master work measured dimension _{H M} and the actual work measurement dimension _{H W} can be expressed as equation (8) and (9).

H _M = L−ΔD _M = L− (ΔD _AM + G _M ) (8)
H _W = L−ΔD _W = L− (ΔD _AW + G _W ) (9)
Furthermore, when calculating the difference ΔH between the master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W, so that the equation (10).

ΔH = H _M −H _W = L− (ΔD _AM + G _M ) −L + (ΔD _AW + G _W )
_{= (ΔD AM -ΔD AW) -} (G M -G W) ··· (10)
The measurement errors G _M and G _W are extremely small (G _M , G _W ≈0) because the sensor drive motor 37 is used. Therefore, the difference ΔH between the master workpiece measuring dimension H _M and the actual workpiece measuring dimension H _W is as shown in equation (11).

ΔH≈ΔD _AM −ΔD _AW (11)
That is, the difference ΔH is substantially equal to the actual movement distance difference ΔD _AM −ΔD _AW . The difference ΔD _AM -ΔD _AW of actual travel distance corresponds to the actual difference between the design dimension _{H P} and actual dimension _{H A.} That is, the difference _H P -H _A design dimension _{H P} and the actual dimensions _{H A} is as Equation (12).

_{H P -H A = ΔD AM -ΔD} AW ≒ ΔH ··· (12)
When the formula (12) is replaced, an arithmetic expression for calculating the actual dimension _HA is as the following formula (13).

H _A ≈H _P −ΔH (13)
That is, the actual dimensions H _A can be calculated by subtracting the difference ΔH from the design dimensions H _P. The formula (12) makes it possible to calculate the actual dimensions H _A measurement error has been removed, can be calculated actual dimensions H _A more accurately.

When the actual dimension _HA is thus calculated, the actual work 3A is transported from the measurement position by a transport robot (not shown), and another actual work 3A is transported to the measurement position. When another actual workpiece 3A is transported to the measurement position, the actual dimension calculation process ends, 1 is added to the number of times of measurement i (step S14), and the measurement end determination process (step S15) is performed.

  In the measurement end determination step, the measurement calculation unit 54 of the control device 5 determines whether or not the number of times of measurement i is a predetermined number n (n ≧ 1) or more. If it is determined that the number of times is less than the predetermined number of times, the process returns to the actual work measurement process.

For example, if n = 1, the master work measured dimension H _M of the master work 2A every time for calculating the actual dimension H _A is compared is measured. Thus, since by measuring the master workpiece measuring dimension H _M of the master work 2A compares each time to perform measurement of the actual dimensions H _A real work 3A, the effects of measurement error due to temperature changes or aging or the like during measurement Can be reduced. As a result, a more accurate actual dimension _HA can be calculated.

Also in the case of n ≧ 2, the master workpiece measuring dimension H _M degrees in master work 2A to the actual dimensions H _A calculating n times is compared is measured. As a result, the number of times the measuring instrument 17A repeatedly travels between the master work 2A and the actual work 3A can be reduced, and the cycle for measurement can be shortened.

Further, according to the measurement system 1A, an installation error ΔD (= (ΔD ₂ + ΔD ₁ ) as shown in FIG. 11 is between the pair of holes 2a, 2b of the master work 2A and the pair of holes 3a, 3b of the actual work 3A. ) / 2), the actual dimension _HA can be accurately measured.

  In addition, the measurement system 1A has the same effects as the measurement system 1 of the first embodiment.

<Other embodiments>
In the measurement systems 1 and 1A of the first and second embodiments, touch sensors are used for the measuring instruments 17 and 17A, but laser sensors may be used, and other ultrasonic sensors, magnetic sensors, and capacitances. A sensor may be used. That is, any measuring instrument that can detect the measurement base point may be used. Further, in the measurement systems 1 and 1A of the first and second embodiments, the measuring instruments 17 and 17A are used as measuring units for measuring the dimensions, but it is not always necessary to perform measurement by the measuring instruments 17 and 17A. Alternatively, measurement may be performed by position sensing with a robot hand. In measurement by position sensing using a robot hand, an end effector is attached to the tip of the wrist tip 16 as a measurement unit. Further, the feedback control gain related to the operation of the sixth drive motor 36 is set to zero, so that the wrist tip 16 is freely moved by an external force. If comprised in this way, when the workpiece | works 2 and 3 will contact the front-end | tip of an end effector, the wrist front-end | tip part 16 will move and the encoder value of the encoder 46 will change in connection with it. The control device 5 detects the contact with the workpieces 2 and 3 based on the change in the encoder value, and measures the coordinates of the measurement base point and the distance to the contact point. Thereby, the dimension of the workpiece | work 2 and 3 can be measured by position sensing with a robot hand.

  Further, the measuring robot 4A and the transfer robot 6 are not necessarily limited to vertical articulated robots, and may be horizontal articulated robots, and are not 6-axis robots, and the number of axes is 5 axes or less or 7 axes or more. It may be a robot. Further, the transfer device for exchanging the master work 2 and the actual work 3 does not need to be the transfer robot 6, and may be a device such as a conveyor or a crane, as long as the device can transfer the workpieces 2 and 3.

In measurement system 1,1A the first and second embodiments, measures the actual workpiece measuring dimension H _W after the master workpiece measuring dimension H _M, the master workpiece measuring dimension H _M after the actual workpiece measuring dimension H _W May be measured in any order. In the measurement system 1A of the second embodiment, the actual work 3A does not have to be provided adjacent to the area near the master work 2A, and the actual work 3A may be arranged in the area near the master work 2A. Further, the actual work 3A is not necessarily arranged in the vicinity of the master work 2A, and may be arranged away from the master work 2A. The same applies to the master work 2 and the actual work 3 of the measurement system 1, 1 of the first embodiment.

In the measurement system 2 of the second embodiment, the actual dimension _HA is calculated based on the movement distances ΔD _M and ΔD _W of the probe 23a. However, as in the measurement system 1 of the first embodiment, each contact point is calculated. The actual dimension _HA may be calculated based on the coordinates. The same applies to the measurement system 1 of the first embodiment, and the actual dimension _HA may be calculated based on the movement distance from the coordinates of each measurement base point.

  In the measurement system 1 of the first embodiment, the coordinates of the measurement base points M1 and M2 are expressed in the XYZ orthogonal coordinate system, and the dimension is calculated. The dimensions may be calculated in the coordinate system.

DESCRIPTION OF SYMBOLS 1,1A Measuring system 2,2A Master work 3,3A Actual work 4,4A Measuring robot 5,5A Control device 6 Transfer robot 7 Transfer control device 17, 17A Measuring instrument

Claims (11)

A measuring robot having a measuring unit for measuring dimensions, and capable of moving the measuring unit;
The measurement unit is moved by controlling the movement of the measurement robot, and the measurement unit uses the dimensions of the master workpiece formed according to the reference dimensions and the dimensions of the actual workpiece formed based on the reference dimensions. sequentially measured Te, and actual workpiece measuring dimension is the dimension between the two measurement start point in the real work that is measured dimensioned der luma star workpiece measuring dimension between two measurement start point in the measured said master work And a control device that calculates the actual dimension of the actual workpiece based on the difference between the two.   The controller is configured to measure the dimensions of the master workpiece by moving the measuring robot and then continuously measure the dimensions of the plurality of actual workpieces to calculate the actual dimensions of each of the actual workpieces. The measurement system according to claim 1, wherein   When the controller sequentially measures the dimensions of a plurality of the actual workpieces to calculate the actual dimensions of each of the actual workpieces, the controller measures the dimensions of the master workpiece for each of the actual workpieces to measure each of the actual workpieces. The measurement system according to claim 1, wherein the measurement system is configured to calculate an actual dimension of   The measurement system according to any one of claims 1 to 3, wherein the master work is arranged in an area near the actual work when the dimension of the actual work is measured. A transport device for moving the master work and the actual work;
The controller is configured to move the master work after measuring the dimensions of the master work, and to control the movement of the transfer device so that the actual work is placed at a position where the master work was placed. The measurement system according to claim 1.   When measuring the dimensions of the master workpiece and the actual workpiece between two measurement base points, the control device moves the measurement unit from a start position located on the side of the measurement base point to the measurement base point, thereby measuring the measurement base point. 6. The measurement system according to claim 1, wherein the position coordinate is acquired and the dimensions of the master workpiece and the actual workpiece are measured based on the acquired position coordinate.   When measuring the dimensions of the master workpiece and the actual workpiece between two measurement base points, the control device moves the measurement unit from a start position located on the side of the measurement base point to the measurement base point to start from the start position. 6. The apparatus according to claim 1, wherein the moving distance to the measurement base point is acquired, and the dimensions of the master work and the actual work are measured based on the acquired moving distance. Measuring system. A measurement method of a measurement system comprising a measurement robot having a measurement unit for measuring dimensions, and capable of moving the measurement unit, and a control device that moves the measurement unit by controlling the movement of the measurement robot Because
A master work measurement step in which the control device controls the movement of the measurement robot to move the measurement unit, and measures the dimensions of the master workpiece formed according to a reference dimension using the measurement unit;
An actual workpiece measurement step in which the control device controls the movement of the measurement robot to move the measurement unit, and measures the size of an actual workpiece formed based on the reference dimension using the measurement unit;
The actual workpiece is based on a difference between a master workpiece measurement dimension that is a dimension between two measurement base points in the measured master workpiece and an actual workpiece measurement dimension that is a dimension between two measurement base points in the measured actual workpiece. An actual dimension calculating step for calculating the actual dimension of
A measurement method of a measurement system, which sequentially performs the master workpiece measurement step and the actual workpiece measurement step.   The measurement method of the measurement system according to claim 8, wherein in the actual workpiece measurement step, dimensions of the plurality of actual workpieces are continuously measured.   The measurement method of the measurement system according to claim 8, wherein in the master workpiece measurement step, the dimension of the master workpiece is measured every time the actual workpiece dimension is measured in the actual workpiece measurement step.   The measuring method of the measuring system according to claim 8, further comprising a master work transporting step of moving the master work and placing the actual work at a position where the master work was placed after the master work measuring step.