JP6594052B2 - Assembly equipment inspection method - Google Patents

Description

  The present invention relates to an assembly equipment inspection method that can be used to inspect the state of various assembly equipment.

  For example, when manufacturing a wire harness having a complicated structure and shape that can be mounted on a vehicle or the like, a large number of assembly jigs of various shapes, such as U-shaped forks and connector receptacles, may match the design drawing. The assembly equipment called the jig stand arranged side by side is used. A large number of electric wires, sub-harnesses, etc., which are parts of the wire harness, are routed in accordance with each position of the assembly jig on the assembly facility, and a structure in which a large number of parts are laminated and integrated, that is, a wire harness Constitute. Thereby, the wire harness wired by the shape substantially the same as the shape prescribed | regulated by the design drawing can be manufactured.

  Patent Document 1 shows a technique for reducing variation in the distance between an electric wire and a camera in an apparatus for measuring the dimensions of the electric wire using a camera.

  Patent Document 2 shows a technique for measuring the thickness of a cable based on an image obtained by photographing a cut cross section of the cable with a camera.

  Patent Document 3 is a technique for accurately inspecting a crimp terminal regardless of the skill of an inspection operator. An image including a swinging crimp terminal is photographed using a height measurement area image sensor. The necessary dimensions are measured from the captured images.

Japanese Patent Laid-Open No. 8-11419 JP 2005-106776 A JP 2013-44677 A

  For example, in the case of an assembly facility for manufacturing a wire harness, that is, a jig base, each of a large number of assembly jigs is set so that the installation position, the installation direction, the type of jig, etc. match the design drawing. It must be correctly placed on the jig base. Also, since the deviation between the shape and dimensions of the wire harness to be manufactured and the design drawing needs to be within a predetermined tolerance, the position in the air away from the assembly jig (position corresponding to the center of the wire harness, etc.) Therefore, it is necessary to define the dimensions of the design drawing.

  Therefore, when a new jig base for manufacturing is created, it is inspected whether each assembly jig is installed in a state where the deviation between the design drawing and the wire harness to be manufactured can be maintained within a predetermined tolerance. Need to confirm. In such an inspection process, an operator usually measures the dimensions of each part manually using a ruler or the like, and collates with a design drawing.

  However, when measuring the dimensions of each part manually, there is a problem that it takes much time and effort. In addition, when measuring dimensions at a point in the air away from the assembly jig, when positioning a ruler or the like, it can be adjusted only at an approximate position, so high-precision dimension measurement is impossible. .

  On the other hand, for example, as disclosed in Patent Document 1 and Patent Document 2, it is also conceivable to capture an image to be measured using a plurality of cameras. Further, by applying the known triangulation principle, it is possible to calculate the three-dimensional coordinates of each part of the subject based on the images taken by the two cameras. Therefore, it is possible to measure the position and size of the measurement object using the images taken by the two cameras.

  However, when a relatively small (several tens of centimeters to several meters) facility is photographed as the subject of a camera, such as an assembly facility for manufacturing a wire harness, and the principle of triangulation is applied, the measurement is too high. The accuracy cannot be expected. Also, when trying to measure at a point that cannot be seen behind a shadow, or when there is nothing in the air, it is impossible to measure dimensions because the corresponding point cannot be captured with the camera as a visible image. It is.

  The present invention has been made in view of the above-described circumstances, and an object thereof is an assembly equipment inspection method capable of reducing work time and improving measurement accuracy in a process of inspecting assembly equipment such as a jig base. Is to provide.

In order to achieve the above-described object, the assembly equipment inspection method according to the present invention is characterized by the following (1) to (8).
(1) An assembly equipment inspection method for inspecting the state of an assembly equipment including one or more assembly jigs used for assembling desired parts,
In design data for managing each assembly jig, the coordinates of at least one measurement point representing a physical specific part on the assembly jig and the size or position on or near the assembly jig are measured. Managing the coordinates of the measuring point representing the reference position when measuring and the measurement dimension representing the distance between the plurality of measuring points,
Taking an image of the appearance of the assembly facility using each of a plurality of cameras arranged at positions shifted from each other,
By recognizing the captured image, the coordinates of the image measurement point corresponding to the measurement point on the assembly jig are calculated,
Based on the calculated coordinates of the image measurement point and the relative positional relationship between the measurement point and the measurement point on the design data obtained from the coordinate of the measurement point and the measurement point on the design data , Calculating coordinates on the image corresponding to the measuring points on the design data,
The distance between the position or the measurement point of the measurement point in a coordinate on the photographed image, and a distance between the position or the measurement point of the measurement points on the design data can contrasted Output in the correct state,
It is characterized by that.
(2) The assembly equipment inspection method according to (1) above,
While using an auxiliary jig that can be fixed on the assembly jig, a visible mark is added to a predetermined location on the auxiliary jig,
When taking an image of the appearance of the assembly equipment, take an image of the area including the auxiliary jig mounted on the assembly jig,
When recognizing the captured image, the mark on the auxiliary jig is recognized, and the position of the measurement point on the assembly jig is specified based on the position of the mark.
It is characterized by that.
(3) The assembly equipment inspection method according to (2) above,
The mark added on the auxiliary jig is a spot-like portion colored with a predetermined color,
It is characterized by that.
(4) The assembly equipment inspection method according to (2) or (3) above,
The auxiliary jig has a known external shape registered in advance.
It is characterized by that.
(5) The assembly equipment inspection method according to any one of (1) to (4) above,
The measuring point in the design data for managing the assembly jig is assigned as coordinates on a space located away from the assembly jig.
It is characterized by that.
(6) The assembly equipment inspection method according to any one of (1) to (5) above,
In the design data, at least two measurement points are registered for each of the assembly jigs.
It is characterized by that.
(7) The assembly equipment inspection method according to any one of (1) to (6) above,
Calculating the amount of positional deviation between the measuring point at the coordinates on the photographed image and the measuring point on the design data;
Reflecting the result of comparing the calculated amount of displacement and a predetermined threshold in the output,
It is characterized by that.
(8) The assembly equipment inspection method according to any one of (1) to (7) above,
Calculating the amount of positional deviation between the measuring point at the coordinates on the photographed image and the measuring point on the design data;
Displaying the calculated amount of displacement and the direction of displacement at least on the screen;
It is characterized by that.

According to the assembly equipment inspection method configured as described in (1) above, since the actual position of the measuring point is specified using an image captured by a camera, it is not necessary to manually measure the dimension, and the measurement work The required time can be greatly reduced. Further, since the position or distance of the measuring point specified based on the image can be compared with the measuring point on the design data, the accuracy of inspection is greatly improved. Furthermore, since the position of the measuring point can be specified with the measurement point as a reference, it is possible to determine the air that is not present or an invisible part as the measuring point, and a point that is not reflected in the camera image, for example, It is possible to measure the dimensions of the position corresponding to the center of the wire harness to be manufactured.
According to the assembly equipment inspection method having the configuration (2), it becomes easy to recognize a target part from an image photographed by a camera by using the auxiliary jig. In addition, since there is no need to form special marks on the assembly jig, there is no need to prepare a unique assembly jig for each type of product such as a wire harness to be manufactured. can do. Thereby, the cost of an installation can be reduced when creating various types of assembly equipment.
According to the assembly equipment inspection method having the configuration of (3) above, when recognizing an image photographed by a camera, by extracting pixels of a specific color that matches the coloring of the mark, the construction and shape of the equipment Even if this is a very complicated case, it is possible to easily identify the site of the mark.
According to the assembly equipment inspection method having the configuration (4), the auxiliary jig can be easily recognized by recognizing the shape of the photographed image.
According to the assembly equipment inspection method having the configuration of (5) above, the coordinates on the space located away from the assembly jig, for example, the dimension from the center of the wire harness to be manufactured to another specific point are measured. It becomes possible.
According to the assembly equipment inspection method having the above configuration (6), the relative direction of the measuring point can be correctly specified from the coordinates of the two measurement points. Therefore, for example, even when the assembly jig is installed in a tilted state or a rotated state, it is possible to correctly detect the displacement of the measuring point.
According to the assembly equipment inspection method having the configuration (7), it is possible to identify a problematic assembly jig when a positional deviation exceeding the allowable tolerance range occurs.
According to the assembly equipment inspection method configured as described in (8) above, the inspector can easily grasp the amount of misalignment and the direction of misalignment at the problematic location by referring to the display content on the screen. It becomes possible to do.

  According to the assembly equipment inspection method of the present invention, it is possible to shorten the working time and improve the measurement accuracy in the process of inspecting the assembly equipment such as a jig base.

  The present invention has been briefly described above. Further, the details of the present invention will be further clarified by reading through a mode for carrying out the invention described below (hereinafter referred to as “embodiment”) with reference to the accompanying drawings. .

FIG. 1 is a perspective view showing the appearance of the jig base. 2A and 2B are perspective views showing the appearance of each of the two types of assembly jigs 12A and 12B. 3A and 3B show a specific example of the layout when the appearance of the jig base is photographed with a camera, FIG. 3A is a plan view, and FIG. 3B is a side view. is there. FIG. 4 is a perspective view showing the appearance of the jig base with the auxiliary jig mounted. FIG. 5 is a flowchart showing the processing procedure of the assembly equipment inspection method according to the embodiment of the present invention. FIG. 6 is a front view showing a specific example of the screen display when the positional deviation between the measuring point on the design drawing and the measuring point calculated based on the photographed image is displayed on the screen.

  Specific embodiments relating to the assembly equipment inspection method of the present invention will be described below with reference to the drawings.

<Outline of jig stand>
A specific example of the appearance of the jig base is shown in FIG. The jig base 10 shown in FIG. 1 can be used as an assembly facility when manufacturing a wire harness mounted on a vehicle.

  The jig base 10 shown in FIG. 1 is composed of a flat base portion 11 and a large number of assembly jigs 12 installed at various locations in a standing state on the surface thereof. There are a plurality of types of assembly jigs 12. Specifically, it supports a fork having a U-shaped top for supporting a number of electric wires constituting the wire harness and guiding them to a predetermined routing route, and a connector attached to an end of the wire harness. A connector receiver for the assembly jig 12 is prepared in advance.

  The jig base 10 shown in FIG. 1 is created so as to coincide with the contents of the design drawing of the jig base prepared for manufacturing a wire harness of a specific specification. In other words, the types of assembly jigs 12 to be installed in each part and assembly jigs so that each part such as a branch point of the corresponding wire harness can be supported or branched in a shape along a predetermined routing route according to the specification. 12 installation positions and orientations are determined according to the design drawing.

  The jig base 10 shown in FIG. 1 is created by attaching an assembly jig 12 of a type designated by human manual work to a designated position on the base portion 11 based on the design drawing. Therefore, there is a possibility that an error occurs in the attachment position of each assembly jig 12 or the type of the assembly jig 12 to be attached is wrong. Furthermore, there is a possibility that an inclination occurs when the assembly jig 12 is attached, or that the assembly jig 12 itself has a defect such as deformation or twist.

  Therefore, when a jig base 10 is newly created in order to prevent occurrence of deviations in the wiring shape and dimensions exceeding the tolerances in the wire harness that is actually manufactured, it should match the design drawing. It is necessary to inspect whether the jig base 10 has been created. Specifically, whether or not the jig base 10 is created so that the dimension from a certain position (for example, a branch point) on the wire harness to be manufactured to a certain other position substantially matches the designed dimension. Will be inspected.

  When such an inspection is performed, in a general process, a dimension is manually measured using a ruler, and a measurement result is compared with a designed dimension. When practicing the present invention, the inspection is carried out by a special procedure as described later.

<Specific examples of assembly jigs to be used>
The appearance of each of the two types of assembly jigs 12A and 12B that can be used as the assembly jig 12 on the jig base 10 shown in FIG. 1 is shown in FIGS. 2 (A) and 2 (B).

  In design, each of the assembly jigs 12A and 12B is modeled as data handled by a CAD (computer aided design) system. That is, the data of the shape of each assembly jig and the dimensions of each part are registered in advance as a model. In particular, in the case of an assembly jig, the dimensions of each part are defined so that the wire harness to be manufactured can be supported in an appropriate state.

  For the assembly jig 12A shown in FIG. 2A and the assembly jig 12B shown in FIG. 2B, special data is added in addition to general model data. That is, data representing each of the measurement points P11 and P12 and the measurement point P2 shown in FIGS. 2A and 2B is added to the models of the assembly jigs 12A and 12B.

  Each of the measurement points P11 and P12 is assigned to a point that physically exists on the corresponding assembly jig. Specifically, the measurement points P11 and P12 are assigned to feature points having corners, vertices, or special shapes in the outline shape of the assembly jig. Therefore, in the physical assembly jigs 12A and 12B, the measurement points P11 and P12 are visually recognizable points.

  On the other hand, the measuring point P <b> 2 is a measurement reference point when measuring the dimensions of each part on the jig base 10. The position to which the measuring point P2 is allocated is not limited to a point physically existing on the assembly jig, and can be determined at various positions. For example, a position on an empty space physically separated from the corresponding assembly jig or a position on an internal space that cannot be visually recognized from the outside can be assigned as the measuring point P2.

  For example, when the dimensions are measured with reference to the center position of the wire harness supported on the assembly jig during manufacturing, the portion corresponding to the center position of the wire harness must be assembled during inspection. Located in an empty area away from the tool. Such a position is not visible, but can be assigned to the measuring point P2 with reference to the coordinates of the assembly jig.

  In the actual design data of the jig base 10, the three-dimensional coordinates (X, Y, Z) of the measurement points P11 and P12 and the measurement point P2 and the measurement point P2 are used as a reference for each assembly jig model. The measurement dimension data to be registered is registered.

<Photographing the appearance of the jig base>
When the jig table 10 is inspected by applying the present invention, it is necessary to photograph the appearance of the jig table 10 using two cameras. 3A and 3B show specific examples of the layout when the appearance of the jig base is photographed with a camera. 3A is a plan view and FIG. 3B is a side view.

  In order to facilitate the wiring work of the parts of the wire harness on the jig table 10 by the operator, as shown in FIGS. 3 (A) and 3 (B), the jig table 10 is in the ground and vertical direction. It is arrange | positioned in the state inclined with respect to. And the two cameras 21 and 22 are installed in the mutually different position in the state facing the surface of the jig | tool base 10. FIG.

  The positional relationship between the two cameras 21 and 22 and the imaging region 23 of the jig base 10, the imaging directions A1 and A2 of the cameras 21 and 22, the angle of view of the cameras 21 and 22, and the like are determined in advance. It has been adjusted to match the state.

  Dimensions such as the overall size of the jig base 10, the distance from the cameras 21 and 22 to the jig base 10, and the height of the installation positions of the cameras 21 and 22 from the ground are set to about 1 m to 1.5 m, for example. . The distance between the cameras 21 and 22 in the X-axis direction is about 0.7 m. Further, the shooting directions A1 and A2 are determined as shown in FIGS. 3A and 3B so that the same shooting area 23 on the jig base 10 can be simultaneously shot by the two cameras 21 and 22. is there.

<Use of auxiliary jig>
It is possible to identify the three-dimensional coordinates of each feature point by recognizing images taken by the cameras 21 and 22 and extracting various feature points and applying the principle of triangulation. However, in order to associate the coordinates on the design data with the coordinates on the real space photographed by the cameras 21 and 22, it is necessary to perform alignment at some reference point.

  For example, it is possible to add some mark on the assembly jig 12 and use this mark as the reference point. However, when a special mark is added, the assembly jig 12 becomes a dedicated part for the specific jig base 10, so that various kinds of jig bases can be used by using the assembly jig 12 as a common part. Cannot be reused at 10.

  In this embodiment, special auxiliary jigs 15 and 16 having a mark are used so that it is not necessary to add a mark to the assembly jig 12 side. FIG. 4 shows the appearance of the jig base 10 with the auxiliary jigs 15 and 16 attached thereto.

  The auxiliary jig 15 shown in FIG. 4 has a cylindrical outer shape. The auxiliary jig 15 is mounted at two locations on one or a plurality of assembly jigs 12 on the jig base 10 as shown in the left balloon in FIG. On the auxiliary jig 15, pin-shaped measurement points 15a are provided at predetermined positions. In addition, in order to use the measurement point 15a as a mark, coloring is performed using a predetermined specific color (for example, red) at the apex of the pin of the measurement point 15a before starting measurement.

  Further, the auxiliary jig 16 shown in FIG. 4 is formed in a thin plate shape. The auxiliary jig 16 is fitted and fixed on one or a plurality of assembly jigs 12 on the jig base 10 as shown in a balloon on the right side of FIG. On the auxiliary jig 16, pin-shaped measurement points 16a are provided at predetermined positions. In addition, in order to use the measurement point 16a as a mark, coloring is performed using a predetermined specific color (for example, red) at the apex of the pin of the measurement point 16a before starting measurement.

<Description of processing procedure>
FIG. 5 shows a processing procedure of the assembly equipment inspection method in the embodiment of the present invention. The processing procedure of FIG. 5 will be described below.

  In step S11, as in the assembly jigs 12A and 12B shown in FIGS. 2A and 2B, one or a plurality of measurement points P11 and P12, a measurement point P2, and measurement dimension data A model of an assembly jig having

  In step S12, design drawing data of the jig base 10 that can be used to manufacture the target wire harness is created using the model of each assembly jig 12 created in S11. In addition, the design drawing data includes data such as position coordinates representing each of various points where the wire harness to be manufactured is to be supported, the type of assembly jig 12 to be used, and the distance between a plurality of points to be measured. It is included. Designed measurement data DA is output using the design drawing data. That is, the design value related to the dimension from one measuring point to another measuring point and the allowable tolerance data are output as measurement data DA together with the coordinates of each measuring point.

  In step S13, auxiliary jigs 15 and 16 that can be used for inspection are prepared. For example, data such as the shape patterns and dimensions of the auxiliary jigs 15 and 16 prepared for inspection and the coordinates of the measurement points 15a and 16a are registered in a measurement computer.

  In step S14, the operator manually attaches the auxiliary jigs 15 and 16 to a specific assembly jig 12 on the jig base 10 to be inspected, and is fixed in a state as shown in FIG. 4, for example.

  In step S15, the operator manually colors the measurement points 15a and 16a on the auxiliary jigs 15 and 16 fixed on the jig base 10. In addition, before fitting the auxiliary jigs 15 and 16 to the assembly jig 12, the measurement points 15a and 16a may be colored.

  In step S16, as shown in FIGS. 3A and 3B, two cameras 21 and 22 are installed at predetermined positions in front of the actual jig base 10, and each of the cameras 21 and 22 is installed. A photograph of the appearance of the jig base 10, that is, a still image is taken.

  In step S17, the still image data obtained in S16 is input to a predetermined measurement tool (software executable on a computer), and predetermined image processing is executed. Specifically, the coordinates of the measurement points 15a and 16a on the auxiliary jigs 15 and 16 are specified by color recognition, and the shapes of the auxiliary jigs 15 and 16 and the assembly jigs 12 are recognized by pattern recognition. Or the coordinates of the measurement points P11 and P12 on each assembly jig 12 are recognized. That is, since the distance from the measurement points 15a and 16a to the assembly jig 12 is substantially constant, the assembly jig 12 is recognized with reference to the measurement points 15a and 16a, and each measurement point P11 on the assembly jig 12 is P12 can be specified by image recognition. Further, the triangulation principle can be applied using images taken by the two cameras 21 and 22, and the three-dimensional coordinates of the measurement points P11 and P12 can be specified. The result of processing the images of the cameras 21 and 22 is output as an image measurement data DB.

  In step S18, the design data DA obtained in S12 and the actual data DB obtained in S17 are input to the measurement tool and synthesized. Specifically, the data DB corresponding to each measuring point P2 on the data DA by superimposing the coordinates of each measuring point P11, P12 in the data DA and the coordinates of each measuring point P11, P12 in the data DB. The coordinates of the upper measuring point P2 are calculated.

  In step S19, the measurement tool calculates distances (dimensions) between a plurality of measuring points P2 on the data DB corresponding to the image based on the result of S18.

  In step S <b> 20, the measurement tool calculates a difference between the dimension between each measurement point on the design drawing data and the dimension between each measurement point estimated on the photographed image. Further, by comparing the deviation amount with a predetermined threshold value, it is identified whether or not the deviation is within an allowable range. Then, the result of the above processing is reflected on the screen display of the computer.

<Specific examples of measurement results and screen display>
A specific example of the screen display when the positional relationship of each measuring point on the jig table to be inspected is displayed on the screen is shown in FIG. FIG. 6 is a front view showing a specific example of the screen display when the positional deviation between the measuring point on the design drawing and the measuring point calculated based on the photographed image is displayed on the screen.

  The design measurement data DA to be overlaid in S18 of FIG. 5 includes measurement points P11 and P12 and measurement points P2 of each assembly jig 12. On the other hand, since the measuring point P2 cannot be visually recognized on the photographed image, the coordinates of the measuring point P2 are unknown on the data DB corresponding to the image, and only the coordinates of the measuring points P11 and P12 can be specified.

  Therefore, as shown in FIG. 6, the coordinates of the measurement points (image measurement points) P11 and P12 on the data DB and the coordinates of the measurement points (CAD measurement points) P11 and P12 on the measurement data DA are displayed on the screen. The coordinates of the unknown measuring point P2 are obtained by calculation based on the relative distance from the coordinates of P11 and P12.

  Then, the measuring point (CAD measuring point) P2 on the measurement data DA and the measuring point P2 on the data DB obtained by calculation are displayed on the screen as shown in FIG. To display. Further, portions where the deviation amount exceeds a threshold (for example, 2 mm) are regarded as NG and displayed in red (S20 in FIG. 5).

<Advantages of assembly equipment inspection method>
When the inspection of the jig base 10 which is an assembly facility is performed using the procedure shown in FIG. 5, the dimensions of the respective parts can be automatically measured based on images taken by the cameras 21 and 22. it can. Therefore, it is not necessary to manually measure using a ruler, and the time required for inspection can be greatly reduced. Further, even when the measuring point P2 used for measuring the dimension is not visible or in the air where nothing exists, the coordinates of the measuring point P2 can be specified by calculation from the captured image. It becomes possible.

  Further, by using the auxiliary jig 15 as shown in FIG. 4, it is easy to recognize an image and specify each coordinate. Furthermore, since it is not necessary to perform special processing on the assembly jig 12, the same assembly jig 12 can be used as a common part for various types of jig bases 10.

  In addition, in the above-mentioned embodiment, although the case where the jig | tool base 10 for manufacturing the wire harness for vehicles is test | inspected is assumed, this is not only used for a wire harness but for the use which test | inspects various assembly facilities. The invention can be applied.

Here, the features of the embodiment of the assembly equipment inspection method according to the present invention described above are briefly summarized and listed in the following [1] to [8], respectively.
[1] An assembly equipment inspection method for inspecting the state of an assembly equipment (10) including one or more assembly jigs (12) used for assembling desired parts,
In the design data for managing each assembly jig (12), the coordinates of at least one measurement point (P11, P12) representing a physical specific part on the assembly jig and the assembly jig or Managing the coordinates of the measuring point (P2) representing the reference position when measuring the dimension or position in the vicinity thereof, and the measuring dimension representing the distance between the plurality of measuring points (S11);
Taking an image of the appearance of the assembly facility (10) using each of the plurality of cameras (21, 22) arranged at positions shifted from each other,
By recognizing the photographed image, an image measurement point corresponding to the measurement point (P11, P12) on the assembly jig is calculated,
The coordinates on the image corresponding to the measurement point (P2) on the design data are calculated in a state where the coordinates of the calculated image measurement points and the corresponding measurement points on the design data are superimposed ( S18),
The position or distance of the measuring point in the coordinates on the photographed image and the measuring point on the design data are output in a state that can be compared (S20).
An assembly equipment inspection method characterized by that.
[2] The assembly equipment inspection method according to [1] above,
Using auxiliary jigs (15, 16) that can be fixed on the assembly jig, and adding visible marks (measurement points 15a, 16a) to predetermined locations on the auxiliary jig,
When taking an image of the appearance of the assembly equipment, take an image of an area (photographing area 23) that also includes the auxiliary jig mounted on the assembly jig,
When recognizing the captured image, the mark on the auxiliary jig is recognized, and the position of the measurement point on the assembly jig is specified based on the position of the mark.
An assembly equipment inspection method characterized by that.
[3] The assembly equipment inspection method according to [2] above,
The mark added on the auxiliary jig is a spot-like portion colored with a predetermined color,
An assembly equipment inspection method characterized by that.
[4] The assembly equipment inspection method according to [2] or [3] above,
The auxiliary jig has a known external shape registered in advance.
An assembly equipment inspection method characterized by that.
[5] The assembly equipment inspection method according to any one of [1] to [4],
The measuring point in the design data for managing the assembly jig is assigned as coordinates on a space located away from the assembly jig.
An assembly equipment inspection method characterized by that.
[6] The assembly equipment inspection method according to any one of [1] to [5],
In the design data, at least two measurement points (P11, P12) are registered for each of the assembly jigs.
An assembly equipment inspection method characterized by that.
[7] The assembly equipment inspection method according to any one of [1] to [6],
Calculating the amount of positional deviation between the measuring point at the coordinates on the photographed image and the measuring point on the design data;
The result of comparing the calculated amount of displacement and a predetermined threshold value is reflected in the output (S20),
An assembly equipment inspection method characterized by that.
[8] The assembly equipment inspection method according to any one of [1] to [7],
Calculating the amount of positional deviation between the measuring point at the coordinates on the photographed image and the measuring point on the design data;
The calculated amount of displacement and the direction of displacement are displayed on at least the screen (see FIG. 6).
An assembly equipment inspection method characterized by that.

DESCRIPTION OF SYMBOLS 10 Jig base 11 Base part 12,12A, 12B Assembly jig | tool 15,16 Auxiliary jig | tool 15a, 16a Measurement point 21,22 Camera 23 Shooting area A1, A2 Shooting direction P11, P12 Measurement point P2 Measuring point

Claims (8)

An assembly equipment inspection method for inspecting the state of an assembly equipment including one or more assembly jigs used for assembling a desired part,
In design data for managing each assembly jig, the coordinates of at least one measurement point representing a physical specific part on the assembly jig and the size or position on or near the assembly jig are measured. Managing the coordinates of the measuring point representing the reference position when measuring and the measurement dimension representing the distance between the plurality of measuring points,
Taking an image of the appearance of the assembly facility using each of a plurality of cameras arranged at positions shifted from each other,
By recognizing the captured image, the coordinates of the image measurement point corresponding to the measurement point on the assembly jig are calculated,
Based on the calculated coordinates of the image measurement point and the relative positional relationship between the measurement point and the measurement point on the design data obtained from the coordinate of the measurement point and the measurement point on the design data , Calculating coordinates on the image corresponding to the measuring points on the design data,
The distance between the position or the measurement point of the measurement point in a coordinate on the photographed image, and a distance between the position or the measurement point of the measurement points on the design data can contrasted Output in the correct state,
An assembly equipment inspection method characterized by that. The assembly equipment inspection method according to claim 1,
While using an auxiliary jig that can be fixed on the assembly jig, a visible mark is added to a predetermined location on the auxiliary jig,
When taking an image of the appearance of the assembly equipment, take an image of the area including the auxiliary jig mounted on the assembly jig,
When recognizing the captured image, the mark on the auxiliary jig is recognized, and the position of the measurement point on the assembly jig is specified based on the position of the mark.
An assembly equipment inspection method characterized by that. The assembly equipment inspection method according to claim 2,
The mark added on the auxiliary jig is a spot-like portion colored with a predetermined color,
An assembly equipment inspection method characterized by that. The assembly equipment inspection method according to claim 2 or 3,
The auxiliary jig has a known external shape registered in advance.
An assembly equipment inspection method characterized by that. An assembly equipment inspection method according to any one of claims 1 to 4,
The measuring point in the design data for managing the assembly jig is assigned as coordinates on a space located away from the assembly jig.
An assembly equipment inspection method characterized by that. An assembly equipment inspection method according to any one of claims 1 to 5,
In the design data, at least two measurement points are registered for each of the assembly jigs.
An assembly equipment inspection method characterized by that. An assembly equipment inspection method according to any one of claims 1 to 6,
Calculating the amount of positional deviation between the measuring point at the coordinates on the photographed image and the measuring point on the design data;
Reflecting the result of comparing the calculated amount of displacement and a predetermined threshold in the output,
An assembly equipment inspection method characterized by that. An assembly equipment inspection method according to any one of claims 1 to 7,
Calculating the amount of positional deviation between the measuring point at the coordinates on the photographed image and the measuring point on the design data;
Displaying the calculated amount of displacement and the direction of displacement at least on the screen;
An assembly equipment inspection method characterized by that.

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