JPH0634353A - Comparation judgement device - Google Patents

Abstract

PURPOSE:To eliminate the necessity for use of any larger space and move a measuring piece to a desired place in a short time by controlling a joint type actuator fitted with the piece using a control means. CONSTITUTION:A probe 3 is moved to a desired place by an actuator 1 of horizontal joint type, and the tip of a measuring piece 5 is contacted with the measuring position on an object 7 to be measured which is placed on a stage 39, and thereupon the measuring takes place. Therein the first servo motor 15 revolves the first arm 13 while the second servo motor 19 spins a spinning block 17. A third servo motor 23 swings the second arm 21, while a fourth servo motor 29 rotates a wrist cylinder 27. A control means to control the actuator 1 is composed of a computer, drive unit, operation panel, etc. The upper limit and lower limit reference data are acquired for the upper limit model object 7' to be measured and the lower limit model object 7'' to be measured, and judgement whether applicable object can be accepted, is passed depending upon the measuring data for the object 7 lying between the two limitations.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention compares the measurement data (reference data) of a model measurement object (usually referred to as a master), which is measured and stored in advance, with the measurement data of each measurement object. The present invention relates to a comparison / discrimination device that discriminates the quality of an object to be measured, and in particular, improves the configuration for controlling the movement of a probe having a tracing stylus, and more particularly a discriminating method for discriminating the quality of an object to be measured. Regarding the simplified ones.

[0002]

2. Description of the Related Art As a three-dimensional comparative measuring device, for example,
There is one as described in the specification and drawings attached to the application of Japanese Utility Model Application No. 1-275510. This will be described with reference to FIGS. 8 and 9. FIG. 8 is a front view of the three-dimensional comparative measuring device, and FIG. 9 is a side view of the same. First, there is a base 101, on which the first
Rails 103, 103 'are provided for the first of these
A table 105 as an X-axis slider is reciprocally arranged on the rails 103 and 103 '. As shown in FIG. 9, linear motion blocks 107, 107 ′ are attached to the lower surface of the table 105, and these linear motion blocks 107, 107 ′ are connected to the first rails 103, 10 ′.
3'movably engaged.

An X-axis drive device 109 is connected to the table 105. By driving the X-axis drive device 109, the table 105 is moved to the first rails 103, 1
Reciprocate along 03 '. A surface plate 111 is fixed to the table 105. The measurement object 113 and the model measurement object 113 'are fixed on the surface plate 111. A fixed base 115 is attached on the base 101. Linear motion blocks 117 and 117 ′ are installed on the fixed base 115. Second rails 119 and 119 'are engaged and arranged on these linear motion blocks 117 and 117'. A Y-axis slider 121 is fixed on the second rails 119 and 119 ′, and the Y-axis slider 121 is
It reciprocates in the Y-axis direction orthogonal to the X-axis via the second rails 119 and 119 '. It is the Y-axis drive device 123 that reciprocates the Y-axis slider 121.

At the front of the Y-axis slider 121, the support base 1
25 is fixed, and the holder 1 is attached to the support base 125.
A Z-axis slider 129 is reciprocally attached to the Z-axis, which is orthogonal to the X-axis and the Y-axis, via 27. The holding body 127 is provided with third rails 131 and 131 ′, and the Z-axis slider 129 is provided with the third rails 13 and 131 ′.
It reciprocates along 1, 131 '. The Z-axis drive device 133 reciprocates the Z-axis slider 129. A probe 135 is attached to the lower end of the Z-axis slider 129, and the probe 135 is a measuring element 137.
Is equipped with.

The operation will be described based on the above configuration. First, the model measurement target 113 ′ is placed and fixed on the surface plate 111 on the table 105. Sampling is performed in that state. That is, the probe 137 of the probe 135 is brought into contact a plurality of times at a plurality of preset measurement points of the mounted and fixed model measurement object 113 ′, and (X, Y, Z) Read the coordinate values and average them to collect reference data. The collected reference data is stored.

Next, the measurement of the measuring object 113 is started. First, the measurement object 113 is placed and fixed on the surface plate 111 on the table 105. In that state, the measurement operation is started, and an operation called propping is performed. That is, this corresponds to the sampling performed on the model measurement object 113 ′, and the measurement object 1
The probe 137 is brought into contact with each of the 13 measurement points, the (X, Y, Z) coordinate values at that time are read, and measurement data is collected. After that, the measurement data is compared with the reference data that is collected and stored in advance to determine the quality of the measurement object 113. As a comparison / determination method, a difference between the collected measurement data and the reference data is calculated, and the quality is determined by whether or not the difference is within a preset tolerance.

[0007]

The above-mentioned conventional structure has the following problems. First, there was a problem that the measurement work took a long time. This is the probe 13
As a driving means for moving the probe 135 provided with 7, an X-axis slider mechanism that reciprocates in one axis direction, Y
This is because the axial slider mechanism and the Z-axis slider mechanism are used, and by appropriately combining them, the probe 135 provided with the probe 137 is moved to an arbitrary measurement position. This is because it takes a long time to move to a desired place.
At the same time, a large space is required as the installation space for the moving means that combines the X-axis slider mechanism, the Y-axis slider mechanism, and the Z-axis slider mechanism, and it is necessary to secure a large moving space, which saves space. There was a problem in trying.

Further, in the conventional case, as a determination method for determining the quality of the measuring object 113, the measurement data as absolute value data is compared with the reference data, and the difference is within a preset tolerance. A method of determining pass / fail depending on whether or not there is is adopted. On the other hand, there is a demand to determine the quality of the measuring object 113 by a simpler method, and particularly when the measuring object 113 does not require such high dimensional accuracy. .

The present invention has been made on the basis of such a point, and an object of the present invention is to provide a moving device which can be moved to a desired place in a short time while the installation space and the moving space are small. Another object of the present invention is to provide a comparison / discrimination device which is provided with a means and is capable of discriminating the quality of an object to be measured by the simplest processing possible.

[0010]

In order to achieve the above-mentioned object, a comparison and discrimination apparatus according to the present invention is designed such that a model measurement object is placed and fixed at a predetermined measurement position, and a probe is placed at a predetermined position on the model measurement object. To collect the reference data, and then place and fix the measurement target at the predetermined measurement position, and contact the probe at a predetermined position on the measurement target to collect the measurement data. In a comparison and determination device configured to determine the quality of an object to be measured from the measurement data and the reference data, the probe is attached to an articulated actuator and the articulated actuator is controlled by a control means. Is located at a desired place. At that time, the upper limit model measurement object and the lower limit model measurement object are used as the model measurement target, and the upper limit reference data and the lower limit reference data are collected using these upper limit model measurement target and lower limit model measurement target. It is conceivable that the quality of the measurement object may be determined depending on whether the measurement data regarding the measurement object is between the upper limit reference data and the lower limit reference data. Further, a dedicated encoder for detecting the turning angle of each turning portion is attached to each drive servomotor attached to the joint type actuator, and the detection value of the dedicated encoder is used as a model measurement object or measurement object of the probe. It is conceivable to obtain the turning angle data at a predetermined measurement position by controlling the contact signal with respect to.

[0011]

In the case of the comparison / discrimination device according to the present invention, the articulated actuator is used as the moving means for moving the tracing stylus. The articulated actuator can be installed in a smaller space as compared with the conventional XYZ slider mechanism, requires a small moving space, and is required to move the probe to a desired position. The time is also short. In addition, as a discrimination method, the upper limit reference data and the lower limit reference data are taken for the upper limit model measurement target and the lower limit model measurement target, and whether the measurement data is between the upper limit reference data and the lower limit reference data. There is a method of determining pass / fail by. In this case, since it is easy to determine the quality, it is easy to construct the system required for it. In addition, as data, a dedicated encoder for detecting the displacement angle of the swinging part and the swinging part is attached to each driving servomotor of the joint type actuator, and the detection signals from these dedicated encoders are sent from the probe. It is possible to control by a contact signal and collect as turning angle data and rocking angle data at a predetermined measurement position. In this case, the processing is simpler than the case where absolute value data as position data, that is, (X, Y, Z) coordinate values are calculated for comparison and determination, and also by this, the construction of the necessary system Will be easier.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described below with reference to FIGS. 1 to 3 are views showing the appearance and operation of the comparison / determination device according to the present embodiment. In the case of this embodiment, a horizontal joint type actuator 1 which is a kind of joint type actuator is used to move the probe 3 to a desired position. A probe 5 is detachably attached to the probe 3, and the probe 5
Is brought into contact with predetermined measurement positions on the measurement target 7, the upper limit model measurement target 7 ', and the lower limit model measurement target 7 ".

The horizontal joint actuator 1 is a base 9
It is fixed on. Hereinafter, the structure of the horizontal joint type actuator 1 will be described in detail. First, a column 11 is erected on the base 9, and a first arm 13 is rotatably connected to the upper end of the column 11. First above
The first servo motor 15 rotates the arm 13. The first arm 13 is substantially L-shaped, and a turning block 17 is turnably connected to the lower surface of the tip of the first arm 13. The second servo motor 19 turns the turning block 17.

A second arm 21 is swingably attached to the lower side of the turning block 17. The third servo motor 23 swings the second arm 21. A swing block 25 is swingably connected to the tip of the second arm 21. Further, a wrist cylinder 27 is rotatably attached to the lower end of the swing block 25. The fourth servomotor 29 rotates the wrist cylinder 27. A probe head 31 is attached to the lower end of the wrist cylinder 27, and the probe 3 described above is detachably attached to the probe head 31.

According to the above structure, as shown in FIG.
The first arm 13 is swung in the direction of arrow a by the first servomotor 15. The turning block 17 is turned in the direction of arrow b by the second servomotor 19. Also, the second
The arm 21 swings in the direction of arrow c by the third servomotor 23. Further, the wrist cylinder 27 is the fourth servomotor 2
9 turns in the direction of arrow d. Moreover, FIG.
It is possible to cover the range indicated by a virtual line, and the probe 3 can be positioned at any place within the range.

Further, the swing block 25 swings, whereby the wrist cylinder 27, the probe head 31, and by extension, the probe 5.
To keep the same posture at all times. The link mechanism 33 built in the second arm 21 realizes this. The link mechanism 33 is composed of an upper link 35 and a lower link 37, and the above-mentioned third servomotor 23 is connected to the lower link 37. By the interlocking action of the upper link 35 and the lower link 37, the swing block 25 is swung in the direction of the arrow e, whereby the wrist cylinder 27, the probe head 31, and thus the probe 5 are always held in the same posture. is there. The situation is shown in FIG.

On the other hand, a mounting table 39 is installed on the base 9, and the measuring object 7, the upper limit model measuring object 7 ', and the lower limit model measuring object 7 "which have already been described are mounted on this mounting table 3.
It will be placed and fixed on 9. The measurement object 7, the upper limit model measurement object 7 ′, and the lower limit model measurement object 7 ″ have various shapes and sizes, and the drawings show only one example.

The horizontal joint type actuator 1 having the above structure is controlled by the control means 41 shown in FIG. The control means 41 comprises a computer 43, a drive unit 45, a graphic operation panel 47, a counter board 49 and the like. A keyboard 51, a display 53 and a printer 55 are connected to the computer 43. A teaching box 57 is connected to the drive unit 45. On the other hand, the signal from the probe 3 is amplified and converted by the interface 59, input to the counter board 49, and further transmitted to the computer 43 and the drive unit 45. In the control means 41, power is supplied to each device, which is collectively shown as a power supply 61.

As shown in FIG. 4, the first servomotor 1
5, the second servo motor 19, the third servo motor 23, and the fourth servo motor 29 include pulse encoders 63, 6
5, 67, 69 are installed respectively. The signals from these pulse encoders 63, 65, 67, 69 are fed back to the drive unit 45 as confirmation signals of speed and position. In addition, the first servomotor 15, the second
In the servo motor 19, the third servo motor 23, and the fourth servo motor 29, the pulse encoders 63, 65, 6 are provided.
Separately from 7, 69, dedicated encoders 60, 62, 64, 66 for detecting the displacement angle of each swivel part or swing part.
Is installed. These dedicated encoders 60, 62,
Based on the detection signals from 64 and 66, the displacement angle at each turning portion or swinging portion of the horizontal joint actuator 1 is detected. The angle data serves as reference data or measurement data. The dedicated encoders 60, 62, 6
When collecting the detection signals from 4 and 66,
Is transmitted from the dedicated encoders 60, 62, 64, 66 to the counter board 49 by a signal from the probe 3 that abuts on the measurement target 7, the upper limit model measurement target 7 ′, the lower limit model measurement target 7 ″, etc. This is done by holding the signal and stored in the computer 43.

Based on the above configuration, the operation will be described with reference to FIG. First, start with the collection and storage of upper limit reference data. The upper limit model measurement object 7'is placed and fixed on the mounting table 39 (sequence 1) and started (sequence 2). Then, sampling is performed (sequence 3) and data is taken in (sequence 4). Next, the average value is calculated (sequence 5) and stored (sequence 6). This completes the collection and storage of the upper limit reference data for the upper limit model measurement object 7 '.

The above sampling is the same as that described in the description of the conventional example, and is performed at a plurality of preset measurement points of the upper limit model measurement object 7'which is mounted and fixed. , The probe 5 of the probe 3 is brought into contact with the probe 3 multiple times. At that time, the displacement angle data of each swinging portion or swinging portion of the horizontal joint type actuator 1 is set in the first servo motor 15, the second servo motor 19, the third servo motor 23, and the fourth servo motor 29. The data is sampled by the dedicated encoders 60, 62, 64, 66, and in some cases, an average value of a plurality of times of data is taken, and this is used as upper limit reference data.

Next, lower limit reference data is collected using the lower limit model measurement object 7 ". That is, the lower limit model measurement object 7" is attached (sequence 7) and started (sequence 8). Then, sampling is performed (sequence 9) and data is captured (sequence 1).
0), average calculation (sequence 11), and storage (sequence 12). This completes the collection and storage of the lower limit reference data. Note that the above sampling is the same as the case of collecting the upper limit reference data.

Next, the object 7 to be measured is measured and its quality is determined. First, the measurement object 7
Is attached (sequence 13) and started (sequence 14). Then, probing is performed (sequence 15) and data is taken in (sequence 16). The above-mentioned probing also has the same contents as those described in the explanation of the conventional example, and corresponds to the above-mentioned sampling. That is, the contact point 5 is brought into contact with each measurement point of the measurement object 7 so that the displacement angle data of each swivel part or swing part of the horizontal joint actuator 1 is converted into the first servomotor 15 and the second servomotor. 19, dedicated servo encoders 60, 62, 64 and 66 installed on the third servo motor 23 and the fourth servo motor 29 are used to collect the data, which are used as measurement data.

Next, the quality of the measuring object 7 is determined. First, the measurement data of the measurement target 7 is compared with the upper limit reference data of the upper limit model measurement target 7 ′ and the lower limit reference data of the lower limit model measurement target 7 ″ (sequence 17). Necessary data (for example, data at a predetermined measurement point) is extracted from the upper limit reference data (sequence 18), and required data (for example, data at the lower limit reference data stored (for example,
Data at the predetermined measurement point) is extracted (sequence 19). Then, it is determined whether or not the measurement data at a predetermined measurement point is between the upper limit reference data and the lower limit reference data.

Then, as a result of the comparison / discrimination, if the measured data is between the upper limit reference data and the lower limit reference data, "OK" is displayed, and that is displayed (sequence 18 ') and output. Done (sequence 1
9 '). Further, as a result of the comparison / discrimination, when the measured data is not between the upper limit reference data and the lower limit reference data, “NG” is displayed, that is displayed (sequence 20) and output (sequence). 21). Then, the same comparison / discrimination is performed for each measurement point, and the comprehensive discrimination is performed based on the same comparison / discrimination (sequence 22).
The above display will be displayed on the necessary screen of the graphic operation panel 47.

If the result of the comprehensive judgment is "OK", that fact is displayed (sequence 23) and output (sequence 24). Also, as a result of the comprehensive judgment,
In the case of "NG", the fact is displayed (sequence 25) and output (sequence 26).
This is the end (sequence 27), the probe 5 is returned to the origin by the horizontal joint type actuator 1 (sequence 28), and the measuring object 7 is removed from the platform 39 (sequence 29).

As described above, according to this embodiment, the following effects can be obtained. First, as a moving means for moving the tracing stylus 5 to an arbitrary measuring point, a combination of an X-axis slider mechanism, a Y-direction slider mechanism, and a Z-axis slider mechanism as in the past is not used, but a joint type is used. Since the horizontal joint type actuator 1 which is a kind of actuator is used, first, the installation space and the moving space can be reduced. That is, the comparison / discrimination device itself becomes more compact. Further, the time required to move the tracing stylus 5 to any place is also shortened, and the time required for measurement is shortened as a whole. For this, an X-axis slider mechanism, a Y-axis slider mechanism, a Z-axis slider mechanism,
Even if a combination of the shaft slider mechanisms is used, the time required to move the tracing stylus 5 to an arbitrary location can be shortened by increasing the respective moving speeds.
In that case, the accuracy is reduced. On the other hand, in the case of the horizontal joint type actuator 1, since it has a configuration capable of covering a wide range with as few operations as possible in the first place, the time required for movement can be shortened without causing such a decrease in accuracy. .

As a method of comparison and determination, the upper limit model measurement object 7'and the lower limit model measurement object 7 "are used,
Collecting upper limit reference data and lower limit reference data respectively,
The quality of the measurement object 7 is determined based on whether the measurement data of the measurement object 7 falls between the upper limit reference data and the lower limit reference data. Therefore, comparison and determination are easy, and a system for realizing the determination is easy. In particular, it is suitable when the measurement target 7 does not require such high dimensional accuracy. In this case, a specific value may be input (default) as the tolerance value between the lower limit reference data and the upper limit reference data. In that case, a simpler determination method is provided. At the same time, as the data, the displacement angle of each swinging portion or swinging portion of the horizontal joint actuator 1 is sampled and used as it is. Therefore, there is no need for complicated processing such as when calculating absolute value data, for example, (X, Y, Z) coordinate values,
This also makes building the system easier. Further, in order to collect the turning angle data and the swing angle data, the dedicated encoders 60, 62, 64, 66 are attached, and the ones with high accuracy are used, so the detection accuracy is extremely high. is there.

The present invention is not limited to the above embodiment. In the embodiment described above, the horizontal joint type actuator 1 is used as the joint type actuator.
Also, the same effect can be obtained by using the vertical joint type actuator 71 as shown in FIG. The vertical joint type actuator 71 is roughly configured as follows. First, there is a column 73, and a swing block 75 is rotatably attached to the upper end of the column 73. A first arm 77 is provided at the tip of the turning block 75.
Is swingably mounted. A second arm 79 is swingably attached to the tip of the first arm 77. A wrist cylinder 81 is rotatably attached to the tip of the second arm 79. A probe head (not shown) is detachably attached to the wrist cylinder 81, and a probe having a measuring element is detachably attached. In FIGS. 6 and 7, an imaginary line indicates a covered range, and the stylus can be positioned at any place within the covered range. Further, it goes without saying that there are various types of articulated actuators other than those shown in the drawings.

[0030]

As described above in detail, according to the comparison / discrimination device of the present invention, the driving means for moving the tracing stylus 5 does not use a combination of linear movement means as in the prior art. Since the joint type actuator is used, the installation space can be reduced and the time required to move the contact point to any place can be shortened, and the time required for measurement as a whole can be reduced. It gets shorter. Also, using the upper limit model measurement target and the lower limit model measurement target, upper limit reference data and lower limit reference data are sampled respectively, and the measured data of the measurement target falls between the upper limit reference data and the lower limit reference data. Since the quality of the measurement object is determined depending on whether or not the comparison is performed, comparison and determination can be easily performed, and a system for realizing the determination can be easily constructed. Further, since the rotation angle of each rotary shaft of the joint type actuator is sampled and used as it is, the complicated processing such as the case of calculating the absolute value data from it is not necessary.

[Brief description of drawings]

FIG. 1 is a perspective view of a comparison / discrimination device according to an embodiment of the present invention.

FIG. 2 is a plan view showing an operation range of the comparison / determination device in a diagram showing an embodiment of the present invention.

FIG. 3 is a view showing an embodiment of the present invention and is a front view showing an operation range of the comparison / determination device.

FIG. 4 is a block diagram showing a configuration of a control means in a diagram showing an embodiment of the present invention.

FIG. 5 is a flow chart showing the operation of the embodiment of the present invention.

FIG. 6 is a plan view showing an operation range of the comparison / determination device in a view showing another embodiment of the present invention.

FIG. 7 is a view showing another embodiment of the present invention and is a front view showing an operation range of the comparison / determination device.

FIG. 8 is a view showing a conventional example and is a front view of a three-dimensional comparative measuring device.

FIG. 9 is a side view of a three-dimensional comparative measuring device showing a conventional example.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Horizontal joint type actuator 3 Probe 5 Measuring element 7 Measuring object 7'Upper limit model measuring object 7 "Lower limit model measuring object 41 Control means

Claims (3)

[Claims] 1. A model measurement object is placed and fixed at a predetermined measurement position, a probe is brought into contact with a predetermined position on the model measurement object to collect reference data, and then the measurement object is measured. The measurement piece is placed on and fixed to the predetermined measurement position, the measuring element is brought into contact with a predetermined position on the measurement object, and the measurement data is collected, and the quality of the measurement object is determined from the measurement data and the reference data. In the comparison and discrimination device configured in
A comparative discriminating apparatus characterized in that the probe is attached to an articulated actuator and the probe is controlled by a control means to position the probe at a desired position. 2. The comparison / determination device according to claim 1,
The model measurement objects are the upper limit model measurement object and the lower limit model measurement object, and the upper limit reference data and the lower limit reference data are collected using these upper limit model measurement object and lower limit model measurement object, A comparison / discrimination device characterized in that the quality of an object to be measured is determined by whether or not the measured data on the object to be measured is between the upper limit reference data and the lower limit reference data. 3. The comparison / determination device according to claim 1, wherein each of the drive servomotors attached to the articulated actuator is provided with a swing angle or swing angle of the swing portion or swing portion. A dedicated encoder for detection is attached, and the detection value of the dedicated encoder is controlled by the contact signal to the model measurement target object or the measurement target object of the probe, and the swing angle data and swing angle data at a predetermined measurement position are detected. A comparison / discrimination device characterized in that the sample is sampled and used as the reference data or the measurement data as it is.