JPH09280854A - Screw hole inspecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To improve the inspection efficiency by controlling a multi-joint robot by a controller and automatically discriminating the acceptability of screw diameter and depth of a screw hole machined on the body to be inspected. SOLUTION: The model of the body to be inspected is fixed on an inspection fixing table 12. On the inspection surfaces of the model, a multi-joint robot 13 is driven so that a screw gage 3 provided on the robot 13 is positioned to the respective screw holes of each inspection surface. At that time, position of each screw hole is stored in the memory of a controller 14 for teaching purposes. Then, the object to be inspected is fixed to the table 12 and each inspection surface of the object is successively positioned to the inspection operating surface of the robot 13 using a rotating device 24 and a rotational positioning device 25. Then, the controller 14 devices and controls the robot 13, the gage 3 is successively positioned to the screw hole of the inspection surfaces and the gage 3 is fasten. Then, the acceptability discrimination of screw diameter and depth is conducted by the inspection results of a torque detector 48 and a transport detector 49 and the results are displayed on a display section 15 of the device 14.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a screw hole inspection device.

[0002]

2. Description of the Related Art Conventionally, a large number of screw holes have been processed on a processing line for a transmission case for automobiles, and it is necessary to inspect whether the screw diameter and the screw depth of these screw holes are good or bad.

[0003]

However, in the prior art, the above-mentioned inspection of a large number of screw holes machined in an inspection object such as an automobile transmission case is carried out manually by an operator, and the inspection accuracy is improved. There is a limit to the improvement of inspection efficiency.

An object of the present invention is to improve the inspection accuracy and the inspection efficiency when inspecting the quality of the screw diameter and the screw depth of the screw hole processed into the inspection object.

[0005]

According to a first aspect of the present invention, an inspection object is fixed in a screw hole inspection device for inspecting the quality of a screw diameter and a screw depth of a screw hole processed in the inspection object. And a multi-joint robot that attaches and detaches the inspection object fixing base and a screw gauge corresponding to the screw hole of the inspection object and positions the screw gauge at the screw hole position of the inspection object on the inspection object fixing base, and the screw gauge provided in the multi-joint robot. It is provided in the articulated robot and the gauge rotating part that rotates the, and the screw gauge is sent according to the lead of the screw hole at the same time as the rotation of the gauge rotating part.
Gauge feed part for screwing the screw gauge into the screw hole of the inspection object, torque detector to detect the torque equivalent value of the gauge rotation part, feed amount detector to detect the feed amount of the gauge feed part, screw of the inspection object The articulated robot is driven so that the screw gauges are positioned at the screw hole positions according to the hole position data, and the detection results of the torque detector and feed amount detector are obtained to detect the torque over the entire length of the screw holes. The proper detection of the screw diameter is determined on the condition that the detection result of the detector is within the range of the proper screwing torque value, and the detection result of the torque detector reaches the set torque-up value within the range of the proper screw depth position of the screw hole. Under this condition, a control device for determining the appropriateness of the screw depth is provided.

According to a second aspect of the present invention, in addition to the first aspect of the present invention, the articulated robot further comprises:
A horizontal articulated robot is used, and a swivel device for swiveling the inspection object fixing base is provided, and a swivel positioning device for positioning the inspection surface of the inspection object on the inspection object fixing base on the inspection work surface of the horizontal articulated robot is provided. It is designed to be

The present invention according to claim 1 has the following effects. The articulated robot is controlled by the control device to automatically inspect whether the screw diameter and the screw depth of the screw hole processed on the inspection object are good or bad, and the inspection efficiency can be improved. However, whether the screw diameter is at the proper screwing torque value over the entire length of the screw hole is mechanically / electrically determined to be good or bad, and the screw depth is set within the range of the proper screw depth position of the screw hole. The quality is mechanically / electrically determined depending on whether or not the torque-up value is reached, and the inspection accuracy can be improved.

According to the second aspect, there is the following effect. By attaching the swivel device and the swivel positioning device to the inspection object fixing base, it is possible to easily position the inspection surface of the inspection object on the inspection work surface of the horizontal articulated robot and perform the inspection work by the horizontal articulated robot. . As a result, a low-cost horizontal articulated robot can be adopted.

[0009]

1 is a front view showing a screw hole inspection apparatus, FIG. 2 is a side view of FIG. 1, and FIG. 3 is a plan view of FIG.

The inspection device 10 includes a screw hole 2 formed on one surface or multiple surfaces (inspection surface 1A) of the inspection object 1.
The quality of the screw diameter and the screw depth of A, 2B, 2C ... Is inspected.

The inspection apparatus 10 is provided with an inspection object fixing table 12, a horizontal articulated robot 13, and a control device 14 on a frame 11.

The inspection object fixing base 12 is a work base 12A.
Is provided with a locate pin that is engaged with a positioning hole of the inspection object 1, and a clamp base 23 fixed to the work base 12A is provided with a toggle clamp 23. The clamp 23 enables the inspection object 1 to be fixed.

The inspection object fixing base 12 is provided with a turning device 24 and a turning positioning device 25. The revolving device 24 applies an operating force applied to a handle 26 rotatably supported by the gantry 11 to a bevel gear 27A fixed to the handle 26, a bevel gear 27B fixed to a worm shaft 28 pivotally supported by the gantry 11, and a worm. A worm 29A fixed to the shaft 28 and a swivel shaft 30 that is pivotally supported by the gantry 11 and supports the inspection object fixing base 12 are transmitted to the inspection object fixing base 12 via the worm wheel 29B fixed to the inspection object fixing base 12 so that the inspection object 1 can be rotated. To do. Pivoting positioning device 25
Is a positioning pin 32 with a handle screwed to a nut 31 fixed to the pedestal 11 and a side plate 12B of the inspection object fixing base 12.
The inspection surface 1A of the inspection object 1 on the inspection object fixing base 12 is engaged with the positioning collar 33 provided in the multi-joint robot 13.
It can be positioned on the inspection work surface. The positioning collar 33 provided on the side plate 12B of the inspection object fixing base 12 is
The number of swivel shafts 3 corresponding to the number of inspection surfaces 1A of the inspection object 1
Inspection object 1 provided on the inspection object fixing base 12 provided around the axis of 0
The inspection surface 1A of 1 is sequentially indexed to the inspection work surface of the articulated robot 13 and can be positioned.

The articulated robot 13 has a robot base 4
The first arm 42A is swingably supported on the first arm 42A, and the second arm 42B is swingably supported on the first arm 42A. 43A is a drive motor for the first arm 42A, 43
B is a drive motor for the second arm 42B. The articulated robot 13 includes a gauge mounting portion (chuck) 44 on the second arm 42B, and has screw holes 2A, 2B, 2C, ...
The screw gauge 3 corresponding to can be attached to and detached from the gauge mounting portion 44. Then, the articulated robot 13 uses the first arm 42.
The screw gauge 3 is positioned at the screw hole position of the inspection object 1 on the inspection object fixing base 12 by A and the swing control of the second arm 42B. The screw gauge 3 for the gauge mounting portion 44
The attachment / detachment can be optimally performed by an automatic exchange device, or can be performed manually.

The articulated robot 13 has a second arm 42B.
The gauge feed motor (air cylinder) 45 is fixed to the gauge feed motor 45, and the gauge rotation motor (AC servo motor) 4 is attached to the lift table 46 connected to the piston rod of the gauge feed motor 45.
7 is fixed, and the above-mentioned gauge mounting portion 44 is provided on the output shaft of the motor 47. That is, the motor 47 rotates the screw gauge 3. Further, the gauge feed motor 45 is the motor 4
At the same time with the rotation of 7, screw gauge 3 is screwed into screw holes 2A, 2B, 2
It is fed (screwed) according to the lead of C ..., and the screw gauge 3 is screwed into the screw holes 2A, 2B, 2C. The gauge feed motor 45 and the gauge rotation motor 47
Are driven in association with each other by the control device 14 so as to fit the leads of the screw holes 2A, 2B, 2C ... And the gauge feed motor 45 in accordance with the increase in the rotation speed of the motor 47.
The feed amount can be increased.

The articulated robot 13 has a torque detector 48 for detecting the torque of the gauge rotation motor 47. The torque detector 48 is composed of, for example, a current detector that detects the current value of the motor 47.

The articulated robot 13 is equipped with a feed amount detector 49 for detecting the feed amount of the gauge feed motor 45. The feed amount detector 49 is composed of, for example, a linear encoder that detects the amount of movement of the guide rod 50 of the lift table 46.

The control device 14 is provided with the data of the screw hole positions of the inspection object 1 in the memory, and the drive motor of the articulated robot 13 is arranged so as to position the above-mentioned screw gauge 3 at these screw hole positions according to this data. Drive control of 43A and 43B is carried out.

The control device 14 has a torque detector 48 and a feed amount detector 49 for each screw hole (for example, 2A) of the inspection object 1.
Obtain the detection result of and perform the following (a) and (b). (a) Screw diameter The detection result of the torque detector 48 (current value of the gauge rotation motor 47) is set over the entire length of the screw hole 2A, and the proper screwing is preset in the control device 14 for the screw hole 2A. The properness of the screw diameter of the screw hole 2A is determined on the condition that the torque value is within the range Ta ± ΔT (for example, the current value Ia ± ΔI).

(B) Screw depth From the detection result of the feed amount detector 49, it was confirmed that the screw gauge 3 is within the proper screw depth position range da ± Δd set in the controller 14 of the screw hole 2A in advance. At this time, the detection result of the torque detector 48 (current value of the gauge rotation motor 47) is set in the controller 14 in advance for the screw hole 2A, and the set torque-up value Tb (for example, current value Ib) is set.
The appropriateness of the screw depth of the screw hole 2A is determined on the condition that the value has reached (or exceeded).

The inspection procedure of the inspection device 10 will be described below. (1) The data of the screw hole position of the inspection object 1 is set in the memory of the control device 14. For example, the model of the inspection object 1 is fixed to the inspection object fixing base 12, and the screw gauge 3 provided on the articulated robot 13 is attached to each of the inspection surfaces 1A of the model by the screw holes 2A and 2B of the inspection surface 1A. , The multi-joint robot 13 is driven so as to be positioned at each of 2C ...
This is done by teaching the memory of the control device 14 at each screw hole position at this time.

From the production data of the inspection object 1, the inspection object 1
It is also possible to set the screw hole position in the memory of the control device 14.

(2) The inspection object 1 to be inspected is fixed to the inspection object fixing base 12, and the turning device 24 and the turning positioning device 25 are provided.
Using, the respective inspection surfaces 1A of the inspection object 1 are sequentially positioned on the inspection work surface of the articulated robot 13, and the following (3) and (4) are performed.

(3) The articulated robot 1 is controlled by the controller 14.
3 is driven and controlled, and the screw gauge 3 provided on the articulated robot 13 is screwed into the screw holes 2A, 2B, 2C of the inspection surface 1A of the inspection object 1.
... sequentially, and screw gauges 3 are placed in those screw holes 2
Screw it onto A, 2B, 2C ....

(4) In the above (3), the torque detector 48
And the detection result of the feed amount detector 49 are obtained, and the above (a) and (b) are obtained.
The quality of the screw diameter and the screw depth of is judged.

(5) The inspection result (screw hole number and its quality) of the above (4) is displayed on the display unit 15 of the control device 14. This inspection result can be printed out by a printer or output to another personal computer.

The inspection device 10 may be provided with a marking device for making a mark indicating a defect around the defective screw hole of the inspection object 1 based on the inspection result of the above (4).

The embodiment of the present invention has been described in detail above with reference to the drawings. However, the specific structure of the present invention is not limited to this embodiment, and the design can be changed without departing from the gist of the present invention. Etc. are included in the present invention. For example, the articulated robot 13 is not a horizontal articulated robot, and each of the screw holes of the inspection surfaces 1A of the inspection object 1 fixed to the inspection object fixing base 12 does not change its posture and is orthogonal to each other. It may be a multi-joint robot in which the screw gauge 3 can be screwed. According to this, when positioning each of the plurality of inspection surfaces 1A of the inspection object 1 on the inspection work surface of the articulated robot 13, it is not necessary to rotate the inspection object fixing base 12, and the inspection object fixing base 12 is rotated by the turning device 24. ,
It becomes unnecessary to provide the turning positioning device 25.

[0029]

As described above, according to the present invention, it is possible to improve the inspection accuracy and the inspection efficiency when inspecting the quality of the screw diameter and the screw depth of the screw hole processed in the inspection object. can do.

[Brief description of drawings]

FIG. 1 is a front view showing a screw hole inspection device.

FIG. 2 is a side view of FIG. 1;

FIG. 3 is a plan view of FIG. 1;

[Explanation of symbols]

 1 inspection object 1A inspection surface 2A, 2B, 2C ... screw hole 3 screw gauge 10 inspection device 12 inspection object fixing base 13 articulated robot 14 control device 24 turning device 25 turning positioning device 45 gauge feed motor (gauge feed unit) 47 gauge rotation Motor (gauge rotating part) 48 Torque detector 49 Feed amount detector

Claims (2)

[Claims] 1. A screw hole inspecting device for inspecting the quality of a screw hole and a screw depth of a screw hole formed on an inspection object, the inspection object fixing base for fixing the inspection object, and the screw hole for the inspection object. A multi-joint robot that attaches and detaches the screw gauge and positions the screw gauge at the screw hole position of the inspection object on the inspection object fixing base, a multi-joint robot, a gauge rotation unit that rotates the screw gauge, and a multi-joint robot. , The gauge feed part that feeds the screw gauge according to the lead of the screw hole at the same time as the rotation of the gauge rotating part and screw the screw gauge into the screw hole of the inspection object, and the torque detector that detects the torque equivalent value of the gauge rotating part. A feed amount detector that detects the feed amount of the gauge feed unit, and an articulated robot that positions the screw gauge at these screw hole positions according to the screw hole position data of the inspection object. When the torque detector and the feed amount detector detect the torque, the torque detector detects the result of the torque detector over the entire length of the screw hole. It is characterized by having a control device that determines the appropriate screw depth on the condition that the detection result of the torque detector reaches the set torque up value in the range of the appropriate screw depth position of the screw hole. Screw hole inspection device. 2. A horizontal multi-joint robot is used as the multi-joint robot, a swivel device for swiveling the test object fixing base is provided, and an inspection surface of the test object on the test object fixing base is provided by the horizontal multi-joint robot. The screw hole inspection device according to claim 1, further comprising a turning positioning device that positions the inspection hole on an inspection work surface.