JPS5928604A - Measuring device - Google Patents

Abstract

PURPOSE:To enable the easy measurement of the position of hole and the position of angle part by calculating the error from the reference position of the image taken by a visual sensor and moving the visual sensor in X- and Y-axis directions. CONSTITUTION:An ITV camera 20 is moved to the roughly determined position of the 1st hole B1 and the image of the camera 20 is taken with an image taking device 24. The central position of the hole is calculated in an arithmetic part 28 and the errors between the center of the image part and the central position of the hole are calculated. The errors DELTAX, DELTAY are fed to an input part 26 which outputs the same as correction rates to a servocontrol amplifier 27 to drive servocontrol motors 13, 18 thereby moving the camera 20 and making the center of the image to coincide with the center of a screen. The positions of the servocontrol motors (the positions of the 1st and the 2nd moving bodies 11, 16) are read with an encoder and are written into the memory 29 of a computer 25.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a measuring device for measuring the position of a hole or corner of a member.

Conventionally, as shown in FIG. 1, this type of measuring device has a first movable body 2 disposed along a base 1 so as to be movable in the X-axis direction, and a second movable body attached to the first movable body 2. 3 is provided movably in the Y-axis direction, and a device in which a second moving body 3 is provided with a prong 4 is known.

In order to measure the position of hole B in member A using this device, first. Move the second moving bodies 2 and 3 and prologue 4
The position of hole B with respect to member A is measured by moving along the trajectory shown in (a) to (January) and reading the coordinates of the X and Y axes.

At this time, when contacting hole B (c), (b), (f), (
For g), it is necessary to slightly move the probe 4 up and down or left and right to find the position where the maximum value is obtained.

In this way, the operator has to move the prong 4 in a complicated manner, making the operation extremely troublesome.

The present invention has been made in view of the above circumstances, and its purpose is to provide a measuring device that can easily measure the positions of holes and corners.

The present invention will now be described in detail with reference to FIG. 3 and subsequent figures.

A first movable body 11 is provided on the base 10 so as to be movable in the X-axis direction, and a nut part 12 fixed to the first movable body 11 has an X-axis feed rotatably driven by an X-axis servo motor 13. A screw rod 14 is screwed together.

A vertical guide body 15 is erected on the first movable body 11, and a second movable body 16 is provided on the vertical guide body 15 so as to be movable in the Y-axis direction. A Y-axis guide screw rod 19, which is rotationally driven by a Y-axis servo motor I8, is screwed into the provided nut member 17.

The second moving body 16 is provided with an ITV camera 20 serving as a visual sensor so as to be movable in two axis directions.
A two-axis servo motor 2 is attached to the nut member 21 fixed at 0゛.
A two-axis feed screw rod 23, which is rotationally driven by a screw 2, is screwed together.

As a result, the IT ■ camera 20 is set on the Y-axis and the Y-axis.

It is movable in the three-dimensional direction of the Z-axis.

The image signal of the ITV camera 20 is transmitted to an image capture device fIt,
24 is sent and input to the input/output section 26 of the computer 250.

Each of the servo motors +3, 18, and 22 is driven and controlled by a signal from a servo amplifier 27, and the servo amplifier 27 receives a signal from an input/output section 26 through an encoder 13a provided therein.
, 18a, and 22a are sent to the input/output section 26.

The input/output section 26 exchanges signals with the arithmetic section 28, the arithmetic section 28 exchanges signals with the memory 29, and the arithmetic section 28 outputs signals to the output section 30. .

Next, the operation of measuring the position of hole B in member A will be explained.

When member A is set in a predetermined position, a non-positioning signal is sent to the first hole B to the computer 25, and the input/output section 2
6 outputs a signal to the servo amplifier 27, and each servo motor +3. +8.22 with operation signal and ITv camera 2
0 to a position that is not aligned with the first hole B1.

4 After the positioning is completed, the image capturing device 24 captures the image of the ITV camera 30, sends it to the input/output section 26, and sends it to the calculation section 28.
The hole center position is calculated by , and the amount of error between the center of the image area and the hole center position is calculated.

That is, as shown in FIG. 5, the image C captured by the ITV camera 20 is displayed on the computer 25 screen (ITV
display section) 31, and the center of image C (template, hole B)
, the center of the screen 31) and the center of the screen 31 in the X-axis direction and the Y-axis direction
The axial deviation ΔX1ΔY is calculated and detected.

This error amount ΔX1ΔY is stored in the memory 29, and is also sent to the input/output section 26 and output as a correction amount to the servo amplifier 27, which drives the servo motor to drive the ITV camera 2.
of: Y-axis, move in the Y-axis direction to align the center of the image C with the center of the screen 31. (See FIG. 6) At this time, the positions of each servo motor (first, second moving body II, +6 position) are read by the encoder and written into the memory 29 of the computer 25.

As a result, the position of the first hole B is stored in the memory 29, and the position of the first hole B is output to the output unit 3°, so that the hole position can be detected.

Like the second one. 3rd...hole B, , B,
- Song...Detect the position of the BN.

At this time, the relative distance to the first hole B1 is sent from the memory 29 to the calculation section 28, and the relative position to the first hole B is output.

The above operation is shown in a flowchart as shown in FIG. 7, but the hole position may be output every time the hole position is detected.

Note that to detect the position of the corner of member A, /' may be done in the same manner as described above, and in this case, the edge C' of image C is located from the center of screen 31 as shown in FIG. Misalignment,
The ITV camera 20 is moved by calculating the deviation "ΔX" and outputting the correction amount to the servo motor, so that the end C' of the image C matches the center of the screen 31 as shown in FIG. Good.

It's better to do it with movement. In other words, all you have to do is manually perform the operations marked with * in the flowchart in Figure 7.

With the present invention as described above, the hole position and corner position of a member can be easily measured.

[Brief explanation of the drawing]

Fig. 1 is an explanatory diagram of the conventional example, Fig. 2 is an explanatory diagram of the operation trajectory of the prog, Fig. 3 is an overall perspective view showing the embodiment of the present invention, Fig. 4 is a control circuit diagram, Figs. Figure 6 is an explanatory diagram of error detection and correction operation, and Figure 7 is an operation flowchart.
FIGS. 8 and 9 are explanatory diagrams of error detection and correction operations in the case of corner detection. 20 is a visual sensor. Applicant Komatsu Ltd. Representative Patent Attorney Masaaki Yonehara Patent Attorney Tadashi Hamamoto 1N Figure 2 Figure 3 Procedural Amendment Group (Voluntary) April 19, 1980 Commissioner of the Japan Patent Office Kazuo Wakasugi 1. Indication of 1 Japanese Patent Application No. 57-137884 2 Name of the invention JILL Device 3 Relationship with the person making the amendment 1'1 Patent 3' Applicant address 2-3-6 Akasaka, Minato-ku, Tokyo Name ( 123
) Komatsu Manufacturing Co., Ltd. 5 Correct "progue" in line Ej of the amendment order to "probe".

Claims (1)

[Claims] A means for calculating an error between a visual sensor 20 that is movable in the X-axis direction and a Y-axis direction and an image enhancement reference position captured by the visual sensor 20; A measuring device consisting of a drive means for moving in the X-axis direction and the Y-axis direction.