WO2024090490A1 - Système d'inspection de trou - Google Patents

Système d'inspection de trou Download PDF

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Publication number
WO2024090490A1
WO2024090490A1 PCT/JP2023/038583 JP2023038583W WO2024090490A1 WO 2024090490 A1 WO2024090490 A1 WO 2024090490A1 JP 2023038583 W JP2023038583 W JP 2023038583W WO 2024090490 A1 WO2024090490 A1 WO 2024090490A1
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WO
WIPO (PCT)
Prior art keywords
camera
robot
inspection
control device
hole
Prior art date
Application number
PCT/JP2023/038583
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English (en)
Japanese (ja)
Inventor
将太郎 永田
Original Assignee
株式会社アイシン
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Filing date
Publication date
Application filed by 株式会社アイシン filed Critical 株式会社アイシン
Publication of WO2024090490A1 publication Critical patent/WO2024090490A1/fr

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    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J13/00—Controls for manipulators
    • B25J13/08—Controls for manipulators by means of sensing devices, e.g. viewing or touching devices
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J15/00—Gripping heads and other end effectors
    • B25J15/04—Gripping heads and other end effectors with provision for the remote detachment or exchange of the head or parts thereof

Definitions

  • This disclosure relates to a hole inspection system used to inspect the inside of a hole formed in a workpiece.
  • the tool held by the robot may need to be replaced midway through the process. In such cases, it is necessary to avoid stopping the inspection work midway due to the need to replace the tool.
  • the primary objective of this disclosure is to provide a hole inspection system that can prevent inspection work from being stopped midway due to replacement of a tool held by a robot when inspecting the inside of a hole formed in a workpiece using the robot.
  • the hole inspection system disclosed herein is a hole inspection system used to inspect the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and outputs a trigger signal when the tool is located at an inspection work position, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera, and determines whether the camera is connected and whether the trigger signal is being output by the robot control device, and transmits an imaging command signal to the camera when the camera is connected and the trigger signal is being output by the robot control device, and does not transmit the imaging command signal when the camera is not connected.
  • the hole inspection system disclosed herein is used for inspecting the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera.
  • the robot control device outputs a trigger signal when the tool is located at the inspection work position.
  • the inspection processing device determines whether the camera is connected or not, and determines whether a trigger signal is output by the robot control device.
  • the inspection processing device transmits an imaging command signal to the camera when the camera is connected and a trigger signal is output by the robot control device, and does not transmit the imaging command signal when the camera is not connected.
  • the imaging command signal is no longer transmitted. Therefore, an error state in which the inside of the hole is not captured by the camera in response to the transmission of the imaging command signal does not occur, and the hole inspection system is not stopped due to the occurrence of the error state.
  • FIG. 1 is a schematic configuration diagram showing a hole inspection system according to the present disclosure.
  • 4 is a flowchart illustrating an example of an inspection routine executed by an inspection processing device of the hole inspection system of the present disclosure.
  • 13 is a flowchart illustrating another example of an inspection routine executed by the inspection processing device of the hole inspection system of the present disclosure.
  • FIG. 1 is a schematic diagram showing a hole inspection system 1 of the present disclosure.
  • the hole inspection system 1 shown in the figure is used to inspect the inside of a hole H formed in a workpiece W, such as a transmission case.
  • the hole H to be inspected may be a threaded hole, a non-threaded hole, a through hole, or a non-through hole.
  • the workpiece W is not limited to a transmission case.
  • the hole inspection system 1 includes a system control device 2, multiple robots 3, multiple robot control devices 4 each connected to the system control device 2 and controlling the corresponding robot 3, and an inspection processing device 5 connected to the system control device 2.
  • the system control device 2 includes a computer having a CPU, ROM, RAM, etc., and exchanges signals (information) with the multiple robot control devices 4 and the inspection processing device 5 to provide overall control of the hole inspection system 1.
  • Each robot 3 is a robot arm that can selectively hold and move one of a plurality of tools T (end effectors).
  • the plurality of tools T held by the robot 3 include, for example, an imaging tool 6 having a camera 6a and a lens unit 6b, and a lighting tool 7.
  • the tool holding portion of each robot 3 is connected to the system control device 2 via a cable and a connector, and when one of the tools T is held by the tool holding portion of each robot 3, a short-circuit current flows through the cable.
  • the imaging tool 6 may have a lighting function.
  • Each robot control device 4 includes a computer having a CPU, ROM, RAM, etc., and controls the robot 3 to hold one of a plurality of tools T (end effectors).
  • each robot control device 4 controls the corresponding robot 3 to move the tool T to an inspection work position a predetermined distance above the target hole H according to a predetermined control procedure, and constantly transmits a trigger signal to the system control device 2 while the tool T is stopped at the inspection work position by the robot 3.
  • the inspection processing device 5 is a computer having a CPU, ROM, RAM, etc.
  • the camera 6a of the imaging tool 6 is connected to the inspection processing device 5 via a connector, cable, etc. provided on the robot 3.
  • an inspection program is installed in the inspection processing device 5 for inspecting the internal state of the hole H based on an image (image data) of the inside of the hole H captured by the camera 6a.
  • the inspection program (software) implements a neural network that cooperates with hardware such as the CPU, ROM, and RAM of the inspection processing device 5 to determine (diagnose) whether the internal state of the hole H is good or bad based on the image captured by the camera 6a.
  • the inspection processing device 5 constantly sends a signal indicating that the inspection program is running to the system control device 2.
  • the system control device 2 can detect that one of the tools T is being held by the tool holding part of each robot 3 by detecting a short circuit current flowing through the above-mentioned cable or the like connected to the tool holding part of each robot 3.
  • Each robot control device 4 constantly transmits a trigger signal to the system control device 2 while the corresponding robot 3 stops the tool T at the inspection work position.
  • the inspection processing device 5 constantly transmits a signal indicating that the inspection program is being started to the system control device 2 while the inspection program is being started.
  • system control device 2 When the system control device 2 detects that the tool T is being held by the tool holding parts of all the robots 3 while the inspection program is being started in the inspection processing device 5 and receives trigger signals from all the robot control devices 4, it transmits an imaging trigger signal to the inspection processing device 5 to instruct the imaging tool 6 (tool T) held by the robot 3 to capture an image of the inside of the hole H.
  • the inspection processing device 5 acquires a signal from the system control device 2 at predetermined time intervals (step S100) and determines whether an imaging trigger signal has been received (step S110). When the inspection processing device 5 determines that an imaging trigger signal has not been received from the system control device 2 (step S110: NO), it temporarily terminates the inspection routine in FIG. 2. When the inspection processing device 5 determines that an imaging trigger signal has been received from the system control device 2 (step S110: YES), it sets the repetition variable i to "1" (step S120) and determines whether the tool T held by the first robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5 (step S130). In step S130, for example, when the camera 6a is connected to the inspection processing device 5, the inspection processing device 5 determines whether an ON signal is transmitted from the camera 6a.
  • the inspection processing device 5 When the inspection processing device 5 receives an ON signal from the camera 6a and determines that the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6, is connected (step S130: YES), it transmits an imaging command signal to the camera 6a (step S140). On the other hand, when it does not receive an ON signal from the camera 6a and determines that the tool T held by the first robot 3 is not an imaging tool 6 and the camera 6a is not connected (step S130: NO), the inspection processing device 5 skips the processing of step S140. After the processing of step S130 or S140, the inspection processing device 5 determines whether the repetition variable i is equal to or greater than the total number N of the robots 3 (step S150). If the repetition variable i is less than the total number N of the robots 3 (step S150: NO), the inspection processing device 5 increments the repetition variable i (step S155) and executes the processing of steps S130-S150 for the i-th robot 3.
  • the inspection processing device 5 acquires image data transmitted from the camera 6a that has captured an image of the inside of the hole H in response to the imaging command signal, and stores the acquired image data in a storage device (not shown) (step S160). Furthermore, the inspection processing device 5 executes the above-mentioned inspection program, and judges (diagnoses) whether the internal condition of all holes H in one workpiece W is good or bad based on the acquired image data (step S170), and temporarily terminates the inspection routine shown in FIG. 2.
  • each robot control device 4 of the hole inspection system 1 outputs a trigger signal when the tool T held by the corresponding robot 3 is located at the inspection work position.
  • the system control device 2 transmits an imaging trigger signal to instruct the inspection processing device 5 to capture an image of the inside of the hole H.
  • the inspection processing device 5 determines whether or not the system control device 2 has instructed the imaging of an image via the imaging trigger signal, that is, whether or not a trigger signal has been output by each robot control device 4 (step S110), and determines for each robot device 3 whether or not a camera 6a is connected (step S130).
  • the inspection processing device 5 transmits an imaging command signal to the camera 6a (steps S110: YES, S130: YES, S140), and does not transmit an imaging command signal when the camera 6a is not connected (step S130: NO).
  • FIG. 3 is a flowchart showing another inspection routine that can be executed by the inspection processing device 5 of the hole inspection system 1.
  • the inspection processing device 5 sets the repetition variable i to "1" (step S200) and determines whether the tool T held by the first robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5 (step S210). If the inspection processing device 5 determines that the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6, is connected based on, for example, an ON signal from the camera 6a (step S210: YES), it determines whether an imaging trigger signal has been received from the system control device 2 (step S220).
  • step S220 determines that it has not received an imaging trigger signal from the system control device 2 (step S220: NO), it executes the process of step S210 again. If the inspection processing device 5 determines that it has received an imaging trigger signal from the system control device 2 (step S210: YES), it transmits an imaging command signal to the tool T held by the first robot 3, i.e., the camera 6a of the imaging tool 6 (step S230). Furthermore, the inspection processing device 5 acquires image data transmitted from the camera 6a that has captured an image of the inside of the hole H in response to the imaging command signal, and stores the acquired image data in a storage device not shown (step S240).
  • the inspection processing device 5 determines whether the repetition variable i is equal to or greater than the total number N of robots 3 (step S250). If the repetition variable i is less than the total number N of robots 3 (step S250: NO), the inspection processing device 5 increments the repetition variable i (step S255) and executes the processing of steps S210-S240 for the i-th robot 3.
  • the inspection processing device 5 executes the above-mentioned inspection program, and determines (diagnoses) the quality of the internal condition of all holes H in one workpiece W based on the image data acquired in step S240 (step S260), and ends the inspection routine shown in FIG. 3.
  • the hole inspection system 1 includes multiple robots 3, and the inspection processing device 5 determines whether or not a camera 6a is connected to each of the multiple robots 3, but the hole inspection system 1 is not limited to this. That is, the hole inspection system 1 may each include a single robot 3 and robot control device 4. The hole inspection system 1 may also include a work moving mechanism (not shown) that moves the work W so that the tool T is positioned at an inspection work position above the hole H.
  • system control device 2 may be configured to transmit an imaging trigger signal to the inspection processing device 5 when it receives a trigger signal from all the robot control devices 4, regardless of whether the tool T is held by the tool holding unit of each robot 3 when the inspection program is activated in the inspection processing device 5.
  • the system control device 2 may also be configured to obtain, for example, the value of a flag set to "1" by the inspection processing device 5 when the inspection program is activated, from the inspection processing device 5, and determine whether the inspection program is activated based on the value of the flag.
  • the system control device 2 may also be configured to set the imaging instruction flag to "1" when it detects that the tool T is held by the tool holding unit of all the robots 3 and receives a trigger signal from all the robot control devices 4.
  • the inspection processing device 5 may be configured to obtain the value of the imaging instruction flag set by the system control device 2 and determine whether imaging of the inside of the hole H has been instructed.
  • the inspection processing device 5 may also be configured to constantly determine whether the tool T held by each robot 3 is an imaging tool 6 and the camera 6a is connected to the inspection processing device 5, and transmit an imaging command signal to the camera 6a based on the determination result when imaging of an image is instructed by the system control device 2.
  • the hole inspection system disclosed herein is a hole inspection system (1) used for inspecting the inside of a hole (H) formed in a workpiece (W), and includes a robot (3) capable of holding any one of a plurality of tools (T) including an imaging tool (6) having a camera (6a), a robot control device (4) that controls the robot (3) to hold any one of the plurality of tools (T), the robot control device (4) outputting a trigger signal when the tool (T) is located at an inspection work position, and an inspection device (4) that executes a program for inspecting the inside of the hole (H) based on an image of the inside of the hole (H) captured by the camera (6a).
  • a robot (3) capable of holding any one of a plurality of tools (T) including an imaging tool (6) having a camera (6a)
  • a robot control device (4) that controls the robot (3) to hold any one of the plurality of tools (T)
  • the robot control device (4) outputting a trigger signal when the tool (T) is located at an inspection work position
  • the inspection processing device (5) determines whether the camera (6a) is connected and whether the trigger signal is being output by the robot control device (steps S110, S130, S210, S220), and transmits an imaging command signal to the camera when the camera is connected and the trigger signal is being output by the robot control device (steps S110: YES, S130: YES, S140, S210: YES, S220: YES, S230), and does not transmit the imaging command signal when the camera is not connected (steps S130: NO, S210: NO).
  • the hole inspection system disclosed herein is used for inspecting the inside of a hole formed in a workpiece, and includes a robot capable of holding any one of a plurality of tools including an imaging tool having a camera, a robot control device that controls the robot to hold any one of the plurality of tools, and an inspection processing device that executes a program for inspecting the inside of the hole based on an image of the inside of the hole captured by the camera.
  • the robot control device outputs a trigger signal when the tool is located at the inspection work position.
  • the inspection processing device determines whether the camera is connected or not, and determines whether a trigger signal is output by the robot control device.
  • the inspection processing device transmits an imaging command signal to the camera when the camera is connected and a trigger signal is output by the robot control device, and does not transmit the imaging command signal when the camera is not connected.
  • the imaging command signal is no longer transmitted. Therefore, an error state in which the inside of the hole is not captured by the camera in response to the transmission of the imaging command signal does not occur, and the hole inspection system is not stopped due to the occurrence of the error state.
  • the hole inspection system (1) may also include a system control device (2) connected to the robot control device (4) and the inspection processing device (5), and the system control device (2) may instruct the inspection processing device (5) to capture the image when the program is running in the inspection processing device (5) and the trigger signal is received from the robot control device (4), and the inspection processing device (5) may determine whether the camera (6a) is connected and whether the system control device (2) has instructed it to capture the image (steps S110, S130, S210, S220), and transmit the image capture command signal to the camera when the camera is connected and the system control device has instructed it to capture the image (steps S110: YES, S130: YES, S140, S210: YES, S220: YES, S230).
  • system control device (2) may be capable of detecting that the tool (T) is being held by the robot (3), and may instruct the inspection processing device (5) to capture the image when it detects that the tool (T) is being held by the robot (3) and receives the trigger signal from the robot control device (4).
  • the hole inspection system (1) may also include a plurality of the robots (3), and the inspection processing device (5) may determine whether or not the camera (6a) is connected to each of the plurality of the robots (3).
  • the disclosed invention is extremely useful for inspecting the inside of holes formed in workpieces in the manufacturing industry.

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Human Computer Interaction (AREA)
  • Manipulator (AREA)

Abstract

Un système d'inspection de trou selon la présente divulgation comprend : un robot pouvant tenir un outil parmi une pluralité d'outils comprenant un outil d'imagerie muni d'une caméra ; un dispositif de commande de robot qui délivre un signal de déclenchement lorsque l'outil est positionné dans une position de travail d'inspection ; et un dispositif de traitement d'inspection qui détermine si la caméra est connectée et si le signal de déclenchement est délivré par le dispositif de commande de robot, le dispositif de traitement d'inspection transmettant un signal d'instruction d'imagerie à la caméra si la caméra est connectée et le signal de déclenchement est délivré par le dispositif de commande de robot, et ne transmettant pas le signal d'instruction d'imagerie si la caméra n'est pas connectée. Ceci permet de supprimer l'interruption d'un travail d'inspection en raison du remplacement de l'outil tenu par le robot lorsque l'intérieur d'un trou formé dans une pièce est inspecté au moyen du robot.
PCT/JP2023/038583 2022-10-25 2023-10-25 Système d'inspection de trou WO2024090490A1 (fr)

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JP2022170944 2022-10-25
JP2022-170944 2022-10-25

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006105782A (ja) * 2004-10-05 2006-04-20 Fanuc Ltd ロボットビジョンによる計測装置及びロボット制御装置
JP2011089826A (ja) * 2009-10-21 2011-05-06 Aisin Seiki Co Ltd ねじ穴または穴の内部表面欠陥検査装置
JP2019104093A (ja) * 2017-12-14 2019-06-27 ファナック株式会社 ロボットシステム

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2006105782A (ja) * 2004-10-05 2006-04-20 Fanuc Ltd ロボットビジョンによる計測装置及びロボット制御装置
JP2011089826A (ja) * 2009-10-21 2011-05-06 Aisin Seiki Co Ltd ねじ穴または穴の内部表面欠陥検査装置
JP2019104093A (ja) * 2017-12-14 2019-06-27 ファナック株式会社 ロボットシステム

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