JP2017032300A - Built-in automatic inspection equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an assembly automatic inspection device capable of measuring gaps and level differences between respective composition parts assembled to a vehicle mounted on a moving conveyor without being dependent on a vehicle type and also always measuring an arbitrary measuring position with high accuracy.SOLUTION: The assembly automatic inspection device of this invention for measuring gaps and level differences between respective composition parts assembled to a vehicle mounted on a moving conveyor has: a conveyor; and a multiple axis robot with a base unit fixed on a floor surface in a lateral side of the conveyor. The multiple axis robot is provided with a displacement sensor using a slit laser beam on an arm tip, the arm tip is composed to measure a plurality of positions in the vehicle by the displacement sensor while synchronizing moving speed and moving direction of the conveyor so that the displacement sensor and the vehicle are mutually stationary.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an automatic building inspection apparatus for measuring a gap and a step between components mounted on a vehicle placed on a moving conveyor.

  Conventionally, vehicles, such as automobiles, have been assembled with components such as doors, bonnets, bumpers, lights, etc., and the gaps and steps between these components are inspected and completed. Shipped as a product. In addition, since high quality vehicles such as so-called high-class cars have been used for a long time, not only mechanical performance but also an excellent appearance with a uniform gap and an unobtrusive design are very important factors. It was. In recent years, the accuracy of external appearance is improved and added value is increased even in vehicles called so-called ordinary vehicles.

  However, in many cases, the adjacent component parts are arranged at positions that cross the curved surface, so that it is necessary to manually perform measurement of the gap and the step, which requires a large labor cost. Moreover, as a result of the dramatic progress of manufacturing equipment and the improvement of manufacturing technology, curved surfaces are frequently used in modern vehicles. As a result, measurement itself is not easy, and measurement values between operators tend to vary.

  In this way, manual measurement only depends on the skill level of the worker, and it has been an adverse effect of trend management using a database, so an assembly accuracy measurement system using a laser sensor, limit switch, etc. is considered. (See Patent Document 1).

  In this assembly accuracy measurement system, a laser sensor is installed on each of the portal frames installed at each component assembly site so as to straddle the conveyors that make up the production line. The time required from a predetermined point to the measurement site is controlled by a timer in order to reliably sense, and the timer is started by pushing a limit switch.

  In addition, a monitor is installed on the gate-type frame so that the measurement results of the measurement parts at each part assembly site can be confirmed at any time. The vehicle type that is transported randomly on the conveyor is the vehicle type transmitted to the computer. It can be confirmed based on information, and is configured such that timer adjustment of timer control is performed according to the vehicle type.

JP 2007-33250 A

  In the assembly accuracy measurement system described in Patent Document 1, since the gaps and steps of each part of the vehicle can be measured by a plurality of laser sensors fixed to the portal frame, the number of workers can be reduced, and the tendency to utilize a database This is advantageous in that it can be managed.

  However, in this system, a plurality of laser sensors are fixed to the left and right pillars of the gate frame at predetermined intervals in the vertical direction and irradiate the side surface of the vehicle with laser light directed substantially in the horizontal direction. The laser beam was not irradiated to the place to be processed, and it was not possible to deal with many types of vehicles unless the spot was measured manually or the position of the laser sensor was changed.

  In addition, since the laser beam of the laser sensor is irradiated substantially horizontally, it is not always possible to measure at an optimum angle with respect to a gap or a step formed on a curved surface, which has a problem in measurement accuracy.

  Furthermore, because the measurement is performed by timer control using a limit switch as a trigger, in order to increase the number of measurement points, not only the laser sensor but also the limit switch must be added in the same way, so that the number can be installed due to the problem of installation space. There was a limit.

  Moreover, it is not possible to measure the gaps and steps that exist on the upper surface of the vehicle, such as the gap between the bonnet and the fender, even if the laser sensor is fixed to the horizontal beam interposed between the left and right columns of the portal frame. For a general vehicle having a driving part projecting above the bonnet, the laser sensor could not be brought close to the bonnet, so measurement could not be performed.

  The present invention has been made in view of the circumstances as described above, and the gaps and steps between the components mounted on the vehicle mounted on the moving conveyor are independent of the vehicle type, and Another object of the present invention is to provide a built-in automatic inspection apparatus that can always measure any measurement location with high accuracy.

  In order to achieve the above object, the present invention provides the following.

  The invention according to claim 1 is an automatic installation inspection device that measures a gap and a step between components mounted on a vehicle mounted on a moving conveyor, wherein the conveyor and the conveyor A multi-axis robot having a base fixed on a side floor surface, the multi-axis robot including a displacement sensor using slit laser light at an arm tip, and the arm tip includes the displacement sensor and the vehicle. To provide an automatic construction inspection apparatus configured to measure a plurality of locations of the vehicle by the displacement sensor while synchronizing the moving speed and the moving direction of the conveyor so that they are relatively stationary. To do.

  In the invention according to claim 2, an IC tag in which vehicle information is recorded and adhered to the outer side surface of the vehicle, an IC tag reading unit that is disposed above the conveyor and reads the vehicle information of the IC tag, A vehicle height detection sensor disposed above the conveyor, a vehicle width detection sensor disposed laterally of the conveyor, the IC tag reader, the vehicle height detection sensor, and the vehicle width detection sensor. The vehicle front end detection sensor disposed in front of the traveling direction of the conveyor, and the measurement start sensor disposed in front of the vehicle front end detection sensor, wherein the vehicle front end detection sensor is the vehicle. The vehicle information recorded on the IC tag is read by the IC tag reader at the same time as detecting the front end of the vehicle, and the vehicle height and vehicle width are measured by the vehicle height detection sensor and the vehicle width detection sensor. The vehicle height and the vehicle width are matched with the vehicle information, and the measurement by the multi-axis robot is started only when the vehicle is detected by the measurement start sensor. It is assumed that the automatic building inspection apparatus according to claim 1 is provided.

  In the invention which concerns on Claim 3, the said multi-axis robot was arrange | positioned facing the both sides of the said conveyor via the said conveyor, The automatic installation inspection of Claim 1 or Claim 2 characterized by the above-mentioned. I will not provide the equipment.

  In the invention which concerns on Claim 4, the said vehicle width detection sensor is arrange | positioned on both the lateral sides of the said conveyor through the said conveyor, The building automatic of Claim 2 or Claim 3 characterized by the above-mentioned. Suppose we do not provide inspection equipment.

  In the invention according to claim 5, the position of the vehicle on the conveyor is calculated from the measurement values obtained by the vehicle height detection sensor and the vehicle width detection sensor, and is compared with a preset vehicle position. The construction according to any one of claims 2 to 4, wherein the movement of the tip of the arm of the multi-axis robot is offset according to the amount of deviation by calculating the amount. Suppose we do not provide automatic inspection equipment.

  According to the first aspect of the present invention, there is provided an automatic inspection apparatus for measuring a gap and a step between components mounted on a vehicle mounted on a moving conveyor, wherein the conveyor and the conveyor A multi-axis robot with a base fixed on the floor surface of the side of the multi-axis robot, the multi-axis robot is provided with a displacement sensor using slit laser light at the arm tip, the displacement sensor and the vehicle relative to the arm tip By configuring the vehicle to measure multiple locations using a displacement sensor while synchronizing the speed and direction of movement of the conveyor so that it is stationary, the displacement sensor can be moved to an accurate position regardless of the shape of the vehicle. Therefore, it can be measured at an optimal angle with respect to a curved surface, and can be operated without limiting the vehicle type.

  Further, since it is possible to measure a gap or a step existing on the upper surface of the vehicle such as a gap between the bonnet and the fender, all measurement points can be automatically measured for one vehicle.

  Furthermore, not only can the number of workers be reduced by automatic measurement without depending on the skill level of the worker, but also trend management using a database can be easily performed.

  According to the second aspect of the present invention, the IC tag on which the vehicle information is recorded and adhered to the outer side surface of the vehicle, the IC tag reading unit that is disposed above the conveyor and reads the vehicle information of the IC tag, and the conveyor The vehicle height detection sensor disposed above the vehicle, the vehicle width detection sensor disposed on the side of the conveyor, the IC tag reading unit, the vehicle height detection sensor, and the vehicle width detection sensor are more advanced than the vehicle width detection sensor. A vehicle front end detection sensor disposed in front of the direction and a measurement start sensor disposed in front of the vehicle front end detection sensor, and at the same time the vehicle front end detection sensor detects the front end of the vehicle, the IC tag reader The vehicle information recorded on the IC tag is read by the vehicle, and the vehicle height and the vehicle width are measured by the vehicle height detection sensor and the vehicle width detection sensor, and the measured vehicle height and the vehicle width match the vehicle information, The vehicle starts measuring The measurement by the multi-axis robot is started only when it is detected by the above, so that the model of the vehicle to be measured is the vehicle information recorded in the IC tag, and the measured values of the vehicle height and width by automatic measurement. Since a double check can be performed using this and the model can be determined reliably, the production line can be prevented from being stopped due to a measurement error or the like, and the operating rate can be improved.

  In addition, since the measurement is started upon detection of the vehicle by the measurement start sensor only when the detected vehicle type matches the vehicle to be measured, useless movement of the multi-axis robot when it does not match can be prevented. Moreover, it is possible to prevent the vehicle to be measured from being damaged by the multi-axis robot.

  According to the third aspect of the present invention, the multi-axis robot can be simultaneously measured within the respective movable ranges from the left and right sides of the vehicle by disposing the multi-axis robot on both lateral sides of the conveyor so as to face each other. As a result, the measurement time can be halved compared to the case of one multi-axis robot.

  According to the fourth aspect of the present invention, the vehicle width detection sensor can be arranged on both sides of the conveyor so as to face each other via the conveyor, thereby improving the measurement accuracy of the vehicle width.

  According to the fifth aspect of the invention, the position of the vehicle on the conveyor is calculated from the measurement values obtained by the vehicle height detection sensor and the vehicle width detection sensor, and the amount of deviation is compared with the preset vehicle position. By calculating, it is possible to accurately recognize the position of the vehicle placed on the conveyor for each measurement by offsetting the movement of the arm tip of the multi-axis robot according to the amount of deviation. High measurement can be performed.

It is an isometric view explanatory drawing which shows the vehicle measurement by the building automatic inspection apparatus which concerns on embodiment. (A) is the partial cross section front view which looked at the same apparatus from the front, (b) is the partial cross section front view which abbreviate | omitted the multi-axis robot in (a). It is perspective explanatory drawing which showed a mode that a clearance gap and a level | step difference were measured with a displacement sensor. It is a side view of the vehicle which shows a part of measurement point which measures with the same apparatus. It is the partial cross section side view which looked at the same apparatus from the side. It is a top view which shows the state before the detection of the vehicle by the same apparatus, and measurement of vehicle height. It is a top view which shows the detection state of the vehicle height and vehicle width by the same apparatus. It is a top view which shows the detection state of the vehicle height, vehicle width, and vehicle front end part by the same apparatus. It is a top view which shows the detection state of the front-end part of the vehicle by the same apparatus. It is a top view which shows the measurement state of the clearance gap and level | step difference of a vehicle by the same apparatus. It is a top view which shows the measurement state of the clearance gap and level | step difference of a vehicle by the same apparatus. It is a flowchart explaining a series of operation | movement of the apparatus.

  The gist of an automatic building inspection apparatus according to an embodiment of the present invention is an automatic building inspection apparatus that measures a gap and a step between components mounted on a vehicle mounted on a moving conveyor. , The conveyor and a multi-axis robot whose base is fixed on the floor surface on the side of the conveyor, the multi-axis robot is provided with a displacement sensor using slit laser light at the arm tip, and the arm tip is displaced A plurality of locations of the vehicle are measured by the displacement sensor while synchronizing the speed and direction of movement of the conveyor so that the sensor and the vehicle are relatively stationary. In other words, the installation is such that the gaps and steps between the components mounted on the vehicle mounted on the moving conveyor are not dependent on the vehicle type, and any measurement location can always be measured accurately. It is intended to provide an automatic inspection device.

  Hereinafter, an embodiment of an automatic building inspection apparatus according to the present invention will be described with reference to the drawings. In this description, the same or symmetrical structures and parts are assigned the same reference numerals in principle, and only one of the left and right is described, and the description of the other is omitted as appropriate.

  As shown in FIGS. 1 and 2, the automatic building inspection apparatus 1 according to the embodiment of the present invention includes a gap X between each component part assembled on a vehicle A placed on a moving conveyor C, and An automatic building inspection apparatus 1 for measuring a level difference Y, which includes a conveyor C and a multi-axis robot 2 having a base 3 fixed on a floor F on the lateral side of the conveyor C. Is provided with a displacement sensor 14 using slit laser light at the arm tip 13, and the arm tip 13 is displaced while synchronizing the moving speed V and the moving direction E of the conveyor C so that the displacement sensor 14 and the vehicle A are relatively stationary. The sensor 14 is configured to measure a plurality of locations of the vehicle A.

  Here, the conveyor C will be described.

  First, as shown in FIG. 1, a conveyor C used in an automobile assembly line is configured to move the conveyor C in one direction at a constant speed with the vehicle A placed on the conveyor C. ing. Further, the material of the surface of the conveyor C is formed of a metal material, a resin material, or the like, and the outer shape of the conveyor C can be rotated by being folded back at a start end (not shown) and a terminal end (not shown) of the conveyor C. It is like a ring.

  Moreover, the conveyor C is formed substantially flat, and an operator can walk. At the side edge of the conveyor C, a fixed passage R that can be walked is formed. The fixed path R is a path formed along the conveyor C, and is fixed to the factory floor. The boundary between the fixed path R and the conveyor C eliminates gaps and steps as much as possible. It is configured like an integral floor.

  On the conveyor C, the vehicle A with the front portion in front is placed at a substantially central portion in the width direction of the conveyor C, and the vehicle A moves at the moving speed V of the conveyor C. In this embodiment, the vehicle A will be described using a general passenger car having a bonnet b at the front, a driving unit u at the center, and a trunk t at the rear. The shape is not particularly limited.

  Next, the multi-axis robot 2 is provided with six movable shafts for connecting the arms, the base 3 is fixed on the floor surface Fa of the fixed passage Ra on the right side of the vehicle A, and the arm tip 13 is shown in FIG. A displacement sensor 14 is provided that can irradiate slit laser light 15 (laser light that moves while scanning a predetermined width) and can receive the reflected light 16. Therefore, the displacement sensor 14 can be moved to an arbitrary position within a range in which the base 3 is movable.

  The measurement location is, for example, a gap X and a step Y between the front door Df and the rear door Dr or between the bonnet b and the fender f. In this embodiment, the gap or step appearing on the entire appearance of the vehicle A. On the other hand, a plurality of measurement points as shown in FIG. 4 are taught in advance by the multi-axis robot 2 and stored in the computer P, and the points are automatically measured.

  Further, in order to accurately measure the vehicle A moving with the conveyor C using the displacement sensor 14, the displacement sensor 14 and the vehicle A are configured to be relatively stationary at the time of measurement. That is, the measurement is performed in a state where the movement of the arm tip 13 matches the moving direction E and the moving speed V of the conveyor C.

  In order to synchronize the moving vehicle A and the arm tip 13 of the multi-axis robot 2 at the time of measurement, for example, a rotary encoder (not shown) is connected to a rotating shaft of a sprocket (not shown) that drives the conveyor C to be connected. Then, the number of pulses of the rotary encoder is transmitted to the computer P. The computer P calculates the moving distance of the conveyor C from the number of pulses of the rotary encoder, and outputs this moving distance information to the multi-axis robot 2.

  In this embodiment, every time a measurement start sensor 40 described later detects the vehicle A, the moving distance of the conveyor C, that is, the starting point of the moving distance of the vehicle A is reset, and the pulse number of the rotary encoder is set to the value of the vehicle A. The travel distance is output to the multi-axis robot 2.

  Therefore, the multi-axis robot 2 always knows the position of the vehicle A while the multi-axis robot 2 is in operation.

  The means for synchronizing the arm tip 13 of the multi-axis robot 2 and the conveyor C is not limited to the above-described means, and any method that can be synchronized may be used.

  Hereinafter, a specific configuration of the main part of the automatic building inspection apparatus 1 according to the embodiment of the present invention will be described in detail.

  As shown in FIGS. 1 and 2, the multi-axis robot 2 has a first movable shaft 4 that is horizontally rotatable at a base portion 3 fixed on a floor surface F of a fixed passage R, and the first movable shaft 4. A vertically movable second movable shaft 5 is connected to the upper portion of the second movable shaft 5, and one end of the second movable shaft 5 is vertically connected to the second movable shaft 5 through a long rear arm 6. A rotatable third movable shaft 7 is connected to the other end, a fourth movable shaft 8 is connected to the vicinity of the third movable shaft 7, and one end of the fourth movable shaft 8 is connected to the first end. A long middle arm 9 connected to the four movable shafts 8 is formed. The fourth movable shaft 8 is a movable shaft that allows the middle arm 9 itself to turn around the axis of the fourth movable shaft 8 on the spot.

  Further, the fifth movable shaft 10 is connected to the other end of the middle arm 9, the sixth movable shaft 11 is connected to the vicinity of the fifth movable shaft 10, and the sixth movable shaft 11 has one end. A short tip arm 12 whose part is connected to the sixth movable shaft 11 is formed. The sixth movable shaft 11 is a movable shaft that allows the tip arm 12 itself to turn around the axis of the sixth movable shaft 11 on the spot. And the displacement sensor 14 as shown in FIG.

  As described above, the multi-axis robot 2 having six axes can move the displacement sensor 14 to any part of the vehicle A within the movable range. The multi-axis robot 2 is connected to a computer P as a control device by a wiring j5.

  Further, the multi-axis robot 2 may be disposed on both lateral sides of the conveyor C so as to face each other via the conveyor C. Specifically, a similar multi-axis robot 2a is disposed facing the conveyor C on the floor surface Fb of the fixed passage Rb on the left side of the vehicle A. By arranging the two multi-axis robots 2 and 2a in this way, not only can a part that cannot be measured by only one multi-axis robot 2 be measured, but also the measurement time can be halved. The multi-axis robot 2a is connected to a computer P as a control device by a wiring j7.

  Further, in the automatic building inspection apparatus 1 according to the present embodiment, as shown in FIGS. 1, 2, and 5, the vehicle information is recorded and the IC tag 20 that is attached to the outer surface of the vehicle A, and the conveyor C An IC tag reader 22 for reading vehicle information of the IC tag 20 disposed above the vehicle, a vehicle height detection sensor 26 disposed above the conveyor C, and a vehicle disposed on the lateral side of the conveyor C. A width detection sensor 30, a vehicle front end detection sensor 33 disposed in front of the traveling direction E of the conveyor C with respect to any of the IC tag reading unit 22, the vehicle height detection sensor 26, and the vehicle width detection sensor 30, and vehicle front end detection Vehicle information recorded in the IC tag 20 by the IC tag reading unit 22 at the same time that the vehicle front end detection sensor 33 detects the front end m of the vehicle A. Read more The vehicle height H and the vehicle width W are measured by the vehicle height detection sensor 26 and the vehicle width detection sensor 30, and the measured vehicle height H and the vehicle width W coincide with the vehicle information. Only when it is detected, the measurement by the multi-axis robot 2 is started.

  The IC tag 20 has at least vehicle type information recorded as vehicle information, and is attached to the rear of the upper roof y of the driving unit u. The vehicle type information is information that can identify the model of the vehicle A, and may be only the model, or detailed information such as the model and body color, vehicle width, vehicle height, and the like.

  The IC tag reading unit 22 is a receiving device that can wirelessly read the information of the IC tag 20 at a position separated from the IC tag 20, and is substantially L fixed on the floor surface Fa of the fixed passage Ra on the right side of the vehicle A. An IC tag reading unit 22 is formed as a whole by disposing an IC tag reading sensor 23 at the end of the character-shaped IC tag reading stay 24. The IC tag reading sensor 23 is connected to a computer P as a control device by a wiring j1.

  The vehicle height detection sensor 26 is disposed at the center of the upper horizontal rail 28 of the portal stay 27 disposed in front of the IC tag reading unit 22 with the detection surface below. The vehicle height detection sensor 26 is a laser sensor, and receives the reflected light of the laser light emitted from the vehicle height detection sensor 26 to the upper part of the vehicle A, and measures the distance H1 between the vehicle height detection sensor 26 and the upper part of the vehicle A. The vehicle height H is converted.

  That is, a distance Ha between the vehicle height detection sensor 26 disposed on the upper crosspiece 28 and the upper surface of the conveyor C is calculated (set) in advance, and the vehicle height detection sensor 26 measured at the time of actual measurement and the vehicle A upper portion are measured. The measured value can be made the vehicle height H itself by subtracting the distance from the vehicle. Note that such conversion to the vehicle height H may be realized by a function of the vehicle height detection sensor 26 itself, even if the processing is performed by the computer P. The vehicle height detection sensor 26 is connected to a computer P as a control device by a wiring j2.

  The vehicle width detection sensor 30 is disposed further forward than the vehicle height detection sensor 26, and is located on the upper side of the prism-shaped sensor mounting column 31 fixed on the floor surface Fa of the fixed passage Ra on the right side of the vehicle A. Is substantially horizontal on the vehicle A side and is disposed so as to be substantially orthogonal to the traveling direction E of the conveyor C. The vehicle width detection sensor 30 is a laser sensor, and receives the reflected light of the laser beam emitted from the vehicle width detection sensor 30 to the side of the vehicle A, and determines the distance W1 between the vehicle width detection sensor 30 and the side of the vehicle A. It is measured and converted into a vehicle width W. The vehicle width detection sensor 30 is connected to a computer P as a control device by a wiring j3.

  That is, the distance Wa between the vehicle width detection sensor 30 disposed on the sensor mounting column 31 and the central portion of the conveyor C is calculated (set) in advance, and the vehicle width detection sensor 30 and the vehicle measured during actual measurement are calculated. The measured value can be made the vehicle width W itself by subtracting and multiplying the distance W1 with the A side. Note that such conversion into the vehicle width W may be realized by a function of the vehicle width detection sensor 30 itself, even if it is processing by the computer P.

  Further, the vehicle width detection sensor 30 may be disposed on both lateral sides of the conveyor C so as to face each other via the conveyor C. Specifically, in the upper part of the prism-shaped sensor mounting column 31a fixed on the floor surface Fb of the fixed passage Rb on the left side of the vehicle A, the detection surface is substantially horizontal to the vehicle A side, and the traveling direction E of the conveyor C It arrange | positions so that it may cross substantially orthogonally.

  As described above, the two vehicle width detection sensors 30 and 30a are opposed to each other so as to face the conveyor C, so that the distance W1 between the vehicle width detection sensor 30 and the vehicle A side as described above is subtracted and doubled. By doing so, the vehicle width W can be measured with higher accuracy than when the measured value is the vehicle width W itself. That is, if the vehicle width detection sensor 30 is one place, the vehicle width that is narrower or wider than the actual vehicle width when the position of the vehicle A placed on the conveyor C is placed on either the left or right side. May be calculated as

  However, by using the two vehicle width detection sensors 30, 30a, the total distance (Wa + Wb) from each vehicle width detection sensor 30, 30a calculated in advance to the center of the conveyor C or each vehicle width detection sensor By subtracting the distance (Wa + Wb) between 30 and 30a by the total distance (W1 + W2) actually measured by the left and right vehicle width detection sensors 30 and 30a, the vehicle width W closer to the actual vehicle can be measured. The added vehicle width detection sensor 30a is connected to a computer P as a control device by a wiring j6.

  If a plurality of vehicle width detection sensors 30 are arranged along the longitudinal direction of the vehicle A, the inclination of the plane direction of the vehicle A on the conveyor C with respect to the traveling direction E of the conveyor C can be accurately detected. .

  The vehicle front end detection sensor 33 is disposed adjacent to the front side of the vehicle width detection sensor 30 and is located above the square columnar sensor mounting column 34 fixed on the floor Fa of the fixed passage Ra on the right side of the vehicle A. The detection surface is substantially horizontal on the vehicle A side, and is arranged so as to be substantially orthogonal to the traveling direction E of the conveyor C. The vehicle front end detection sensor 33 is a laser sensor, and detects that the vehicle A has flowed on the conveyor C by receiving the reflected light of the laser beam irradiated to the side of the vehicle A from the vehicle front end detection sensor 33. It is. The vehicle front end detection sensor 33 is connected to a computer P as a control device by a wiring j4.

  That is, when the vehicle A moves in front of the detection surface of the vehicle front end detection sensor 33, the front end m of the vehicle A detects the presence of the vehicle A by receiving the reflection of the laser light from the vehicle front end detection sensor 33.

  In the automatic building inspection apparatus 1 according to the present embodiment, the vehicle front end detection sensor 33 detects the vehicle A and simultaneously reads the vehicle information recorded in the IC tag 20 by the IC tag reading unit 22. The vehicle height H and the vehicle width W are measured by the vehicle width detection sensors 30 and 30a, and whether or not the measured vehicle height H and the vehicle width W match the vehicle information is checked by the computer P.

  In the case where the measured vehicle height H and vehicle width W do not match the vehicle information, the operator is notified by means of notifying means such as a monitor Mo, a warning light (not shown) or an alarm sound.

  The measurement start sensor 40 is disposed adjacent to the front of the vehicle front end detection sensor 33 and is fixed on the floor Fa of the fixed passage Ra on the right side of the vehicle A. The detection surface is substantially horizontal on the vehicle A side, and is arranged so as to be substantially orthogonal to the traveling direction E of the conveyor C. The measurement start sensor 40 is a laser sensor, and detects that the vehicle A has flowed on the conveyor C by receiving the reflected light of the laser beam irradiated to the side of the vehicle A from the measurement start sensor 40. . The measurement start sensor 40 is connected to a computer P as a control device by a wiring j8.

  That is, when the vehicle A moves in front of the detection surface of the measurement start sensor 40, the front end m of the vehicle A detects the presence of the vehicle A by receiving the reflection of the laser beam from the measurement start sensor 40.

  In the automatic building inspection apparatus 1 according to the present embodiment, the measurement start sensor 40 detects the vehicle A, and the vehicle height H and the vehicle width W measured by the verification by the computer P described above are recorded in the IC tag 20. The vehicle construction inspection is started only when it matches the vehicle A related to the vehicle information.

  When the above-described conditions are satisfied, the multi-axis robot 2 is operated, and the measurement of the gaps X and the steps Y at a plurality of measurement points taught in advance by the multi-axis robots 2 and 2a from the front to the rear of the vehicle A is started.

  Further, in the automatic building inspection apparatus 1 according to the present embodiment, the position of the vehicle A on the conveyor C is calculated from the measurement values obtained by the vehicle height detection sensor 26 and the vehicle width detection sensors 30 and 30a and set in advance. By calculating the amount of deviation in comparison with the (teaching) position of the vehicle A, the movement of the arm tip 13 of the multi-axis robot 2 or 2a is offset according to the amount of deviation.

  In this case, if a plurality of vehicle width detection sensors 30 are arranged along the longitudinal direction of the vehicle A, the inclination of the axis of the vehicle A with respect to the traveling direction E of the conveyor C can be accurately detected.

  In the present embodiment, the IC tag reading sensor 23, the vehicle height detection sensor 26, the vehicle width detection sensors 30, 30a, the vehicle front end detection sensor 33, and the measurement start sensor 40 are sequentially arranged from the rear of the automatic building inspection apparatus 1. However, the rear side of the vehicle front end detection sensor 33 has a configuration within the scope of the gist of the present invention even if the other sensors except the measurement start sensor 40 are arranged in any order. Needless to say.

[Flow of gap / step measurement]
Next, an example of a flow of a series of measurements using the automatic building inspection apparatus 1 according to the present embodiment will be described with reference to the flowcharts shown in FIGS. The IC tag 20 will be described as being attached to the rear of the upper roof y of the operation unit u. In addition, the following description will be made from the case where the vehicle A placed at the center on the conveyor C with the front portion moved forward moves to the front of the automatic building inspection apparatus 1 at the moving speed V of the conveyor C.

  First, as shown in FIG. 6, below the IC tag reading sensor 23, each part of the vehicle A is sequentially located from the front end m of the moving vehicle A to the bonnet b. Since the tag 20 and the IC tag reading sensor 23 are separated from each other and the IC tag reading sensor 23 cannot receive information on the IC tag 20, the vehicle A continues to move together with the conveyor C.

  Next, as shown in FIG. 7, the bonnet b of the vehicle A is positioned below the vehicle height detection sensor 26. The vehicle height detection sensor 26 is always set in the measurement state, and when the vehicle height detection sensor 26 detects the front end portion m of the vehicle A, the vehicle height H is measured continuously from the front end portion m along the approximate center of the vehicle A. Then, the measurement data is sequentially transmitted to the computer P as time series data (step S1: YES).

  In addition, unless the vehicle height detection sensor 26 detects the vehicle A (step S1: NO), the vehicle height detection sensor 26 remains in a standby state. At this stage, the IC tag 20 and the IC tag reading sensor 23 are separated from each other, and the IC tag reading sensor 23 does not receive the information on the IC tag 20.

  Further, when the side portion of the vehicle A appears in front of the detection surfaces of the vehicle width detection sensors 30, 30a as the vehicle A moves, the movement of the conveyor C from the front end portion m of the vehicle A by the vehicle width detection sensors 30, 30a. Measurement is started in the horizontal direction following the speed V, and the measurement data is sequentially transmitted to the computer P as time-series data (FIG. 7, step S2: YES).

  In addition, unless the vehicle width detection sensors 30 and 30a detect the vehicle A (step S2: NO), the vehicle width detection sensors 30 and 30a remain in the standby state. At this stage, the IC tag 20 and the IC tag reading sensor 23 are separated from each other, and the IC tag reading sensor 23 does not receive the information on the IC tag 20.

  Next, when the vehicle front end detection sensor 33 detects the front end portion m of the vehicle A as the vehicle A moves (step S3: YES), the measured values of the vehicle height H and the vehicle width W at the time of detection are the vehicle information. The comparison data is transmitted to the computer P (step S4).

  Note that, unless the vehicle front end detection sensor 33 detects the vehicle A (step S3: NO), the vehicle front end detection sensor 33 remains in a standby state. In addition, the vehicle height H and the vehicle width W at the time when the vehicle front end detection sensor 33 detects the vehicle A are set to values of parts that match the vehicle height and vehicle width measurement positions recorded in advance in the vehicle information. The position of each sensor is adjusted, and in this embodiment, the vehicle height and the vehicle width measured at the positions shown in FIG. 8 are used as comparison data with vehicle information.

  Further, when the vehicle front end detection sensor 33 is positioned in the vicinity of detecting the vehicle A, the IC tag reading sensor 23 can receive the information of the IC tag 20. Therefore, after the vehicle front end detection sensor 33 detects the vehicle A (step S3: YES), the IC tag reading sensor 23 receives the vehicle information of the IC tag 20, and the vehicle information is transmitted to the computer P (FIG. 5, FIG. 8, Step S5: YES).

  As long as the IC tag reading sensor 23 does not receive the vehicle information of the IC tag 20 (step S5: NO), the IC tag reading sensor 23 is in a standby state.

  In the computer P, the vehicle height and vehicle width data stored in the computer P in advance associated with the model data of the vehicle A read from the IC tag 20 are measured by the vehicle height detection sensor 26 and the vehicle width detection sensors 30 and 30a. The vehicle height H and the vehicle width W are compared, and if they match, it is determined that there is no mistake in the type of vehicle A recorded on the IC tag 20 (step S6: YES).

  In order to improve the accuracy of comparison and judgment, vehicle height time series data and vehicle width time series data stored in the computer P in advance are measured by the vehicle height detection sensor 26 and the vehicle width detection sensors 30 and 30a. You may comprise so that it may compare with each performed time series data.

  If the vehicle height data stored in advance in the computer P and the data measured by the vehicle height detection sensor 26 do not match (step S6: NO), the monitor MO, a warning light (not shown), and an alarm sound are not shown. The operator is notified by a notification means such as (step S7).

  In addition, as shown in FIG. 9, after the data match and the type of the vehicle A is specified (step S <b> 6: YES), the vehicle A further moves so that the vehicle A is moved in front of the detection surface of the measurement start sensor 40. When the front end m appears, the vehicle A is detected by the measurement start sensor 40 (step S8: YES).

  As long as the measurement start sensor 40 does not detect the vehicle A (step S8: NO), the measurement start sensor 40 remains in a standby state.

  As described above, when the vehicle information matches the vehicle A to be measured and the vehicle A is detected by the measurement start sensor 40, the gap X between the multi-axis robots 2 and 2a and Measurement of the step Y is started (step S9).

  In the measurement of the gap X and the step Y, the displacement sensor 14 of the arm tip 13 is moved to a measurement location k that has been taught in advance according to the model of the vehicle A as shown in FIG. The arm tip 13 is taught to move along the shortest path while taking into account the moving speed V corresponding to the moving distance of the vehicle A as measured while moving with an efficient flow from the front to the rear of the vehicle A. Yes. That is, it is configured such that a plurality of measurement points k of the entire vehicle A can be efficiently measured while sequentially repeating measurement and movement.

  At the measurement point k, the measurement is performed in a state where the displacement sensor 14 and the vehicle A are relatively stationary by synchronizing the movement of the arm tip 13 so that the movement speed V and the movement direction E of the vehicle A are encoded. In the present embodiment, as described above, the number of pulses of a rotary encoder (not shown) connected to the rotation shaft of a sprocket (not shown) that drives the conveyor C is transmitted to the computer P to calculate the moving distance of the conveyor C. The multi-axis robot 2 can recognize the position of the vehicle A on the conveyor C.

  In this case, even if the measurement point k is positioned so as to straddle the curved surface, the displacement sensor 14 disposed at the arm tip 13 is always at the optimum position within the movable range due to the flexible movement of the multi-axis robot 2. It can be measured by angle.

  Next, when the measurement by the multi-axis robot 2 is completed, the multi-axis robot 2 enters a standby state and stops at the standby position (position shown in FIGS. 5 to 9) until the subsequent vehicle A appears. When the vehicle height detection sensor 26 detects the front end portion m of the following vehicle A, the vehicle height detection sensor 26 continuously measures the vehicle height H from the front end portion m along the approximate center of the vehicle A (step S10: YES). The measurement data is sequentially transmitted to the computer P as time-series data, and at the same time, the process returns to the above-described step S2 and repeats the above-described series of operations until the subsequent vehicle A is eliminated (step S10: NO). It ends when no longer.

  The above-described flow of measurement of gaps and steps is an example of a control method when using the automatic building inspection apparatus 1 according to this embodiment, and is within the scope of the gist of the present invention described in the claims. Various modifications and changes are possible.

  As described above, the automatic building inspection apparatus 1 according to the present embodiment is configured, and includes the multi-axis robot 2 having the base 3 fixed on the floor F on the lateral side of the conveyor C. The axial robot 2 is provided with a displacement sensor 14 using a slit laser beam 15 at the arm tip 13, and the arm tip 13 is synchronized with the moving speed of the conveyor C so that the displacement sensor 14 and the vehicle A are relatively stationary. By measuring a plurality of locations on the vehicle A, the displacement sensor 14 can be moved to an accurate position and measured regardless of the shape of the vehicle A. And can be operated without limiting the vehicle type.

  Further, since the gap X and the step Y existing on the upper surface of the vehicle A, such as the gap between the bonnet b and the fender f, can be measured, all the measurement points of one vehicle A can be automatically measured.

  Furthermore, not only can the number of workers be reduced by automatic measurement without depending on the skill level of the worker, but also trend management using a database can be easily performed.

  Also, an IC tag 20 on which vehicle information is recorded and adhered to the outer surface of the vehicle A, an IC tag reading unit 22 that is disposed above the conveyor C and reads vehicle information on the IC tag 20, and an upper side of the conveyor C Of the vehicle height detection sensor 26, the vehicle width detection sensors 30 and 30 a disposed on the lateral sides of the conveyor C, the IC tag reading unit 22, the vehicle height detection sensor 26, and the vehicle width detection sensor 30. The vehicle front end detection sensor 33 disposed in front of the traveling direction E of the conveyor C and the measurement start sensor 40 disposed in front of the vehicle front end detection sensor 33 are provided. At the same time as detecting the front end m of the vehicle A, the vehicle information recorded on the IC tag 20 is read by the IC tag reader 22, and the vehicle height H and the vehicle are detected by the vehicle height detection sensor 26 and the vehicle width detection sensors 30, 30a. W is measured, and the measurement by the multi-axis robot 2 is started only when the measured vehicle height H and vehicle width W match the vehicle information, and the vehicle A is detected by the measurement start sensor 40. Thus, the model of the vehicle A to be measured can be double-checked using the vehicle information recorded in the IC tag 20 and the measured values of the vehicle height H and the vehicle width W by automatic measurement, and the model can be reliably determined. Therefore, it is possible to prevent the production line from being stopped due to a measurement error or the like and improve the operation rate.

  Further, since the measurement is started upon receiving the detection of the vehicle A by the measurement start sensor 40 only when the type of the detected vehicle A matches the measurement target vehicle A, the multi-axis robot 2 is wasted when it does not match. Can be prevented, and damage to the vehicle A to be measured by the multi-axis robot 2 can be prevented.

  In addition, since the multi-axis robot 2 is arranged on both sides of the conveyor C so as to face each other via the conveyor C, it can simultaneously measure within the respective movable ranges from the left and right sides of the vehicle A. The measurement time can be halved as compared with the case of one multi-axis robot 2.

  In addition, the vehicle width detection sensor 30 can be arranged on both lateral sides of the conveyor C so as to face each other via the conveyor C, so that the measurement accuracy of the vehicle width W can be improved.

  Further, the position of the vehicle A on the conveyor C is calculated from the measurement values obtained by the vehicle height detection sensor 26 and the vehicle width detection sensors 30 and 30a, and the amount of deviation is calculated by comparison with a preset position of the vehicle A. Thus, if the movement of the arm tip 13 of the multi-axis robot 2 or 2a is configured to be offset according to the amount of deviation, the position of the vehicle A placed on the conveyor C can be accurately recognized for each measurement. Therefore, measurement with higher accuracy can be performed.

  The preferred embodiments of the present invention have been described above. However, the present invention is not limited to the specific embodiments, and various modifications and changes can be made within the scope of the gist of the present invention described in the claims. It can be changed.

A Vehicle C Conveyor E Traveling direction F Floor surface H Vehicle height k Measurement point m Front end V Movement speed W Vehicle width X Clearance Y Step 1 Automatic installation inspection device 2 Multi-axis robot 2a Multi-axis robot 13 Arm tip 14 Displacement sensor 15 Slit laser beam 20 IC tag 22 IC tag reader 26 Vehicle height detection sensor 30 Vehicle width detection sensor 30a Vehicle width detection sensor 33 Vehicle front end detection sensor 40 Measurement start sensor

Claims (5)

An automatic building inspection device that measures gaps and steps between components mounted on a vehicle mounted on a moving conveyor,
The conveyor and a multi-axis robot having a base fixed on the floor surface on the side of the conveyor,
The multi-axis robot includes a displacement sensor using slit laser light at an arm tip, and the arm tip is synchronized with a moving speed and a moving direction of the conveyor so that the displacement sensor and the vehicle are relatively stationary. An automatic building inspection apparatus configured to measure a plurality of locations of the vehicle with a displacement sensor. An IC tag on which vehicle information is recorded and attached to the outer surface of the vehicle;
An IC tag reader that is disposed above the conveyor and reads the vehicle information of the IC tag;
A vehicle height detection sensor disposed above the conveyor;
A vehicle width detection sensor disposed on a lateral side of the conveyor;
A vehicle front end detection sensor disposed ahead of the IC tag reading unit, the vehicle height detection sensor, and the vehicle width detection sensor in the traveling direction of the conveyor;
A measurement start sensor disposed in front of the vehicle front end detection sensor,
The vehicle front end detection sensor detects the front end of the vehicle and at the same time reads the vehicle information recorded on the IC tag by the IC tag reader, and further determines the vehicle height by the vehicle height detection sensor and the vehicle width detection sensor. The vehicle width is measured, and the measurement by the multi-axis robot is started only when the measured vehicle height and the vehicle width coincide with the vehicle information and the vehicle is detected by the measurement start sensor. The building automatic inspection apparatus according to claim 1, wherein the apparatus is configured.   3. The automatic building inspection apparatus according to claim 1, wherein the multi-axis robot is disposed opposite to both sides of the conveyor via the conveyor.   4. The automatic building inspection apparatus according to claim 2, wherein the vehicle width detection sensor is disposed opposite to both sides of the conveyor via the conveyor.   By calculating the position of the vehicle on the conveyor from the measurement values obtained by the vehicle height detection sensor and the vehicle width detection sensor, and calculating the amount of deviation compared with a preset position of the vehicle, 5. The automatic building inspection apparatus according to claim 2, wherein the movement of the tip of the arm of the multi-axis robot is offset according to the amount of deviation.

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