Automatic measuring equipment

Abstract

Provided is an automatic measurement device that automate a contact-type measurement device that is inexpensive and easy to use. The automatic measurement apparatus includes: a measurement device including a movable element that is displaceable with respect to a fixed element and moves forward and backward to come into contact with or away from a workpiece, and a displacement detection portion that detects a displacement or position of the movable element; and an automatic operation section that automate the forward / backward movement of the movable element by power. When the movable element is in contact with the workpiece, vibration is applied directly or indirectly to at least one of the workpiece and the measuring device in such a manner that contact surfaces of the workpiece and the measuring device are brought into close contact with each other by changing a relative position and orientation between the workpiece and the measuring device.

Description

[0001] Incorporated by Reference

[0002] This application is based upon and claims the benefit of priority of Japanese patent application No. 2023-141875 (DAS code 0D23) filed on August 31, 2023, the disclosure of which is incorporated herein by reference in its entirety. Technical Field

[0003] The present invention relates to an automatic measuring device for automatically measuring a workpiece using a small measuring device for measuring the size of the workpiece. Background Art

[0004] As measuring devices (measuring tools) for measuring the size of a workpiece, micrometers, calipers, Hall tests, cylindrical ring gauges, and Borematic (registered trademark) are known. Such contact-type measuring devices (measuring tools) are widely used due to their ease of use, stable measurement, relatively low cost, and other advantages. However, the workpiece and the movable element (spindle, measuring claw, or contact point) are required to be in close contact appropriately, and the same measuring pressure is required to be constantly applied, which inevitably results in manual measurement. Therefore, it is time-consuming and laborious to measure with such a contact-type measuring machine.

[0005] As an alternative to manual measurement, it has been proposed to use non-contact measuring devices such as air micrometers and laser scanning micrometers at production sites (JP H08-14871 A). However, air micrometers and laser scanning micrometers themselves are extremely expensive and relatively difficult to maintain.

[0006] Patent document 1: JP H10-89903 A

[0007] Patent Document 2: JP 2019-100904 A

[0008] Patent Document 3: JP H08-14871 A Summary of the invention

[0009] Although various proposals such as proposals using motor power have been proposed to automate contact measurement, there are no successful practical applications that are widely used by the public (JP H10-089903A). In addition, contact measurement can be automated by using a coordinate measuring machine (CMM) or the like (JP 2019-100904A), but this requires an investment of tens to hundreds of millions of yen, which is not suitable for using CMM as a substitute for measurement using a micrometer or caliper.

[0010] An object of the present invention is to provide an automatic measuring apparatus that automates a contact-type measuring device that is inexpensive and easy to use.

[0011] An automatic measuring device according to an exemplary embodiment of the present invention comprises:

[0012] A measuring device that measures a size of a workpiece, the measuring device comprising a movable element that can be displaced relative to a fixed element and move forward and backward to contact or move away from the workpiece, and a displacement detecting portion that detects a displacement or position of the movable element;

[0013] an automatic operation section that automates the forward / backward movement of the movable element by power; and

[0014] a vibration actuator that applies vibration directly or indirectly to at least one of the workpiece and the measuring device when the movable element is in contact with the workpiece to promote a change in the relative position and posture between the workpiece and the measuring device in such a manner that contact surfaces of the workpiece and the movable element are brought into close contact with each other by an operation for changing the relative position and posture between the workpiece and the measuring device at a pressure lower than a predetermined measurement pressure previously set in the measuring device,

[0015] The automatic measuring equipment uses the measuring device to automatically measure the workpiece.

[0016] In an exemplary embodiment of the present invention, preferably, the automatic measuring device further comprises:

[0017] a moving part for relatively moving the workpiece and the measuring device to place the workpiece within a measuring range of the measuring device; and

[0018] a floating joint portion, which is interposed between the moving part and the measuring device to allow relative translation and rotation of the measuring device with respect to the moving part,

[0019] Therein, the vibration actuator is attached to the measuring device.

[0020] In an exemplary embodiment of the present invention, preferably, the automatic measuring device further comprises:

[0021] a workpiece holding portion that holds the workpiece,

[0022] wherein, when the movable element contacts the workpiece, the workpiece holding portion holds the workpiece in such a manner that the position and posture of the workpiece are changed at a pressure lower than a predetermined measurement pressure previously set in the measuring device, and

[0023] The vibration actuator is attached to the workpiece holding portion.

[0024] In an exemplary embodiment of the present invention, it is preferred that the automatic operation section moves the movable element forward to bring the movable element into contact with the workpiece, then moves the movable element backward by a predetermined amount, and finally moves the movable element forward again to generate a predetermined measurement pressure between the workpiece and the movable element, and

[0025] When the movable element is moved forward again to generate a predetermined measurement pressure between the workpiece and the movable element, the vibration actuator is driven.

[0026] In an exemplary embodiment of the present invention, it is preferred that the displacement detecting section acquires the displacement or position of the movable element as a measurement value after the automatic operating section stops the movable element from moving forward again and the vibration actuator stops driving.

[0027] An automatic measuring device according to an exemplary embodiment of the present invention comprises:

[0028] A measuring device for measuring a size of a workpiece, the measuring device comprising a movable element and a displacement detecting portion, the movable element being displaceable relative to a fixed element and moving forward and backward to contact or move away from the workpiece, the displacement detecting portion being used to detect a displacement or position of the movable element;

[0029] an automatic operation section for automating the forward / backward movement of the movable element by power; and

[0030] A workpiece holding portion for holding the workpiece in such a manner that the position and posture of the workpiece are changed at a pressure lower than a predetermined measurement pressure previously set in the measuring device when the movable element is in contact with the workpiece.

[0031] In an exemplary embodiment of the present invention, preferably, the workpiece holding portion includes:

[0032] abutment part;

[0033] a workpiece mounting table, wherein the workpiece is placed or mounted on the workpiece mounting table; and

[0034] A floating joint portion is interposed between the base portion and the workpiece mounting table to allow relative displacement of the workpiece mounting table with respect to the base portion.

[0035] In an exemplary embodiment of the present invention, preferably, the floating joint part comprises:

[0036] a translation allowing mechanism portion for allowing translation displacement of the workpiece mounting table relative to the base portion; and

[0037] a rotation allowing mechanism portion for allowing the workpiece mounting table to rotate relative to the base portion, and

[0038] The base portion, the translation allowing mechanism portion, the rotation allowing mechanism portion, and the workpiece mounting table are provided in this order from the lower side.

[0039] In an exemplary embodiment of the present invention, it is preferred that the translation allowing mechanism portion includes a translation body for allowing translation of the workpiece mounting table relative to the base portion, and

[0040] The rotation allowing mechanism portion includes a flexible body that is deformable to allow displacement of the workpiece mounting table in a tilting direction relative to the base portion.

[0041] In an exemplary embodiment of the present invention, it is preferred that the workpiece holding portion includes a limiting member for adjusting the displacement of the workpiece mounting table, and

[0042] The restricting member regulates displacement of the workpiece mounting table when the movable element is away from the workpiece, and allows displacement of the workpiece mounting table when the movable element and the workpiece are in contact with each other and the measuring pressure is applied from the movable element to the workpiece.

[0043] In an exemplary embodiment of the present invention, it is preferred that the workpiece holding portion includes a vibration actuator for directly or indirectly applying vibration to the workpiece to facilitate a change in a relative position and posture between the workpiece and the measuring device.

[0044] In an exemplary embodiment of the present invention, it is preferred that the workpiece holding portion includes:

[0045] a limiting component for adjusting the displacement of the workpiece mounting table; and

[0046] a vibration actuator for directly or indirectly applying vibration to the workpiece to facilitate a change in the relative position and posture between the workpiece and the measuring device,

[0047] The automatic operation section moves the movable element forward to bring the movable element into contact with the workpiece, then moves the movable element backward by a predetermined amount, and finally moves the movable element forward again to generate a predetermined measurement pressure between the workpiece and the movable element, and

[0048] When the movable element is moved forward again to generate a predetermined measurement pressure between the workpiece and the movable element, the restricting member releases the workpiece mounting table to allow displacement of the workpiece mounting table, and the vibration actuator is driven. BRIEF DESCRIPTION OF THE DRAWINGS

[0049] Figure 1 is a diagram showing an overall configuration of an automatic measuring apparatus according to a first exemplary embodiment;

[0050] Figure 2 This is a diagram of the appearance of the automatic micrometer device;

[0051] Figure 3 is a cross-sectional view of a holding portion of a measuring device;

[0052] Figure 4 is a flow chart for explaining the measuring operation of the automatic micrometer device;

[0053] Figure 5 is a flow chart for explaining the measuring operation of the automatic micrometer device;

[0054] Figure 6 is a diagram showing an example of a main shaft moving forward;

[0055] Figure 7 is a diagram showing an example of a workpiece W clamped between an anvil and a spindle;

[0056] Figure 8 is an overall appearance diagram of an automatic inner diameter measuring device according to a second exemplary embodiment;

[0057] Fig. 9 is a perspective view of the appearance of the electric inner diameter measuring unit when viewed from slightly front;

[0058] Fig.10 This is a perspective view of the side appearance of the electric inner diameter measuring unit when viewed from a slightly rear side;

[0059] Fig.11 It is the front view of the electric inner diameter measuring unit;

[0060] Fig.12 It is a cross-sectional view of the internal structure of the electric inner diameter measuring device;

[0061] Fig.13 This is an exploded view of the floating joint section;

[0062] Fig.14 is a cross-sectional view of the floating joint;

[0063] Fig.15 is a diagram for explaining a function for adjusting the position and posture of an electric inner diameter measuring device;

[0064] Fig.16 is a diagram for explaining a function for adjusting the position and posture of an electric inner diameter measuring device;

[0065] Fig.17is a diagram for explaining a function for adjusting the position and posture of an electric inner diameter measuring device;

[0066] Fig.18 is a diagram for explaining a function for adjusting the position and posture of an electric inner diameter measuring device;

[0067] Fig.19 is a diagram for explaining a function for adjusting the position and posture of an electric inner diameter measuring device;

[0068] Fig. 20 This is an exploded view of the collision detection unit;

[0069] Fig.21 is a perspective view of the collision detection portion when viewed from a slightly rear side;

[0070] Fig. 22 is a functional block diagram showing a control unit;

[0071] Fig.23 is a flow chart showing the overall operation in automatic inner diameter measurement;

[0072] Fig.24 is a flow chart showing the operation process of the hole insertion step;

[0073] Fig.25 is a flow chart showing the operation process of the measuring step;

[0074] Fig.26 is a flow chart showing the operation process of the hole avoidance step;

[0075] Fig. 27 is a diagram schematically showing a workpiece holding base portion according to a third exemplary embodiment;

[0076] Fig.28 is a diagram showing an example of the function of a workpiece holding base portion for adjusting the posture of a workpiece;

[0077] Fig.29 is a diagram showing an example of the function of a workpiece holding base portion for adjusting the posture of a workpiece; and

[0078] Fig.30 is a diagram showing an example of a restriction member.

[0079] [Explanation of Reference Numerals]

[0080] 100 Automatic measuring equipment

[0081] 111 Conveyor belt

[0082] 112 Storage Tank

[0083] 120 Measuring device body

[0084] 130 Robotic Arm

[0085] 140 Robot

[0086] 150 Camera

[0087] 200 Automatic measuring unit (automatic micrometer device)

[0088] 300 micrometer (measuring device)

[0089] 310U-shaped frame (fixed element)

[0090] 311 Display Panel

[0091] 320 anvil

[0092] 330 spindle (movable element)

[0093] 340 Casing Department

[0094] 350 Displacement Detection Unit

[0095] 400 Measuring device support frame

[0096] 410 base frame

[0097] 411 First long side

[0098] 412 Second longest side

[0099] 413 First short side

[0100] 414 Second short side

[0101] 420 Measuring device holding part

[0102] 421, 422 Clamping parts

[0103] 423 Elastic Rubber Sheet

[0104] 460 workpiece holding base (workpiece holding part)

[0105] 461 Support Pillar

[0106] 462 Workpiece placement plate

[0107] 500 Automatic Operation Department

[0108] 510 Motor cover

[0109] 520 Motor

[0110] 530 Power Transmission Department

[0111] 531 Fastening ring

[0112] 532 Rotating Plate

[0113] 533 Transmission connecting rod

[0114] 600 vibration motor (vibration actuator)

[0115] 800 Control Unit

[0116] 2100 Automatic inner diameter measuring equipment

[0117] 2110 Measuring equipment body

[0118] 2120 Electric ID Measuring Unit

[0119] 2130 Multi-joint robotic arm

[0120] 2131 Hand

[0121] 2132 Force Sensor Department

[0122] 2140 Control Unit

[0123] 2150 Measurement Operation Control Unit

[0124] 2151 Restriction Control Unit

[0125] 2152 Motor drive control unit

[0126] 2153 Measurement value acquisition unit

[0127] 2160 Robotic Arm Drive Control Unit

[0128] 2170 Central Control Unit

[0129] 2200 Electric internal diameter measuring device

[0130] 2210 cylindrical shell (fixed element)

[0131] 2211 Upper cylindrical shell

[0132] 2213 Intermediate cylindrical shell

[0133] 2214 Lower cylindrical shell

[0134] 2215 Head cylindrical part

[0135] 2216 Leaf Spring

[0136] 2220 Measuring head

[0137] 2230 bars

[0138] 2231 Backswing

[0139] 2233 Downswing

[0140] 2240 Casing Department

[0141] 2241 Casing sleeve

[0142] 2242 Ratchet Socket

[0143] 2243 Coil spring (load adjustment elastic body)

[0144] 2250 contact points (movable elements)

[0145] 2251 Gradually Narrowing Face

[0146] 2252 Round shaft front end

[0147] 2600 Displacement Detection Unit

[0148] 2261 Rotor

[0149] 2262 Stator

[0150] 2270 Shell

[0151] 2271 Outer shell

[0152] 2272 Upper part of the housing

[0153] 2273 Display Unit

[0154] 2274 Display

[0155] 2280 Electric drive unit (automatic operation unit)

[0156] 2300 Measuring device support frame

[0157] 2300 Support frame

[0158] 2310 Support pillar

[0159] 2320 Support base

[0160] 2321 First insertion hole

[0161] 2400 floating joint part (floating joint mechanism part)

[0162] 2410 Rotation Permitting Mechanism

[0163] 2412 Coil spring (elastic body)

[0164] 2414 Ring hole

[0165] 2420 Translation Permit Mechanism

[0166] 2421 horizontal plate (translation body)

[0167] 2422 Second insertion hole

[0168] 2423 Ball

[0169] 2500 Restricted Parts

[0170] 2510 Clamp

[0171] 2600 Collision Detection Department

[0172] 2601 Fixed plate

[0173] 2602 Mounting plate

[0174] 2610 Linear Guide

[0175] 2611 Slot frame

[0176] 2612 Sliding body

[0177] 2620 Coil Spring

[0178] 2630 Contact Sensor

[0179] 2631 Contact detection block

[0180] 2632 Ball Plunger

[0181] 2700 Vibration Motor (Vibration Actuator)

[0182] 2710 Installation support

[0183] 3000 Workpiece holding base (workpiece holding part)

[0184] 3100 abutment

[0185] 3110 Pin

[0186] 3200 Workpiece Mounting Table

[0187] 3210 hole

[0188] 3400 Floating joint

[0189] 3410 Rotation Permitting Mechanism

[0190] 3412 Coil Spring

[0191] 3420 Translation Permit Mechanism

[0192] 3421 horizontal plate (translation body)

[0193] 3423 Ball

[0194] 3500 Restricted Parts

[0195] 3510 Clamp

[0196] 3700 Vibration Motor DETAILED DESCRIPTION

[0197] Embodiments of the present invention are illustrated and described with reference to the reference numerals assigned to the elements in the drawings.

[0198] Note that each embodiment may be implemented independently, or two or more embodiments may be implemented in combination, and modifications added in each embodiment are applicable to other embodiments.

[0199] (First Exemplary Embodiment)

[0200] Next, a first exemplary embodiment of the present invention is described.

[0201] Figure 1 is a diagram showing the overall configuration of the automatic measuring device 100 .

[0202] The automatic measuring device 100 includes a measuring device body 120 and a control unit 800 .

[0203] (Measuring device main body 120)

[0204] The measuring device main body 120 includes a robot arm portion 130 as a moving member, and an automatic measuring unit 200 .

[0205] The moving part will be described using a multi-joint arm robot as an example, but a simpler moving mechanism combining rotation or linearity of one or two axes may be used. Since the moving part only needs to relatively move the workpiece W and the measuring device, the moving part can transport the workpiece W or the moving part can move the measuring device, but the moving part that transports the workpiece W will be described as an example in the first exemplary embodiment. For example, the workpiece W (e.g., a part) processed by a machine tool (e.g., a numerical control (NC) lathe) is transported by the conveyor belt 111.

[0206] The workpiece W is transferred to the stocker 112 for pre-processing. As the pre-processing, degreasing and dust removal by air blowing may be performed. The pre-processed workpiece W is transferred to the measurement area of ​​the automatic measurement unit 200 by the robot arm part 130 as a moving member.

[0207] The robot arm section 130 is a multi-joint robot arm section 130, and includes a robot hand 140 for grasping the workpiece W at its front end and a camera 150 for image recognition. The robot arm section 130 recognizes the workpiece W by image recognition, grasps the workpiece W with the robot hand 140, and transfers the workpiece W to the measurement area of ​​the automatic measurement unit 200. Here, it is assumed that the robot hand 140 places the workpiece W in the measurement area in a preset orientation (posture), and releases the workpiece W once.

[0208] For simpler systems, people can manually pick up and transfer the workpiece W

[0209] The workpiece W conveyed to the measurement area in this manner is measured with respect to its dimensions by the automatic measurement unit 200 .

[0210] (Automatic measurement unit 200)

[0211] The automatic measuring unit 200 brings a contact point (movable element) into contact with the workpiece W to measure the size of the workpiece W. As the size of the workpiece W, although the inner size (inner diameter) or the outer size (outer diameter) may be measured, the outer size (outer diameter) is measured as an example in the first exemplary embodiment.

[0212] The automatic measuring unit 200 is an automatic micrometer 300 which is a small measuring device (small measuring tool). The automatic measuring unit 200 in the first exemplary embodiment is referred to as an automatic micrometer device 200 .

[0213] Figure 2 2 is an external view of the automatic micrometer device 200 .

[0214] The automatic micrometer device 200 includes a micrometer (measuring device) 300 , a measuring device supporting frame portion 400 , an automatic operation portion 500 , a workpiece holding base portion (workpiece holding portion) 460 , and a vibration motor (vibration actuator) 600 .

[0215] The micrometer 300 is originally a small manually-operated measuring device, and a commercially available micrometer 300 can be used as the micrometer 300 in the present exemplary embodiment.

[0216] The configuration of the micrometer 300 will be briefly described below.

[0217] The micrometer 300 includes a U-shaped frame (fixed element) 310 , a spindle (movable element) 330 , a sleeve portion 340 , and a displacement detecting portion 350 .

[0218] The U-shaped frame 310 includes an anvil 320 located within one end of the U-shape.

[0219] The spindle 330 is provided at the other end of the U-shaped frame 310 and can be axially moved forward and backward relative to the anvil 320. The spindle 330 is provided with a measuring surface on one end surface of the spindle 330 to be in contact with the workpiece W. Similarly, the anvil 320 is provided with a measuring surface on the other end surface of the anvil 320 to be in contact with the workpiece W. The measuring surface is processed into a flat surface and is formed of a cemented carbide material or ceramics.

[0220] Note that the U-shaped frame 310 may be, for example, a micrometer head that does not include the anvil 320 . The anvil 320 that pairs with the spindle 330 to clamp the workpiece W may be mounted on the measuring axis as a separate body relative to the micrometer 300 .

[0221] By the rotation operation of the sleeve part 340, the spindle 330 is fed and moves forward and backward in the axial direction. There are two types of methods of feeding the spindle 330: a rotation feed type in which the spindle 330 itself rotates and a linear feed type in which the spindle 330 itself does not rotate. In the rotation feed type, the spindle 330 is provided with an external thread, and the U-shaped frame 310 is provided with an internal thread. The sleeve part 340 and the spindle 330 are engaged to rotate together, and the spindle 330 is rotated by the rotation operation of the sleeve part 340. Then, the spindle 330 moves forward or backward by spiral feeding. In the linear feed type, a feed thread is provided in the sleeve part 340, and the spindle 330 is provided with a pin engaged with the feed thread. When the sleeve part 340 rotates during the spindle 330 being locked, the spindle 330 is fed by the engagement between the pin and the feed thread. The type of the micrometer 300 to be employed in the present exemplary embodiment may be a rotation feed type or a linear feed type.

[0222] The sleeve part 340 is disposed at the other end of the main shaft 330 at the other end of the U-shaped frame 310. The sleeve part 340 is an operating part that moves the main shaft 330 forward and backward through a rotation operation.

[0223] The micrometer 300 to be adopted in the present exemplary embodiment preferably includes a constant pressure mechanism between the sleeve portion 340 and the spindle 330. When a preset load is applied to the spindle 330, the constant pressure mechanism disengages the sleeve portion 340 and the spindle 330, thereby causing the sleeve portion 340 to idle relative to the spindle 330. By constantly activating the constant pressure mechanism in the same appropriate manner during measurement, the measurement pressure during measurement can be kept constant, and the measurement accuracy (repeatability) can be kept high. The constant pressure mechanism is included in the commercially available micrometer 300 and is disclosed in JP 3115555 B, JP 3724995 B, JP 5426459 B, and JP5270223 B. The constant pressure mechanism may be composed of a ratchet mechanism that allows sliding when a force higher than a predetermined load is applied between the sleeve portion 340 and the spindle 330, or a leaf spring interposed between the outer sleeve and the inner sleeve of the sleeve portion 340 to allow sliding at a load higher than a predetermined load.

[0224] The micrometer 300 to be adopted in the present exemplary embodiment preferably includes a measuring pressure detection mechanism for detecting the load applied to the spindle 330. For example, such a measuring pressure detection mechanism is disclosed in JP 3751540 B, JP 4806545 B, and JP 2019-190916A. The measuring pressure detection mechanism can directly or indirectly detect the load applied to the spindle 330 using a strain gauge or the like, or can detect that the load applied to the spindle 330 has reached a predetermined value based on the activation of a constant pressure mechanism. The measuring pressure detection mechanism outputs a signal (measurement pressure signal) when a predetermined measuring pressure is detected. For example, the displacement detection unit 350 samples (latches) the measured value (displacement) in response to the measuring pressure detection mechanism detecting a predetermined measuring pressure.

[0225] The displacement detection unit 350 detects the displacement (or position) of the spindle 330. The displacement detection unit 350 is composed of a rotary encoder or a linear encoder.

[0226] The displacement detection unit 350 may be an analog type (scale type) instead of an encoder. In this case, for automation, the scale may be read by a digital camera 150 or the like, and the measured value may be read by image analysis (image recognition). In this case, the displacement detection unit 350 may be composed of an analog type scale, a digital camera 150, and an image recognition unit (image analysis unit).

[0227] Furthermore, the U-shaped frame 310 includes a display panel 311 for displaying a measured value and a switch for operation on its front surface. As a function of a built-in circuit, the U-shaped frame 310 also has a measured value output function for outputting a measured value to the outside via wired or wireless communication.

[0228] Next, the measuring device supporting frame portion 400 is described. The measuring device supporting frame portion 400 includes a base frame 410 and a measuring device holding portion 420.

[0229] The base frame 410 is a rectangular frame as a whole. Figure 2 Among the four sides constituting the base frame 410, two sides parallel to the X-axis direction are the first long side 411 and the second long side 412, and two sides parallel to the Y-axis direction are the first short side 413 and the second short side 414.

[0230] It is desirable that the first long side portion 411 , the second long side portion 412 , the first short side portion 413 , and the second short side portion 414 are retractable to adjust their lengths. This allows the size of the base frame 410 to be adjusted according to the size of the micrometer 300 or the workpiece W.

[0231] The measuring device holding portion 420 is mounted on the first long side portion 411, the automatic operation portion 500 is mounted on the second short side portion 414, and the workpiece holding base portion 460 is mounted on the second long side portion 412. The first long side portion 411 has a track to allow the mounting position of the measuring device holding portion 420 to be adjusted along the X-axis direction. Similarly, the second short side portion 414 has a track to allow the mounting position of the automatic operation portion 500 to be adjusted along the Y-axis direction. The second long side portion 412 has a track to allow the mounting position of the workpiece holding base portion 460 to be adjusted along the X-axis direction.

[0232] The measuring device holding portion 420 is fixedly attached to the first long side portion 411. The measuring device holding portion 420 sandwiches the micrometer 300 between the upper clamping piece and the lower clamping piece to attach the micrometer 300 to the base frame 410 (the first long side portion 411). Figure 3 4 is a cross-sectional view of the measuring device holding portion 420 .

[0233] The measuring device holding portion 420 includes a first clamping member 421 and a second clamping member 422, and the first clamping member 421 and the second clamping member 422 each have an elastic rubber sheet 423 as a buffer material on the surface facing each other. In addition to the elastic rubber, the buffer material may be a foam resin, a spring or an airtight bag (e.g., an air cap). The buffer material has sufficient buffering properties so that the vibration will not be suppressed when the vibration is applied to the micrometer 300 by the vibration motor 600 to be described later. Alternatively, the clamping members 421 and 422 may be thin plates, and the clamping members 421 and 422 themselves may have elasticity to hold the measuring device (micrometer 300). The U-shaped frame (fixed element) 310 of the micrometer (measuring device) 300 is clamped between the first clamping member 421 and the second clamping member 422. The orientation of the micrometer 300 is as follows: the forward / backward moving direction (axial direction) of the spindle 330 is parallel to the X-axis, one end side (anvil 320 side) of the U-shaped frame 310 faces the first short side 413, and the other end side (sleeve side) of the U-shaped frame 310 faces the second short side 414.

[0234] The automatic operation section 500 automates the forward / backward movement of the main shaft (movable member) 330 by the power of the motor 520 .

[0235] The automatic operation portion 500 includes a motor housing 510 , a motor 520 , and a power transmission portion 530 .

[0236] The motor cover 510 accommodates the motor 520 and the motor controller. The motor cover 510 is arranged on an extension line of the center line of the main shaft 330 (or the sleeve part 340) of the micrometer 300. In other words, the automatic operation part 500 is installed in such a way that the rotation axis of the rotor of the motor 520 and the center axis of the main shaft 330 (or the sleeve part 340) are on the same line. If necessary, the position of the motor cover 510 can be adjusted by moving the motor cover 510 along the track of the second short side part 414.

[0237] The motor 520 may be a conventional electric motor that extracts the rotation of the rotor to an output shaft. However, the motor 520 is preferably capable of controlling the rotation angle (number of revolutions) of the forward and reverse rotations to a certain extent by controlling the pulses. In addition, the motor 520 preferably has a torque detection function. (Various methods are known for detecting the torque of the motor 520, such as determining the torque from an increase or decrease in the applied current (applied voltage), etc.). A stepper motor may be used as the motor 520. (It goes without saying that a servo motor or a synchronous motor is also applicable, and the structure and drive system of the motor 520 are not particularly limited.)

[0238] The power transmission part 530 includes a fastening ring 531 fitted to the sleeve part 340, a rotating plate 532 configured to rotate synchronously with the rotating shaft of the rotor of the motor 520, and a transmission link 533 connecting the fastening ring 531 and the rotating plate 532. One end of the transmission link 533 is fixed to the fastening ring 531, and the other end is fixed to the rotating plate 532. The transmission link 533 is parallel to the central axis of the main shaft 330. When the rotating plate 532 is rotated by the motor 520, the rotation is transmitted to the fastening ring 531 through the transmission link 533, and the fastening ring 531 rotates synchronously with the rotating plate 532.

[0239] The workpiece holding base portion 460 holds the workpiece W to be measured in the measuring area of ​​the micrometer (measuring device) 300. The workpiece holding base portion 460 includes a support pillar 461 and a workpiece placement plate 462. The support pillar 461 is attached to the first long side portion 411. The workpiece placement plate 462 is an L-shaped plate having a plane parallel to the XY plane, and is fixed to the support pillar 461. The position of the support pillar 461 is adjusted along the second long side portion 412 so that the workpiece W held by the workpiece holding base portion 460 is in the measuring area of ​​the micrometer (measuring device) 300, and the height (position in the Z-axis direction) of the workpiece placement plate 462 is adjusted so that the portion to be measured of the workpiece W is clamped between the anvil 320 and the spindle 330.

[0240] The surface of the workpiece placement plate 462 on which the workpiece W is placed is flat, and the workpiece W placed on and held by the placement surface easily changes its position and posture when pushed by the spindle 330. In other words, when the spindle 330 contacts the workpiece W, the workpiece W is pushed toward the anvil 320 and slides on the placement surface until the workpiece W contacts the anvil 320. Then, when the workpiece W contacts the anvil 320, the movement of the workpiece W is restricted, and the workpiece W is clamped between the anvil 320 and the spindle 330. At this time, the workpiece W changes its posture, which causes the measuring surface of the anvil 320 and the contact surface of the workpiece W to be in close contact and the measuring surface of the spindle 330 and the contact surface of the workpiece W to be in close contact. In this way, the workpiece W is not fixed, and is allowed to move on the placement surface to a certain extent, which allows the portion to be measured of the workpiece W to be clamped between the anvil 320 and the spindle 330 without any gap.

[0241] If the friction of the placement surface of the workpiece placement plate 462 is too small, the workpiece W may slide and fall, or deviate from its placement orientation or posture when placed by the robot 140 or a human hand, and the placement surface of the workpiece placement plate 462 is desirably processed unevenly to generate some friction with the workpiece W. While the workpiece is on the placement surface, it is desirable that the placement surface is processed to allow the workpiece W to change its position and posture when a force less than the set measurement pressure (about 1N to 5N) is applied to the workpiece W.

[0242] A vibration motor (vibration actuator) 600 is attached to the micrometer 300. Here, the vibration motor 600 is attached to one end face of the U-shaped frame 310 of the micrometer 300, but the vibration motor 600 can be attached to any position of the micrometer 300 (measuring device) and can be attached to the spindle side frame of the micrometer 300. In an exemplary embodiment, the vibration motor 600 is attached to the outer side of the micrometer 300 (measuring device) because the commercially available micrometer 300 will be used in the automatic measuring device 100 in its original form, but the vibration motor 600 can be embedded in the electronic unit or the frame. The vibration actuator only needs to generate vibration and can be a so-called eccentric motor, a piezoelectric actuator, a rotary vibration actuator, or a linear vibration actuator. The vibration motor 600 may contain a dedicated small battery, or may be powered by the micrometer 300. The vibration motor 600 is connected to the control unit 800 via a wireless or wired connection and is driven by a control signal from the control unit 800.

[0243] The control unit 800 includes an arithmetic unit and a memory device constituted by a computer including a central processing unit (CPU), a read-only memory (ROM) and a random access memory (RAM), and a motor drive circuit that generates drive signals (voltage signals or current signals) and applies them to the motor 520. The control unit 800 controls the rotation drive of the motor 520 to control the forward / backward movement of the spindle 330. The control unit 800 also drives the vibration motor 600 at appropriate timing to facilitate the change of the posture of the workpiece W. In addition, the control unit 800 also samples the measurement value from the micrometer 300 (displacement detection unit 350) at appropriate timing. The control operation of the control unit 800 will be described later with reference to the flowchart.

[0244] (Operation Instructions)

[0245] The operation of the automatic micrometer device 200 is described below.

[0246] Figure 4 and Figure 5 1 is a flowchart for explaining the measurement operation of the automatic micrometer device 200 .

[0247] When it is detected that the workpiece W is placed on the workpiece placement plate 462 by the robot arm 130 (ST110: Yes), the control unit 800 performs a preset (programmed) motor drive control. The control unit 800 rotates the motor 520 in a relatively high forward direction to move the spindle 330 forward toward the anvil 320 (ST120). At this time, the rotation speed of the motor 520 is, for example, 180 rpm (or about 100 rpm to 200 rpm). Figure 6 An example is shown in which the main shaft 330 moves forward.

[0248] In ST120, in terms of reducing the measurement time, it is desirable to increase the rotation speed as high as possible. However, if the rotation speed is too high, when the spindle 330 contacts the workpiece W, the workpiece W may be damaged. In addition, if the rotation speed is too high, the centrifugal force generated in the power transmission part 530 becomes high, and this makes the motor torque larger. Then, due to the configuration of detecting the contact between the spindle 330 (anvil 320) and the workpiece W by the magnitude of the torque, the torque detection function may erroneously detect the contact between the spindle 330 (anvil 320) and the workpiece W. Therefore, it is desirable to first set a torque threshold for detecting the contact between the spindle 330 and the workpiece W, and then rotate the motor 520 at a speed that does not exceed the torque threshold.

[0249] As the spindle 330 moves forward toward the anvil 320 , the spindle 330 comes into contact with the workpiece W. Since the workpiece W is not fixed on the workpiece placement plate 462 , the workpiece W is pushed by the spindle 330 and comes into contact with the anvil 320 .

[0250] Figure 7 3 is a diagram showing an example of a workpiece W clamped between the anvil 320 and the spindle 330. At the moment when the workpiece W is clamped between the anvil 320 and the spindle 330, the motor torque increases, and the motor controller detects through the torque detection function that the spindle 330 has come into contact with the workpiece W, in other words, that the anvil 320 and the spindle 330 have come into contact with the workpiece W (ST130: YES).

[0251] When it is detected that the spindle 330 has come into contact with the workpiece W, the control unit 800 immediately causes the motor 520 to rotate in the reverse direction at a relatively high speed for a predetermined number of revolutions to move the spindle 330 backward (ST140). The reverse rotation number of revolutions is, for example, 180 rpm. The reverse rotation number of revolutions is, for example, 0.5 rpm. This rotation speed (180 rpm) is an example, and the rotation speed during the forward movement (ST120) may be the same as or different from the rotation speed during the reverse rotation (ST140).

[0252] Here, the spindle 330 is not "stopped" or "decelerated", but is expected to move backward once with a relatively high speed reverse rotation. The first reason is to ensure that the spindle 330 does not drill into the workpiece W. Transmitting a control signal to move the spindle 330 backward once instead of simply stopping the spindle 330 ensures that the spindle 330 does not drill into the workpiece W. Although the constant pressure mechanism is activated when the measurement pressure is generated, it is necessary to ensure the operating distance of the spindle 330 so that the constant pressure mechanism is activated during the constant forward movement of the spindle 330 at the same speed. For this reason, it is expected that the spindle 330 is moved backward once to ensure the same operation of always applying the measurement pressure to the workpiece W.

[0253] Then, the spindle 330 moves forward again so that the spindle 330 is in close contact with the workpiece W at a predetermined measurement pressure (ST150, ST160). At this time, the vibration motor 600 is driven in coordination with the forward movement of the spindle 330 (ST141). In other words, after the first high-speed backward movement step (ST140) and before the low-speed forward movement step (ST150) starts, the control unit 800 starts driving the vibration motor 600 (ST141).

[0254] The motor 520 rotates forward at a relatively low speed to move the spindle 330 forward toward the anvil 320 (ST150, ST160). As the low-speed forward movement step (ST150), the motor 520 rotates forward at a relatively low speed. The number of revolutions is the same as the number of revolutions in the previous backward movement (ST140).

[0255] Here, for example, 0.5 revolutions at 9 rpm are used. The workpiece W is slowly pushed to ensure contact between the workpiece W and the anvil 320 and between the workpiece W and the spindle 330. At this time, the vibration of the vibration motor 600 is transmitted to the micrometer 300, which causes the spindle 330 and the anvil 320 to vibrate slightly. This reduces the friction at the interface between the workpiece W and the spindle 330 and between the workpiece W and the anvil 320, and facilitates the change of the posture of the workpiece W.

[0256] Then, as a measuring surface contact step (ST160), the motor 520 rotates forward at a relatively low speed (ST160). The number of revolutions is assumed to be, for example, equivalent to the number of revolutions (the number of revolutions of the spindle 330), and the number of revolutions of the sleeve portion 340 corresponds to the time from when the workpiece W contacts the anvil 320 and the spindle 330 until the constant pressure mechanism is started. Here, 0.5 revolutions at 9 rpm are used. (This is the same as ST150, but the rotation speed and number of revolutions can be appropriately changed). Here, the constant pressure mechanism is slowly started once to ensure that the contact surfaces between the workpiece W and the anvil 320 and the contact surfaces between the workpiece W and the spindle 330 are firmly adapted to each other (closely contacted with each other).

[0257] Now, in this state, the workpiece W is firmly clamped between the anvil 320 and the spindle 330. The driving of the vibration motor 600 is stopped (ST161).

[0258] As a measurement pressure applying step (ST170), the motor 520 is rotated forward at a relatively high speed. For example, 3 turns at 180 rpm are used. At this time, the constant pressure mechanism is activated again, and a predetermined measurement pressure is applied.

[0259] Note that the motor rotation speed in this step (ST170) can be higher (e.g., 150 rpm to 250 rpm). Since the contact surface between the workpiece W and the spindle 330 has been adapted in the previous step (ST160), the contact surface between the spindle 330 (anvil 320) and the workpiece W is now firmly adapted. Therefore, the spindle 330 (anvil 320) is less likely to drill into the workpiece W. In addition, since the spindle 330 (anvil 320) and the workpiece W are already in contact with each other, there is no such limitation that will cause the torque detection function to erroneously detect the contact between the spindle 330 (anvil 320) and the workpiece W. The number of revolutions in this step (ST170) is the number of revolutions required to start the constant pressure mechanism, which is approximately 1.5 to 3.5 revolutions and depends on the specifications of the micrometer 300 (constant pressure mechanism) to be used.

[0260] At the moment when the constant pressure mechanism is activated in the measurement pressure applying step (ST170), the micrometer 300 samples the measurement value (ST180). The sampled measurement value (measurement data) is output to the outside via wired or wireless communication, and the measurement data is collected and processed by an external personal computer (PC) or a data processing device via the control unit 800.

[0261] At this point, one measurement value has been acquired, and the control unit 800 reversely rotates the motor 520 at a relatively high speed to move the spindle 330 backward. While the workpiece W is being replaced, the measuring operation is continued.

[0262] With the automatic measuring device 100 according to the present exemplary embodiment, the measuring operation of the workpiece W can be almost automated. The automatic micrometer device 200 according to the present exemplary embodiment automates the micrometer 300 as a small measuring device (small measuring tool). Since it is expected that a typical factory already has the micrometer 300, the automation of the micrometer 300 can be achieved simply by preparing the measuring device support frame portion 400, the workpiece holding base portion 460, the automatic operation portion 500, and the vibration motor 600. In other words, the cost required to introduce automatic measurement can be kept extremely low, which greatly contributes to reducing labor shortages.

[0263] The micrometer 300 is a contact type and has extremely high measurement stability. In addition, the micrometer 300 has a long history and is widely used around the world, which makes it the most familiar measuring device for measuring operators. Therefore, the operator is completely familiar with the necessary manipulations of the micrometer 300, such as calibration work, and there is little need to learn or train difficult work procedures.

[0264] Various automatic measuring devices have been proposed in the past, but most of them use non-contact measuring tools. For example, many of them use air micrometers or laser scanning micrometers, etc. However, such non-contact measuring devices are extremely expensive and somewhat difficult to maintain. In this regard, the automatic micrometer device 200 capable of automating the micrometer 300 according to the present exemplary embodiment has the advantages of being cheap and easy to operate.

[0265] One of the reasons why it is difficult to automate the micrometer 300, which is a representative of a small measuring device (small measuring tool), is that it is difficult to properly clamp the workpiece W from both sides and adapt the contact surface (measuring surface). In this regard, in the present exemplary embodiment, the relative position between the workpiece W and the micrometer 300 is not fixed, and the position and posture can be changed by a force lower than the measuring pressure. In addition, the constant pressure mechanism in the micrometer 300 and the torque detection mechanism in the motor 520 are used as a whole to move the spindle 330 forward and backward in several steps. In particular, a step (ST160) of firmly adapting the measuring surface (contact surface) (making the measuring surface (contact surface) in close contact) and a step (ST170) of applying a predetermined measuring pressure are performed. In addition, the vibration motor 600 is driven at an appropriate timing to facilitate the change of the posture of the workpiece W, which ensures close contact between the workpiece W and the spindle 330 and between the workpiece W and the anvil 320. Normally, when the sleeve is rotated manually, measurement is performed by rotating the sleeve at a constant speed and applying a constant pressure at the same constant rotation, rather than by moving the sleeve backward or by operating the constant pressure mechanism in two stages, slow and fast. However, through repeated experiments under different conditions, a control procedure different from the manual operation has been designed, and a stable measurement value can be obtained even in automatic measurement. This makes automation of the micrometer 300 possible. In addition, by motor control, the workpiece W can always be measured with the same operation, and this eliminates the problem of measurement value differences caused by the skill level or movement habits of each operator.

[0266] Although the contact between the workpiece W and the spindle 330 is detected by torque detection, the contact between the spindle 330 (movable element) and the workpiece W may be detected based on the detection value by the displacement detecting section 350. For example, by comparing the number of times the drive pulse is transmitted to the motor 520 with the displacement of the spindle 330, when the spindle 330 stops without moving forward a predetermined number of consecutive times as expected, it can be determined that the spindle 330 is in contact with the workpiece W.

[0267] Although the vibration motor 600 mounted on the measuring device (micrometer) is described as an example, the vibration motor may be mounted on the workpiece holding base portion to provide vibration to the workpiece W. Alternatively, the vibration motor may be mounted on both the measuring device and the workpiece holding base portion.

[0268] (Second exemplary embodiment)

[0269] A second exemplary embodiment of the present invention is described below.

[0270] The present exemplary embodiment describes an automatic inner diameter measuring apparatus 2100 for automating the measurement of the inner diameter (hole diameter) of a hole to be measured.

[0271] (Automatic inner diameter measuring equipment 2100)

[0272] Figure 8 This is an overall appearance diagram of the automatic inner diameter measuring device 2100.

[0273] The automatic inner diameter measuring apparatus 2100 includes a measuring apparatus body 2110 and a control unit 2140 that controls the overall operation.

[0274] (Measuring device body)

[0275] The measuring device main body 2110 includes an electric inner diameter measuring unit 2120 that measures the diameter of a hole to be measured and a multi-joint robot arm part 2130 that is a moving member that moves the electric inner diameter measuring unit 2120 .

[0276] (Electric inner diameter measuring unit 2120)

[0277] The electric inner diameter measuring unit 2120 is attached to and held by the hand 2131, which is the front end of the robot arm 2130. The electric inner diameter measuring unit 2120 is inserted into the inner side of the hole to be measured to obtain the measured value of the inner diameter. The electric inner diameter measuring unit 2120 also has a function of autonomously adjusting its own position and posture to accurately measure the hole to be measured.

[0278] The configuration of the electric inner diameter measuring unit 2120 is described.

[0279] Fig. 9 This is a perspective view of the appearance of the electric inner diameter measuring unit 2120 from slightly front side.

[0280] Fig.10 This is a perspective view of the appearance of the electric inner diameter measuring unit 2120 from the side slightly from the back.

[0281] Fig.11 21 is a front view of the electric inner diameter measuring unit 2120.

[0282] The electric inner diameter measuring unit 2120 includes an electric inner diameter measuring device 2200 , a measuring device supporting frame 2300 , a floating joint portion (floating joint mechanism portion) 2400 , a limiting component 2500 , a collision detection portion 2600 , a force sensor portion 2132 and a vibration motor (vibration actuator) 2700 .

[0283] (Electric inner diameter measuring device 2200)

[0284] The electric inner diameter measuring device 2200 is an existing manual inner diameter measuring device (eg, hole testing) that motorizes rod feeding.

[0285] Fig.12 It is a cross-sectional view of the internal structure of the electric inner diameter measuring device 2200.

[0286] The electric inner diameter measuring device 2200 includes a cylindrical shell portion (fixed element) 2210 , a rod 2230 , a sleeve portion 2240 , a contact point (movable element) 2250 , a displacement detecting portion 2260 , a housing portion 2270 , a display unit 2273 , and an electric drive unit (automatic operation portion) 2280 .

[0287] The cylindrical shell part 2210 is a shell having a cylindrical shape as a whole.

[0288] The rod 2230 moves axially forward and backward inside the cylindrical shell 2210. The cylindrical shell 2210 includes an upper cylindrical shell 2211 constituting an upper portion, an intermediate cylindrical shell 2213 constituting a middle portion, a lower cylindrical shell 2214 constituting a lower portion, and a head cylindrical portion 2215 constituting a measuring head 2220. The intermediate cylindrical shell 2213 is attached to the lower end of the upper cylindrical shell 2211, the lower cylindrical shell 2214 is attached to the lower end of the intermediate cylindrical shell 2213, and the head cylindrical portion 2215 is attached to the lower end of the lower cylindrical shell 2214.

[0289] The rod 2230 is a longitudinal rod-shaped body as a whole. The rod 2230 includes an upper rod 2231 and a lower rod 2233. The upper rod 2231 is a main shaft and has a feed thread (external thread) on the outer surface of its base end (upper end side). The upper cylindrical shell 2211 has an internal thread, and the feed thread is threadedly connected to the internal thread.

[0290] The sleeve portion 2240 is provided at the base end (upper end side) of the upper rod 2231. The sleeve portion 2240 includes a sleeve sleeve 2241, a ratchet sleeve 2242, and a coil spring 2243. The sleeve sleeve 2241 is externally adapted to the base end of the upper rod 2231 (rod 2230) by the adaptation of the gradually narrowing surface 2251, and is attached to the base end of the upper rod 2231 (rod 2230). The ratchet sleeve 2242 is a cylindrical body provided above the sleeve sleeve 2241, and the coil spring 2243 is interposed between the sleeve sleeve 2241 and the ratchet sleeve 2242. The foot screw is screwed onto the base end face of the upper rod 2231, and the ratchet sleeve 2242 is pushed by the head flange of the foot screw. At this time, the coil spring 2243 is sandwiched between the ratchet sleeve 2242 and the sleeve sleeve 2241.

[0291] Between the ratchet sleeve 2242 and the sleeve sleeve 2241, a ratchet mechanism (not shown) is provided. Here, the rotation direction of the ratchet sleeve 2242, the sleeve sleeve 2241 or the rod 2230 in the direction of feeding the rod 2230 downward (in the direction of causing the contact point 2250 to protrude) is the positive rotation direction. On the contrary, the rotation direction of the ratchet sleeve 2242, the sleeve sleeve 2241 or the rod 2230 in the direction of feeding the rod 2230 upward (in the direction in which the contact point 2250 moves backward) is the negative rotation direction. The ratchet mechanism allows the ratchet sleeve 2242 to idly rotate relative to the sleeve sleeve 2241 in the positive rotation direction, and does not allow the ratchet sleeve 2242 to idly rotate in the negative rotation direction.

[0292] When the ratchet sleeve 2242 is subjected to a (positive) rotation operation, the rotation of the ratchet sleeve 2242 is transmitted to the rod 2230 via the coil spring 2243 and the sleeve sleeve 2241. There is an upper limit to the force (rotational force) transmitted from the ratchet sleeve 2242 to the rod 2230. That is, if an attempt is made to rotate the rod 2230 with a force exceeding the friction force (static friction force) acting between the ratchet sleeve 2242, the coil spring (load adjustment elastic body) 2243 and the sleeve sleeve 2241, the ratchet mechanism causes the ratchet sleeve 2242 to idle relative to the sleeve sleeve 2241. The sleeve portion 2240 constitutes a constant pressure mechanism for adjusting the upper limit of the force (measurement force) acting between the object to be measured and the contact point 2250. On the contrary, a predetermined force (measuring force) is generated between the object to be measured and the contact point 2250, which can be limited by the amount of pressure of the base screw, and when the contact point 2250 applies the predetermined force (measuring force) to the object to be measured, a reaction force is applied to the contact point 2250, that is, the electric inner diameter measuring device 2200.

[0293] The lower rod 2233 is disposed inside the head cylindrical portion 2215 .

[0294] The upper end of the lower rod 2233 contacts the lower end of the upper rod 2231. The lower end of the lower rod 2233 is conical.

[0295] The contact point 2250 is provided in the head cylindrical portion 2215 to move forward and backward in a direction perpendicular to the axial direction of the rod 2230. Three contact points 2250 are provided at intervals of 120° in the head cylindrical portion 2215. Each contact point 2250 has a thin round shaft front end 2252 made of carbide at its outer end. When each contact point 2250 moves forward in the protruding direction, the round shaft front end 2252 contacts the inner wall of the object to be measured.

[0296] A gradually narrowing surface 2251 is formed on the inner end side of each contact point 2250, and the gradually narrowing surface 2251 contacts the conical surface of the lower rod 2233. The conical surface of the lower rod 2233 and the gradually narrowing surface 2251 of each contact point 2250 constitute a displacement direction conversion component for changing the direction of force and displacement to a right angle.

[0297] In the head cylindrical portion 2215, a spring (e.g., a leaf spring) 2216 corresponding to each contact point 2250 is provided, one end of the leaf spring 2216 is fixed to the inner wall of the head cylindrical portion 2215, and the other end of the leaf spring 2216 is fixed to the contact point 2250. Each leaf spring 2216 applies force to the corresponding contact point 2250 in the direction of movement toward the head cylindrical portion 2215. When the rod 2230 is pulled upward by an external force, the force of each leaf spring 2216 causes the contact point 2250 to follow the rod 2230 and move in the direction of entering the head cylindrical portion 2215.

[0298] The portion of the head cylindrical portion 2215 (the front end portion of the inner diameter measuring device) where the contact point 2250 protrudes and retracts is also referred to as a measuring head 2220 .

[0299] The displacement detecting unit 2260 is provided inside the intermediate cylindrical shell 2213 to detect the displacement of the upper rod 2231. The displacement detecting unit 2260 is a so-called rotary encoder including a rotor 2261 provided to rotate integrally with the upper rod 2231, a stator 2262 for counting the rotation of the rotor 2261, and a signal processing calculation unit (not shown). The detection method of the displacement detecting unit 2260 is not particularly limited, and examples of the displacement detecting unit 2260 include a photoelectric encoder, a capacitive encoder, an electromagnetic induction encoder, a magnetic encoder, and the like.

[0300] The outer shell 2270 is an outer cylindrical part covering the outside of the cylindrical shell 2210. The outer shell 2270 is configured to cover the electric inner diameter measuring device 2200 above the middle of the lower cylindrical shell 2214. The outer shell 2270 is composed of two parts, the outer shell 2271 accommodating the middle part therein and the upper shell 2272 accommodating the upper part therein. The outer shell 2271 is a cylindrical body covering the entire middle cylindrical shell 2213 corresponding to the middle part of the electric inner diameter measuring device 2200, the upper end side of the lower cylindrical shell 2214, and the lower end side of the upper cylindrical shell 2211.

[0301] The housing upper portion 2272 is a cylindrical body connected to the upper end of the housing body portion 2271 and covers the upper cylindrical shell portion 2211 constituting the upper portion of the electric inner diameter measuring device 2200 .

[0302] The display unit 2273 includes a display portion 2274, and is attached to the side openings of the intermediate cylindrical shell portion 2213 and the outer shell portion 2271 to close the openings. The display portion 2274 is a digital display portion 2274 (e.g., a liquid crystal display panel or an organic EL display panel) fitted in the central area of ​​the display unit 2273. The display portion 2274 displays the measurement value calculated by a signal processing calculation unit (not shown) or the like.

[0303] The display unit 2273 is provided with a connector, and a measurement value calculated by a signal processing calculation unit (not shown) is output to the outside.

[0304] The electric drive unit 2280 is a drive unit for the ratchet socket 2242 of the rotating sleeve portion 2240. The electric drive unit 2280 is attached above the housing upper portion 2272. The electric drive unit 2280 is, for example, a motor, and transmits the rotation output of the motor to the ratchet socket 2242 via a power transmission mechanism (a gear train, a coupling belt, a coupling shaft, a coupling connecting rod, etc.).

[0305] The operation of the electric inner diameter measuring device 2200 is substantially the same as that of an existing manual inner diameter measuring device, except that the rod is fed by the electric drive unit 2280 .

[0306] When the rod 2230 moves forward and backward by electric power, the contact point 2250 protrudes from and retreats into the head cylindrical portion 2215 according to the movement of the lower rod 2233. By detecting the displacement (position) of the rod 2230 when the three contact points 2250 are in uniform contact with the inner wall of the hole to be measured, the inner diameter of the hole to be measured is obtained as a measured value.

[0307] (Measuring device support frame 2300)

[0308] The measuring device support frame portion 2300 is an L-shaped member in a side view, and includes a support column portion 2310 and a support base portion 2320. The support base portion 2320 is attached to the lower end of the vertical support column portion 2310 at a right angle.

[0309] The support pillar portion 2310 is adjacent to and parallel to the electric inner diameter measuring device 2200. The restriction member 2500 is provided on the front surface of the support pillar portion 2310, and the restriction member 2500 switches between holding and releasing the electric inner diameter measuring device 2200. This will be described later.

[0310] The support base portion 2320 is configured to be bent into an L shape from the lower end of the support pillar portion 2310 toward the electric inner diameter measuring device 2200. The support base portion 2320 includes a first insertion hole 2321 through which the head cylindrical portion 2215 of the electric inner diameter measuring device 2200 is inserted. The electric inner diameter measuring device 2200 is attached in such a manner that, during the insertion of the head cylindrical portion 2215 into the first insertion hole 2321, the upper portion above the lower cylindrical shell portion 2214 is placed on the support base portion 2320 via the floating joint portion 2400.

[0311] (Floating joint 2400)

[0312] Next, the floating joint section 2400 will be described.

[0313] Fig.13 24 is an exploded view of the floating joint portion 2400 .

[0314] Fig.14 is a cross-sectional view of the floating joint portion 2400 .

[0315] The floating joint portion 2400 is a joint (or coupling mechanism) that allows the electric inner diameter measuring device 2200 to rotate relative to the support frame portion 2300 , and also allows the electric inner diameter measuring device 2200 to translate horizontally relative to the support frame portion 2300 .

[0316] If there is axial misalignment (tilt and twist) between the electric inner diameter measuring device 2200 and the hole to be measured, the floating joint part 2400 that allows rotation and translation allows the electric inner diameter measuring device 2200 to autonomously adjust its own position and posture.

[0317] The floating joint portion 2400 includes a rotation allowing mechanism portion 2410 and a translation allowing mechanism portion 2420 .

[0318] The rotation allowing mechanism portion 2410 includes a first spring holder 2411, a coil spring (flexible body or elastic body) 2412, and a second spring holder 2413. The first spring holder 2411 and the second spring holder 2413 are generally ring-shaped with flanges extending radially outward from each ring.

[0319] like Fig.14 As shown in the cross-sectional view in FIG, the first spring retainer 2411 is adapted to the outer surface of the lower cylindrical shell part 2214 from the outside on the upper side of the lower cylindrical shell part 2214, and the first spring retainer 2411 is thereby fixedly attached to the electric inner diameter measuring device 2200. Here, the lower end surface of the outer shell part 2271 and the first spring retainer 2411 are continuously integrated, and the position where the first spring retainer 2411 is attached to the electric inner diameter measuring device 2200 is fixedly adjusted.

[0320] As an exemplary embodiment, the first spring holder 2411 may be installed in such a manner that the height (position) of the first spring holder 2411 corresponds to the height (position) of the center of gravity of the electric inner diameter measuring device 2200. For example, the first spring holder 2411 may be installed in such a manner that the height (position) of the first spring holder 2411 is substantially the same as the height (position) of the center of gravity of the electric inner diameter measuring device 2200. Alternatively, the first spring holder 2411 may be installed in such a manner that the height (position) of the first spring holder 2411 is within 20%, 15%, 10%, or 5% of the height (position) of the center of gravity of the electric inner diameter measuring device 2200 (in the length of the electric inner diameter measuring device 2200 in the vertical direction) above or below.

[0321] In a state where the coil spring 2412 accommodates the lower cylindrical case portion 2214 (electric inner diameter measuring device 2200 ) therein, the upper end of the coil spring 2412 is accommodated by the first spring holder 2411 . The lower end of the coil spring 2412 is accommodated by the second spring holder 2413 .

[0322] As an exemplary embodiment, instead of one coil spring 2412 , a plurality of elastic bodies or springs may be provided to surround the electric inner diameter measuring device 2200 (at equal angular intervals).

[0323] Although the spring preferably has a larger diameter (a larger distance between the spring and the central axis of the electric inner diameter measuring device 2200) to support the electric inner diameter measuring device 2200, if the spring diameter is too large (the distance between the spring and the central axis of the electric inner diameter measuring device 2200 is too large), the measuring pressure of the inner diameter measuring device alone cannot autonomously adjust the tilt of the electric inner diameter measuring device 2200 to align with the axis of the hole. If the spring diameter is to be increased (the distance between the spring and the central axis of the electric inner diameter measuring device 2200 is to be increased), the spring constant (elastic modulus) should be reduced.

[0324] If the diameter of the spring is to be reduced (the distance between the spring and the central axis of the electric inner diameter measuring device 2200 is to be reduced), the spring constant (elastic modulus) can be slightly increased. Although an elastic spring is described in the exemplary embodiment, the member coupling the first spring retainer 2411 and the second spring retainer 2413 can be a flexible member without elasticity instead of the coil spring 2412, as long as it can allow posture adjustment in the rotation direction of the electric inner diameter measuring device 2200.

[0325] The second spring retainer 2413 is coupled to the translation allowing mechanism portion 2420. Fig.14As shown in the cross-sectional view in FIG. 2 , the annular hole 2414 of the second spring retainer 2413 has a slight length (height) in the axial direction, and the diameter of the annular hole 2414 is slightly larger than the cylindrical shell 2210 (lower cylindrical shell 2214) of the electric inner diameter measuring device 2200 to the extent that it allows the electric inner diameter measuring device 2200 to tilt. The annular hole 2414 may be a gradually narrowing hole whose diameter increases toward the upper side or the lower side.

[0326] The translation allowing mechanism portion 2420 includes a horizontal plate (translation body) 2421 and a ball bearing 2423 .

[0327] The horizontal plate 2421 is a plate provided above the support base portion 2320. The horizontal plate 2421 includes a second insertion hole 2422 through which the electric inner diameter measuring device 2200 (lower cylindrical shell portion 2214) is inserted. The second spring holder 2413 is fitted into the second insertion hole 2422 from above.

[0328] That is, the rotation allowing mechanism part 2410 is on the horizontal plate 2421, and the electric inner diameter measuring device 2200 is supported by the rotation allowing mechanism part 2410. In other words, the electric inner diameter measuring device 2200 is supported on the horizontal plate 2421 with the rotation allowing mechanism part 2410 located therebetween.

[0329] The ball bearings 2423 are arranged on the upper surface side of the support base portion 2320. Here, four ball bearings 2423 are installed around the first insertion hole 2321 and the second insertion hole 2422 at intervals of 90 degrees, and the horizontal plate 2421 is placed on the ball bearings 2423.

[0330] The horizontal plate 2421 placed on the ball 2423 can be moved horizontally with little force and almost no friction. On the other hand, in order to deform the coil spring 2412 (elastic body) as the rotation allowing mechanism part 2410, a force is required to resist the elastic force. Therefore, in this exemplary embodiment, when a force (rotational or translational force) acts on the electric inner diameter measuring device 2200, the translation allowing mechanism part 2420 is relatively prioritized in displacement.

[0331] Reference Figures 15 to 19 The operation of adjusting the position and posture of the electric inner diameter measuring device 2200 by the effect of the floating joint part 2400 is described. For example, Fig.15The figure shows a case where it is assumed that the hole to be measured has been processed to have a deviation from the design value and the hole that should have been drilled vertically has an inclination and slightly deviates to the right in the figure relative to the position of the design value. The electric inner diameter measuring unit 2120 is moved to the hole by the mechanical arm part 2130, and the measuring head 2220 is inserted into the hole. Even if the drive of the mechanical arm part 2130 is accurately controlled, there is a position and angle deviation between the axis of the electric inner diameter measuring device 2200 and the axis of the hole to be measured, because the hole to be measured deviates from the design value.

[0332] Now, in order to accurately measure the inner diameter of the hole to be measured, all three contact points 2250 need to be in uniform contact with the inner wall of the hole to be measured. First, the electric drive unit 2280 drives the rod 2230 to move the rod 2230 downward. Then, the front end (cone) of the lower rod 2233 causes the contact point 2250 to protrude, and the contact point of the three contact points 2250 that is closer to the inner wall of the hole to be measured contacts the inner wall of the hole to be measured. As the lower rod 2233 continues to cause the contact point 2250 to protrude, a reaction force is applied to the contact point 2250 from the inner wall of the hole. This reaction force causes the electric inner diameter measuring device 2200 to be pushed in the opposite direction. The reaction force pushes the vicinity of the lower end of the lower rod 2233 from the contact point 2250, but displacement of the horizontal plate 2421 occurs first before the coil spring 2412 of the rotation allowing mechanism portion 2410 is deformed. Therefore, as Fig.16 and Fig.17 As shown, the displacement of the horizontal plate 2421 first absorbs the axial misalignment between the electric inner diameter measuring device 2200 and the hole to be measured. The first insertion hole 2321 of the support base part 2320 has a diameter large enough to allow the electric inner diameter measuring device 2200 to move horizontally.

[0333] exist Fig.16 ( Fig.17 ), the axial tilt is still misaligned between the electric inner diameter measuring device 2200 and the hole to be measured. Fig.16 ( Fig.17 ) When the contact point 2250 continues to protrude, the front end (circular axis) of the contact point 2250 contacts the inner wall of the hole. At this time (due to the length of the three circular axes), the reaction force applied from the inner wall of the hole to be measured to the electric inner diameter measuring device 2200 has a rotational torque. Fig.18 and Fig.19 As shown, the reaction force from the inner wall of the hole deforms the coil spring 2412 of the rotation allowing mechanism part 2410, and the inclination of the electric inner diameter measuring device 2200 is adjusted to align the axis of the electric inner diameter measuring device 2200 with the axis of the hole to be measured. The annular hole 2414 of the second spring holder 2413 allows the inclination of the electric inner diameter measuring device 2200.

[0334] Finally, when the three contact points 2250 are pushed against the inner wall of the hole to be measured with a predetermined measurement pressure, the floating joint part 2400 (the rotation allowing mechanism part 2410 and the translation allowing mechanism part 2420) allows the electric inner diameter measuring device 2200 to autonomously adjust its own position and posture to accurately measure the inner diameter of the hole to be measured. In other words, once the robot arm part 2130 is able to insert the measuring head 2220 of the electric inner diameter measuring device 2200 into the hole to be measured, the inner diameter of the hole can be accurately measured by automatic posture adjustment without the need for manual feel adjustment or advanced feedback control.

[0335] (Restriction component 2500)

[0336] The limiting member 2500 is provided to the supporting frame portion 2300 to hold and support the electric inner diameter measuring device 2200. Fig. 9 and Fig.10 As shown, the limiting component 2500 includes two clamping members 2510 for clamping the electric inner diameter measuring device 2200 from a direction perpendicular to the axis. Here, the clamping members 2510 clamp the outer shell body 2271 from both sides. The clamping members 2510 are movable, and the limiting component 2500 can be switched between a holding state of the electric inner diameter measuring device 2200 and a release state in which the holding is released.

[0337] Even if the clamps 2510 are opened to release the electric inner diameter measuring device 2200, the gap between each clamp 2510 and the electric inner diameter measuring device 2200 is preferably limited to a predetermined upper limit (approximately 5 mm or 10 mm) to accommodate any large displacement (translation or tilt) of the electric inner diameter measuring device 2200 beyond this limit.

[0338] The electric inner diameter measuring device 2200 is placed on the supporting base portion 2320 via the floating joint portion 2400. In order for the electric inner diameter measuring device 2200 to autonomously adjust its posture according to the hole to be measured using its own measuring pressure, the floating joint portion 2400 needs to be soft (softness or flexibility). Therefore, if the electric inner diameter measuring device 2200 is simply placed on the floating joint portion 2400, the electric inner diameter measuring device 2200 may swing unstably, tilt greatly, or fall down, depending on the rigidity (softness) of the floating joint portion 2400. From a safety point of view, it is not desirable for the electric inner diameter measuring device 2200 to swing or fall down. In addition, if the posture of the electric inner diameter measuring device 2200 is not fixed, the position of the measuring head 2220 is unstable, and the robot arm portion 2130 cannot insert the measuring head 2220 of the electric inner diameter measuring device 2200 into the hole to be measured.

[0339] For these reasons, when the electric inner diameter measuring device 2200 is not inserted into the hole to be measured, the limiting member 2500 clamps and holds the electric inner diameter measuring device 2200. Then, when the measuring head 2220 of the electric inner diameter measuring device 2200 is inserted into the hole to be measured, the limiting member 2500 releases the electric inner diameter measuring device 2200 so that the electric inner diameter measuring device 2200 can autonomously change and adjust its posture (perform autonomous adjustment) through the floating joint portion 2400.

[0340] (Collision Detection Unit 2600)

[0341] The collision detection section 2600 detects that the electric inner diameter measuring device 2200 has collided with something with a force greater than a predetermined force.

[0342] Fig. 20 It is an exploded view of the collision detection unit 2600 .

[0343] Fig.21 It is a perspective view of the collision detection unit 2600 when viewed from a slightly rear side.

[0344] The collision detection part 2600 is provided between the back side of the support pillar part 2310 and the hand part 2131 of the robot arm part 2130. Here, when the electric inner diameter measuring device 2200 approaches the object (e.g., workpiece W) from above the object and collides with the workpiece W, the collision detection part 2600 detects that a large force is applied to the electric inner diameter measuring device 2200 in the direction of pushing upward from below in the Z direction (vertical direction). That is, the collision detection direction of the collision detection part 2600 is almost parallel to the direction when the electric inner diameter measuring device 2200 approaches the hole to be measured.

[0345] The collision detecting portion 2600 includes a fixing plate 2601 , a mounting plate 2602 , a linear guide 2610 , a force applying member 2620 , and a contact sensor 2630 .

[0346] The fixing plate 2601 is directly or indirectly attached to the hand 2131 of the robot and is fixedly provided to the hand 2131. Here, the force sensor part 2132 is provided between the hand 2131 of the robot and the collision detection part 2600. Therefore, the collision detection part 2600 is attached to the hand 2131 of the robot arm part 2130 via the force sensor part 2132.

[0347] The mounting plate 2602 is directly or indirectly attached to the back side of the support pillar portion 2310, and is fixedly provided to the support pillar portion 2310 (support frame portion 2300). The linear guide 2610 is arranged between the fixed plate 2601 and the mounting plate 2602, and guides the moving direction of the mounting plate 2602 relative to the fixed plate 2601 in the vertical direction. The linear guide 2610 includes a groove frame 2611 having a groove in the vertical direction and a sliding body 2612 that slides in the vertical direction in the groove of the groove frame 2611. Here, the groove frame 2611 is attached to the fixed plate 2601, and the sliding body 2612 is attached to the mounting plate 2602.

[0348] The urging member 2620 is two coil springs 2620 .

[0349] One end of each coil spring 2620 is fastened to the fixed plate 2601, and the other end of the coil spring 2620 is fastened to the mounting plate 2602. Each coil spring 2620 constantly applies force to the mounting plate 2602 in a direction to pull the mounting plate 2602 downward relative to the fixed plate 2601. That is, the position of the mounting plate 2602 when the mounting plate 2602 is lowered vertically downward relative to the fixed plate 2601 by its own weight, the weight of the electric inner diameter measuring device 2200, and the applied force of the coil spring 2620 is the reference position.

[0350] The contact sensor 2630 includes a contact detection block 2631 disposed on the fixing plate 2601 and a ball plunger 2632 provided to the mounting plate 2602. Fig.21 As shown, when the mounting plate 2602 is in the reference position relative to the fixing plate 2601 , the ball plunger 2632 on the mounting plate 2602 contacts the contact detection block 2631 (fits into the contact detection block 2631 ).

[0351] Here, it is assumed that, for example, the position of a hole machined in the workpiece W is significantly deviated from the design value. In this state, when the robot arm part 2130 attempts to insert the electric inner diameter measuring device 2200 into the hole to be measured from above, the measuring head 2220 of the electric inner diameter measuring device 2200 collides with the workpiece W. The electric inner diameter measuring device 2200 (measuring head 2220) deviates from the hole and collides with the workpiece W, and the electric inner diameter measuring device 2200 (measuring head 2220) is further pushed into the workpiece W. Then, when a force that exceeds the gravity of the electric inner diameter measuring device 2200 and the applied force of the force applying member (coil spring) 2620 is applied to the collision detecting part 2600, the mounting plate 2602 slides upward and the ball plunger 2632 of the mounting plate 2602 is removed from the contact detecting block 2631. When the contact detection block 2631 detects the separation of the ball plunger 2632 (or when the contact detection block 2631 can no longer detect the contact of the ball plunger 2632), the contact sensor 2630 transmits a signal (collision detection signal).

[0352] When the collision detection part 2600 detects that the electric inner diameter measuring device 2200 has collided with something, the control unit 2140 immediately stops the operation of the robot arm part 2130 .

[0353] (Force sensor part 2132)

[0354] The force sensor unit 2132 is, for example, a 6-axis (force in three orthogonal axial directions and rotational force around an axis) force sensor. Although the collision detection unit 2600 is dedicated to detecting a force pushing upward from below in the vertical direction (Z direction), the force sensor unit 2132 detects the force applied to the electric inner diameter measuring device 2200 in all directions.

[0355] The multi-joint mechanical arm part 2130 is a so-called mechanical arm, and a hand part 2131 as a front end of the mechanical arm part 2130 is moved three-dimensionally using vertical and horizontal rotation drive axes. The hand part 2131 of the mechanical arm part 2130 is coupled to the support frame part 2300 via a force sensor part 2132 and a collision detection part 2600. The force sensor part 2132 detects that the electric inner diameter measuring device 2200 has collided with an object with an unexpected force exceeding a predetermined force in a direction in which the collision detection part 2600 does not detect a collision (i.e., a direction other than the vertical direction (Z direction)). When the force sensor part 2132 detects an unexpected collision of the electric inner diameter measuring device 2200, the control unit 2140 immediately stops the operation of the mechanical arm part 2130. This further ensures safety.

[0356] (Vibration Motor 2700)

[0357] The vibration motor (vibration actuator) 2700 is attached to the electric inner diameter measuring device 2200. The mounting support 2710 is attached to the cover of the electric drive unit 2280, and the vibration motor 2700 is installed above the electric drive unit 2280 through the mounting support 2710. Here, the vibration motor 2700 is installed on the central axis of the electric inner diameter measuring device 2200 and on the side away from the contact point 2250. The vibration motor 2700 is installed on the central axis because it is convenient to balance the overall weight, but the vibration motor 2700 can be installed in a manner that is detached from the central axis. In this case, it is preferred to attach the balance counteracting object in a manner that the center of gravity of the inner diameter measuring device does not deviate from the central axis.

[0358] Here, the vibration motor 2700 is installed on a side away from the contact point 2250 because this is advantageous in terms of torque, and it is considered that even a small vibration motor 2700 can provide sufficiently effective vibration to the contact point 2250. The vibration motor 2700 may be installed as close to the contact point 2250 as possible. In this case, the vibration of the vibration motor 2700 is directly transmitted to the contact point 2250. This is suitable, for example, when the vibration of the contact point 2250 needs to be finely controlled according to the material of the workpiece W.

[0359] (Control unit 2140)

[0360] Fig. 22 21 is a functional block diagram showing the control unit 2140. The control unit 2140 includes a measuring operation control unit 2150, a robot arm driving control unit 2160, and a central control unit 2170.

[0361] The measuring operation control unit 2150 controls the measuring operation of the electric inner diameter measuring device 2200 .

[0362] The measuring operation control unit 2150 includes a restriction control unit 2151 , a motor drive control unit 2152 , and a measurement value acquisition unit 2153 .

[0363] The restriction control unit 2151 controls the opening and closing operation of the clamping member 2510 of the restriction member 2500 to control the timing of holding and releasing the electric inner diameter measuring device 2200. The motor drive control unit 2152 controls the driving of the electric drive unit 2280 and the vibration motor 2700. The measurement value acquisition unit 2153 acquires the measurement value from the electric inner diameter measuring device 2200. That is, the measurement value acquisition unit 2153 receives the sensor value of the displacement detection part 2260 to acquire the measurement value of the inner diameter of the hole to be measured based on the displacement (position) of the rod 2230.

[0364] The robot driving control unit 2160 controls the operation of the robot part 2130. The central control unit 2170 controls the measuring operation control unit 2150 and the robot driving control unit 2160 as a whole.

[0365] (Control Operation of Automatic Inner Diameter Measuring Device 2100)

[0366] A series of operations in which the measuring apparatus main body 2110 (the electric inner diameter measuring unit 2120 and the robot arm portion 2130 ) automatically measures the inner diameter of the hole to be measured under the control of the control unit 2140 will be described below.

[0367] Fig.23 It is a flowchart of the overall operation of automatic inner diameter measurement (automatic inner diameter measurement operation).

[0368] A workpiece W (object to be measured) having a hole (hole to be measured) is conveyed by a conveyor belt or track in a production line and brought to a predetermined position in front of the measuring device body 2110 (electric inner diameter measuring unit 2120 and robot arm part 2130). The automatic inner diameter measuring device 2100 automatically and sequentially measures the inner diameter of the hole designated (set) as the object to be measured in the conveyed workpiece W (object to be measured). The position (coordinate) of the hole to be measured of each designated workpiece W (object to be measured) has been set (stored) in the central control unit 2170 as part of the measurement part program. Alternatively, the inner diameter measurement can be automatically and sequentially performed while searching for the hole to be measured by image recognition using a camera 150 or the like.

[0369] Here, it is assumed that the hole to be measured is a hole drilled to have an opening on the top surface in the vertical direction and the electric inner diameter measuring device 2200 is inserted into the hole from above while maintaining a substantially vertical orientation.

[0370] The automatic inner diameter measuring operation has a hole insertion step (approaching step) (ST2100), a measuring step (ST2200), and a hole retracting step (retracting step) (ST2300).

[0371] The hole insertion step (ST2100) is a step for moving the electric inner diameter measuring unit 2120 by the robot arm part 2130 and inserting the measuring head 2220 of the electric inner diameter measuring device 2200 into the hole to be measured (in other words, a step of approaching the workpiece W from above the workpiece W).

[0372] Fig.24 : is a flowchart showing the operation procedure of the hole inserting step (ST2100).

[0373] In the hole insertion step (ST2100), first, the destination (target coordinates) of the electric inner diameter measuring device 2200 to be moved by the robot arm part 2130 is set to the hole to be measured (ST2110). Then, it is confirmed that the electric inner diameter measuring device 2200 is restricted by the limiting component 2500 (ST2120). In the present exemplary embodiment, the state in which the limiting component 2500 restricts (holds) the electric inner diameter measuring device 2200 is a default state (which can be rephrased as a standard state or a reference state). However, since the holding of the limiting component 2500 may be released after the electric inner diameter measuring device 2200 is maintained or replaced, it is necessary to confirm the holding state. Then, when the electric inner diameter measuring device 2200 is not held (ST2120: No), the limiting control unit 2151 transmits a signal to perform a holding step (ST2130) using the limiting component 2500. By restraining (holding) the electric inner diameter measuring device 2200 during the period when the robot arm part 2130 moves the electric inner diameter measuring unit 2120 , the robot arm part 2130 can stably and safely move the electric inner diameter measuring device 2200 .

[0374] The driving of the robot arm part 2130 starts (ST2140) to move the electric inner diameter measuring unit 2120, and the measuring head 2220 of the electric inner diameter measuring device 2200 is inserted into the hole to be measured.

[0375] At this time, for example, if the processing position of the hole to be measured has deviated from the design value, the electric inner diameter measuring device 2200 (measuring head 2220) may unexpectedly collide with the workpiece W. In this regard, the robot drive control unit 2160 monitors the signals from the collision detection unit 2600 and the force sensor unit 2132 (ST2150). If a collision between the electric inner diameter measuring device 2200 (measuring head 2200) and the workpiece W is detected (ST2150: Yes), the drive of the robot arm unit 2130 is immediately stopped (emergency stop) (ST2180). Thereafter, the central control unit 2170 can report the abnormality to the operator.

[0376] When the measuring head 2220 of the electric inner diameter measuring device 2200 is inserted into the hole to be measured and reaches the target coordinates, the driving of the robot arm part 2130 is temporarily stopped (ST2170).

[0377] Next, the process proceeds to the measuring step (ST2200).

[0378] Fig.252 is a flowchart showing the operation process of the measuring step (ST2200). In the measuring step (ST2200), first, the holding by the limiting member 2500 is released (ST2210) so that the electric inner diameter measuring device 2200 is in a released state. Therefore, the electric inner diameter measuring device 2200 is in a state supported by the support frame portion 2300 via the floating joint portion 2400, which allows the electric inner diameter measuring device 2200 to autonomously adjust its position and posture.

[0379] Then, the motor drive control unit 2152 transmits a drive signal to drive the electric drive unit 2280. First, a first forward moving step (ST2220) is performed. The first forward moving step (ST2220) is a step of moving the contact point 2250 forward until the contact point 2250 initially contacts the inner wall of the hole to be measured. The electric drive unit 2280 (e.g., a motor) is driven to move the rod 2230 forward (in this case, downward), thereby moving the contact point 2250 forward toward the inner wall of the hole. In the first forward moving step (ST2220), the motor is driven at high speed to move the rod 2230 and the contact point 2250 as quickly as possible to improve the measurement efficiency. (For example, if the rod 2230 is a spiral feed, the rotation speed of the rod 2230 is 100rpm to 200rpm. In terms of the speed at which the rod 2230 or the contact point 2250 moves, the speed can be 10μm / s to 20μm / s).

[0380] As the contact point 2250 moves forward toward the inner wall of the hole, the contact point 2250 contacts the inner wall of the hole.

[0381] Here, in the present exemplary embodiment, the number of contact points 2250 is three. If the axis of the electric inner diameter measuring device 2200 and the axis of the hole to be measured are completely aligned, the three contact points 2250 can contact the inner wall of the hole at the same time, but because of the driving error of the mechanical arm part 2130 and the machining error of the workpiece W, the axis of the electric inner diameter measuring device 2200 and the axis of the hole to be measured are not aligned. In this case, any one of the three contact points 2250 initially contacts the inner wall of the hole. When any one of the three contact points 2250 has contacted the inner wall of the hole (ST2230: Yes), the first forward moving step (ST2220) is immediately stopped, and the process proceeds to the first backward moving step (ST2240). For example, by calculating the motor torque from the applied current (applied voltage) of the motor, the fact that the contact point 2250 has contacted the inner wall of the hole can be confirmed to determine that the contact point (one of them) has contacted the inner wall of the hole when the torque exceeds a predetermined value.

[0382] In the first backward movement step (ST2240), the rod 2230 and the contact point 2250 are slightly moved backward in opposite directions. This prevents the contact point 2250 from drilling into the inner wall of the hole due to its momentum after the contact point 2250 has contacted the inner wall of the hole in the first forward movement step (ST2220). The distance for moving the contact point 2250 backward in the first backward movement step (ST2240) is very small, for example, 0.001 mm to 0.01 mm.

[0383] The speed of the backward movement of the contact point 2250 in the first backward movement step (ST2240) can be as fast as possible. For example, if the rod 2230 is a screw feed, the rotation speed of the rod 2230 is 100rpm to 200rpm. In terms of the speed at which the rod 2230 or the contact point 2250 moves, the speed can be 10μm / s to 20μm / s.

[0384] After the contact point 2250 moves slightly backward in the first backward movement step (ST2240), the motor drive control unit 2152 starts driving the vibration motor 2700 (ST2241). In other words, after the first backward movement step (ST2240) and before the second forward movement step (ST2250) starts, the motor drive control unit 2152 starts driving the vibration motor 2700 (ST2241).

[0385] In the second forward moving step (ST2250), the contact point 2250 moves forward again. In the second forward moving step (ST2250), the contact point 2250 moves forward slowly (inching at a low speed).

[0386] The feeding speed of the contact point 2250 in the second forward moving step (ST2250) is preferably slow (micro-motion). For example, if the rod 2230 is a screw feed, the rotation speed of the rod 2230 is 10 rpm to 20 rpm. In terms of the speed at which the rod 2230 or the contact point 2250 moves, the speed may be 1 μm / s to 2 μm / s.

[0387] The position and inclination of the electric inner diameter measuring device 2200 are autonomously adjusted by the reaction force of the contact point 2250 pushing against the inner wall of the hole. The effect of autonomously adjusting the position and inclination of the electric inner diameter measuring device 2200 by the floating joint part 2400 that allows translation and rotation is as described above. In addition, at this time, the vibration of the vibration motor 2700 is transmitted to the contact point 2250 (the front end 2252 of the round shaft) so that the contact point 2250 (the front end 2252 of the round shaft) vibrates slightly. This reduces the friction at the interface between the contact point 2250 (the front end 2252 of the round shaft) and the workpiece W (the inner wall of the hole), and promotes the change of the posture of the electric inner diameter measuring device 2200.

[0388] When the three contact points 2250 are in uniform contact with the inner wall of the hole at a predetermined measurement pressure, the autonomous adjustment of the position and tilt of the electric inner diameter measuring device 2200 is completed. When the three contact points 2250 are in uniform contact with the inner wall of the hole at a predetermined measurement pressure, the ratchet mechanism (constant pressure mechanism) is activated. That is, the electric drive unit 2280 rotates and drives the sleeve part 2240 (ratchet sleeve 2242) until the ratchet mechanism (constant pressure mechanism) is activated, which makes the contact points 2250 in uniform contact with the inner wall of the hole at a predetermined measurement pressure.

[0389] The second forward moving step (ST2250) can be restated as an autonomous adjustment step.

[0390] At this time, the motor drive control unit 2152 stops driving the vibration motor 2700 (ST2251).

[0391] In this state, the displacement detecting unit 2260 detects the displacement (position) of the rod 2230. When acquiring the measurement value, the displacement (position) of the rod 2230 can be detected by the displacement detecting unit 2260 immediately after the driving of the vibration motor 2700 is stopped, or the measurement value can be sampled when the constant pressure is applied by performing the measurement pressure applying step again to drive the electric drive unit 2280 at a relatively high speed and start the ratchet mechanism (constant pressure mechanism). The measurement value acquiring unit 2153 acquires the inner diameter of the hole based on the displacement (position) of the rod 2230 (ST260).

[0392] After the measurement value is acquired, in the second backward movement step (ST2270), the contact point 2250 moves backward to separate the contact point 2250 from the inner wall of the hole.

[0393] After the measuring step (ST2200), in the hole retracting step (ST2300), the electric inner diameter measuring device 2200 is retracted from the hole to be measured. Fig.26 2 is a flowchart showing the operation process of the hole retreat step (ST2300). In the hole retreat step (ST2300), first, the electric inner diameter measuring device 2200 is restricted (held) by the restriction member 2500 (ST2320), and then the robot arm part 2130 moves the electric inner diameter measuring unit 2120 to retreat from the hole (ST2330).

[0394] In this way, the measurement of the inner diameter of one hole is completed. ST2100 to ST2300 (ST2400) are repeated until the measurement of all holes to be measured is completed.

[0395] In this way, according to the present exemplary embodiment, the inner diameter of the hole can be automatically measured by the electric inner diameter measuring unit 2120 (electric inner diameter measuring device 2200 and mechanical arm part 2130) without the need for a person to hold and operate the inner diameter measuring device. In the case of inner diameter measurement, the three contact points 2250 need to be properly in close contact with the inner wall of the hole. However, due to the weight of the inner diameter measuring device and the surface texture (roughness) of the workpiece W, the posture of the inner diameter measuring device cannot be properly changed by sliding the contact point 2250 (front end 2252 of the circular shaft) on the inner wall of the hole. In this regard, in the present exemplary embodiment, the vibration motor 2700 is driven at appropriate timing to reduce the friction between the contact point 2250 (front end 2252 of the circular shaft) and the workpiece W (inner wall of the hole) and promote the change of the posture of the inner diameter measuring device. This makes it possible to obtain stable measurement values ​​even in automatic measurement.

[0396] In the above-described embodiment, the release step (ST2210) is performed before the first forward moving step (ST2220). The release step (ST2210) may be paused until the contact between the contact point 2250 and the inner wall of the hole is detected (ST2230: Yes), and after the contact between the contact point 2250 and the inner wall of the hole is detected in the first forward moving step (ST2220), the release step (ST2210) may be performed before the first backward moving step (ST2240). Alternatively, the release step (ST2210) may be performed after the contact between the contact point 2250 and the inner wall of the hole is detected (ST2230: Yes) and the first backward moving step (ST2240) is performed. However, the start of the driving of the vibration motor 2700 is performed after the release step and before the second forward moving step (ST2250).

[0397] (Third Exemplary Embodiment)

[0398] Next, a third exemplary embodiment of the present invention is described.

[0399] In the second exemplary embodiment, the floating joint portion 2400, the restriction member 2500, and the vibration motor 2700 are provided in the electric inner diameter measuring unit 2120. In the third exemplary embodiment, the floating joint portion 3400, the restriction member 3500, and the vibration motor 3700 are provided in the workpiece holding portion.

[0400] Fig. 27 is a diagram schematically showing a third exemplary embodiment.

[0401] In the third exemplary embodiment, the electric inner diameter measuring device 2200 is directly attached to the measuring device support frame portion 2300. The hand 2131 of the robot arm portion 2130 is coupled to the support frame portion 2300 via the force sensor portion 2132 and the collision detection portion 2600, which may be common to the second exemplary embodiment. Therefore, it is not assumed that the hand 2131 of the robot arm portion 2130 and the electric inner diameter measuring device 2200 change their relative positions or relative postures.

[0402] In the third exemplary embodiment, a workpiece holding base portion (workpiece holding portion) 3000 is provided.

[0403] The workpiece holding base unit 3000 includes a base unit 3100 , a workpiece mounting table 3200 , a floating joint unit 3400 , a restricting member 3500 , and a vibration motor 3700 .

[0404] The workpiece W is placed on the workpiece mounting table 3200. It is assumed that the workpiece W is transferred by a moving part (robot) for transferring the workpiece, but a person can replace the workpiece W by hand. Here, it is assumed that the workpiece W does not slide and move on the surface of the workpiece mounting table 3200. For example, if the surface of the workpiece mounting table 3200 has a non-slip finish and the workpiece W has a certain weight, the workpiece W is not easy to move on the workpiece mounting table 3200. Alternatively, the surface of the workpiece mounting table 3200 may have a recessed portion (recess) for accommodating the workpiece W, or a plurality of pins (protrusions) for limiting the movement of the workpiece W.

[0405] The configuration of the floating joint portion 3400 is substantially the same as that in the second exemplary embodiment. That is, the floating joint portion 3400 includes a translation allowing mechanism portion 3420 that allows the workpiece mounting table 3200 to translate relative to the base portion 3100 and a rotation allowing mechanism portion 3410 that allows the workpiece mounting table 3200 to rotate relative to the base portion 3100. Between the base portion 3100 and the workpiece mounting table 3200, the translation allowing mechanism portion 3420 and the rotation allowing mechanism portion 3410 are provided in order from the lower side.

[0406] The first spring holder 3411 is provided on the back side of the workpiece mounting table 3200, the second spring holder 3413 is provided on the upper side of the horizontal plate (translation body) 3421, and the coil spring 3412 is interposed between the first spring holder 3411 and the second spring holder 3413. The ball 3423 is arranged on the upper side of the base portion 3100, and the horizontal plate (translator) 3421 is provided on the ball 3423. The floating joint portion 3400 is interposed between the base portion 3100 and the workpiece mounting table 3200 to allow translational movement of the workpiece mounting table 3200 and rotational displacement of the workpiece mounting table 3200. In other words, the workpiece holding base portion 3000 can allow translation and rotation of the workpiece W placed on the workpiece mounting table 3200.

[0407] The limiting member 3500 having almost the same configuration as the limiting member 2500 in the second exemplary embodiment limits the displacement of the workpiece mounting table 3200, and clamps the workpiece mounting table 3200 from both sides by two clamping members 3510. By closing or opening the movable clamping members 3510, the limiting member 3500 can be switched between a holding state of the workpiece mounting table 3200 and a released state in which the holding is released.

[0408] The vibration motor 3700 is mounted on the workpiece mounting table 3200. The vibration motor 3700 is preferably provided, but it may not be provided. Since the workpiece holding base portion (workpiece holding portion) 3000 in the third exemplary embodiment allows displacement of the workpiece mounting table 3200 using the floating joint portion 3400, the workpiece W can be pushed and displaced by the contact point of the measuring device without the vibration motor 3700. However, if the workpiece W is a heavy object, it is desirable to provide the vibration motor 3700 to displace the workpiece W.

[0409] The third exemplary embodiment is different from the second exemplary embodiment in that the object held / released by the limiting component 3500 is the workpiece mounting table 3200 and the object to be vibrated by the vibration motor 3700 via the workpiece mounting table 3200 is the workpiece W. The steps of the automatic inner diameter measuring operation are similar to those in the second exemplary embodiment. As an effect of the workpiece holding base portion 3000 in the third exemplary embodiment, the workpiece mounting table 3200 translates and tilts (rotates) in such a manner that the inner wall of the workpiece W and the contact point 2250 (the front end 2252 of the circular shaft) of the electric inner diameter measuring device 2200 are in close contact. For example, as Fig.28 As shown, if the center line of the workpiece deviates from the center of the hole, the workpiece mounting table 3200 is translated to adjust the position of the workpiece in such a way that all contact points 2250 (the front end of the circular shaft 2252) are in close contact with the inner wall of the workpiece. Alternatively, as Fig.29 As shown, if the center line of the workpiece is tilted relative to the bottom of the workpiece, the workpiece mounting table 3200 is tilted (rotated) to adjust the position of the workpiece in such a manner that all the contact points 2250 (the front end of the circular shaft 2252) are in close contact with the inner wall of the workpiece. In addition, by applying vibration to the workpiece W from the vibration motor 3700 via the workpiece mounting table 3200, the friction at the interface between the contact point 2250 (the front end of the circular shaft 2252) and the workpiece W (the inner wall of the hole) can be reduced to facilitate the change of the posture of the workpiece W on the workpiece mounting table 3200.

[0410] In the third exemplary embodiment, the electric inner diameter measuring device 2200 is not supported by the floating joint part 3400, and the posture of the electric inner diameter measuring device 2200 can be controlled almost as desired by the hand (hand 2131) of the robot (moving part) to maintain, for example, a vertical posture. The electric inner diameter measuring device 2200 will be connected to a power supply cable and a transmission cable for a control signal or measurement data, and this will apply a force generated by the rigidity and weight of the cable to the electric inner diameter measuring device 2200. As in the second exemplary embodiment, if the electric inner diameter measuring device 2200 is supported by a displacement allowing mechanism such as the floating joint part 3400, the posture may be affected by external interference. In this regard, in the third exemplary embodiment, the electric inner diameter measuring device 2200 is not supported by the floating joint part 3400 and is not easily affected by external interference such as cables. Although the workpiece mounting table 3200 supporting the workpiece W is supported by the floating joint part 3400, it is not necessary to connect a thick cable to the workpiece mounting table 3200, which eliminates the influence of the workpiece mounting table 3200 on the cable or other interference. This enables stable dimensional measurement of the workpiece.

[0411] In the above-described embodiment, the base portion 3100 and the workpiece mounting table 3200 are connected by the floating joint portion 3400, and the floating joint portion 3400 includes a rotation allowing mechanism portion 3410 and a translation allowing mechanism portion 3420. Since the workpiece mounting table 3200 only needs to translate and rotate (tilt) to a certain extent relative to the base portion 3100, the floating joint portion 3400 may be, for example, elastic rubber, foam resin, a spring, or an airtight bag such as an air cap.

[0412] The limiting member 3500 includes a clamping member 3510 that clamps the workpiece mounting table 3200 from both sides, but it may be any member that can adjust the displacement of the workpiece mounting table 3200. For example, Fig.30 As shown, a hole 3210 may be provided in the lower surface of the workpiece mounting table 3200, and a pin 3110 may be provided from the lower side of the workpiece holding base portion 3000 to move upward and downward, so as to switch between the holding state and the release state of the workpiece mounting table 3200 by inserting the pin 3110 into or removing it from the hole 3210. Similarly, a pin may be provided in the lower surface of the workpiece mounting table 3200, and a cylinder may be provided from the lower side of the workpiece holding base portion 3000 to move upward and downward, so as to switch between the holding state and the release state of the workpiece mounting table 3200 by inserting the cylinder into or removing it from the pin.

[0413] The present invention is not limited to the above-described exemplary embodiments, and can be appropriately modified without departing from the gist.

[0414] In the above-described embodiments, the floating joint portion is provided on the measuring device or the workpiece holding portion, but each of the measuring device and the workpiece holding portion may include the floating joint portion.

[0415] Similarly, in the above-described exemplary embodiments, the vibration motor is provided on the measuring device or the workpiece holding portion, but each of the measuring device and the workpiece holding portion may include the vibration motor.

Claims

1. An automatic measuring device, comprising: a measuring device configured to measure a size of a workpiece, the measuring device comprising a movable element configured to be displaceable relative to a fixed element and to move forward and backward to contact or move away from the workpiece, and a displacement detecting portion configured to detect a displacement or position of the movable element; an automatic operation section configured to automate the forward / backward movement of the movable element by power; as well as a vibration actuator configured to directly or indirectly apply vibration to at least one of the workpiece and the measuring device when the movable element is in contact with the workpiece, so as to promote the relative position and posture between the workpiece and the measuring device to be changed in such a manner that contact surfaces of the workpiece and the movable element are in close contact with each other by the following operation, wherein the operation is an operation for changing the relative position and posture between the workpiece and the measuring device at a pressure lower than a predetermined measurement pressure previously set in the measuring device, The automatic measuring equipment is configured to automatically measure the workpiece using the measuring device.

2. The automatic measuring device according to claim 1, further comprising: A moving component, used for relatively moving the workpiece and the measuring device to place the workpiece within a measuring range of the measuring device; as well as a floating joint portion, which is interposed between the moving part and the measuring device to allow relative translation and rotation of the measuring device with respect to the moving part, Therein, the vibration actuator is attached to the measuring device.

3. The automatic measuring device according to claim 1, further comprising: a workpiece holding portion configured to hold the workpiece, wherein, when the movable element contacts the workpiece, the workpiece holding portion holds the workpiece in such a manner that the position and posture of the workpiece are changed at a pressure lower than a predetermined measurement pressure previously set in the measuring device, and The vibration actuator is attached to the workpiece holding portion.

4. The automatic measuring device according to claim 1, wherein: The automatic operation section moves the movable element forward to bring the movable element into contact with the workpiece, then moves the movable element backward by a predetermined amount, and finally moves the movable element forward again to generate a predetermined measurement pressure between the workpiece and the movable element, and When the movable element is moved forward again to generate a predetermined measurement pressure between the workpiece and the movable element, the vibration actuator is driven.

5. The automatic measuring device according to claim 4, wherein: After the automatic operation portion stops the movable element from moving forward again and the vibration actuator stops driving, the displacement detection portion acquires the displacement or position of the movable element as a measurement value.

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