Sensor unit

Abstract

To provide a sensor unit capable of accurately detecting a position of a base material arranged on a back surface side of a board.SOLUTION: A sensor unit comprises: a base material detection sensor for detecting a base material arranged from a front surface side of a board to a back surface side of the board; a board surface detection portion for detecting contact with the front surface of the board; a first plate member that includes a first surface and a second surface opposite the first surface, and supports the base material detection sensor so that it protrudes from the first surface; a second plate member that includes a third surface facing the second surface and a fourth surface opposite the third surface, and is arranged spaced apart from the second surface; a connecting member connected to the second surface; and an elastic member connected to the third surface and the connecting member.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] An embodiment of the present invention relates to a sensor unit that detects the position of a base material on the back surface of a board when screws are driven into a board placed on the base material. [Background technology]

[0002] In interior construction work for buildings, work may be carried out to attach gypsum boards as wall materials to walls made of base materials such as steel frames. In recent years, automation has been promoted in such interior construction work to reduce the burden on workers. For example, Patent Documents 1 to 4 disclose automated board attaching devices that can attach gypsum boards to wall surfaces and drive screws. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] Japanese Patent Application Publication No. 2019-011666 [Patent Document 2] Japanese Patent Publication No. 2020-163553 [Patent Document 3] Japanese Patent Publication No. 2020-165264 [Patent Document 4] Japanese Patent Publication No. 2020-165266 Summary of the Invention [Problem to be solved by the invention]

[0004] When an automatic screw-driving robot drives screws into a board attached to a wall, it needs to detect the position of the substrate on the back side of the board in order to drive the screws through the board to the substrate. However, the conditions under which the sensor detects the substrate change due to factors such as unevenness on the surface of the board and variations in the movement control of the automatic screw-driving robot, which reduces the sensor's detection accuracy. Therefore, there is a demand for improved detection accuracy for the position of the substrate on the back side of the board.

[0005] In view of the above problem, one object of one embodiment of the present invention is to provide a sensor unit that can accurately detect the position of a base material placed on the back side of a board. [Means for solving the problem]

[0006] A sensor unit according to one embodiment of the present invention includes a base material detection sensor that detects a base material placed from the front side of the board to the back side of the board, a board surface detection unit that detects contact with the front side of the board, a first plate-shaped member that includes a first surface and a second surface opposite the first surface and supports the base material detection sensor so that the base material detection sensor protrudes from the first surface, a second plate-shaped member that includes a third surface opposite the second surface and a fourth surface opposite the third surface and is positioned at a distance from the second surface, a connecting member connected to the second surface, and an elastic member connected to the third surface and the connecting member.

[0007] The sensor unit may further include a rod-shaped member connected to the second surface and passing through an opening provided in the second plate-shaped member. At least two or more rod-shaped members may be provided.

[0008] The sensor unit may further include an actuator connected to the fourth surface and configured to move the second plate-shaped member in a direction from the second plate-shaped member toward the first plate-shaped member.

[0009] The board surface detection unit includes a caster unit arranged on the first surface side, a caster support unit connected to the first surface and supporting the caster unit so that it can move in a first direction from the first plate-shaped member toward the second plate-shaped member, and a caster detection sensor arranged on the second surface side and detecting contact with the caster unit; when the caster unit comes into contact with the surface of the board, the caster unit may be pushed and come into contact with the caster detection sensor.

[0010] In a plan view seen from the first direction, the elastic member may overlap the caster portion.

[0011] At least three or more board surface detection units may be provided.

[0012] The at least three board surface detection units may include a first board surface detection unit, a second board surface detection unit, and a third board surface detection unit, wherein the first board surface detection unit is provided below the base material detection sensor, and the second board surface detection unit and the third board surface detection unit are provided symmetrically with respect to a line connecting the base material detection sensor and the first board surface detection unit.

[0013] When contact with the surface of the board is detected by at least two of the first board surface detection unit, the second board surface detection unit, and the third board surface detection unit, detection of the base material by the base material detection sensor may be initiated.

[0014] When contact with the surface of the board is detected by at least one of the first board surface detection unit and the second board surface detection unit and the third board surface detection unit, detection of the base material may be started by the base material detection sensor. [Effects of the Invention]

[0015] According to a sensor unit of an embodiment of the present invention, the detection direction of the base material detection sensor is adjusted using the board surface detection unit, thereby reducing detection variability of the base material detection sensor. Therefore, the base material detection sensor can accurately detect the position of a base material placed on the back side of the board, even from the front side of the board. Furthermore, in a screw driving robot equipped with the sensor unit, the ability to accurately detect the position of the base material prevents screw driving errors, such as driving a screw into a position where no base material is present. [Brief explanation of the drawings]

[0016] [Figure 1] 1A and 1B are schematic diagrams illustrating a usage mode of a sensor unit according to an embodiment of the present invention. [Figure 2]FIG. 10 is a schematic diagram illustrating screw driving positions on a board. [Figure 3] FIG. 1 is a schematic perspective view showing a configuration of a sensor unit according to an embodiment of the present invention. [Figure 4] FIG. 1 is a schematic perspective view showing a configuration of a sensor unit according to an embodiment of the present invention. [Figure 5] FIG. 1 is a schematic perspective view showing a configuration of a sensor unit according to an embodiment of the present invention. [Figure 6] FIG. 1 is a schematic plan view showing the configuration of a sensor unit according to an embodiment of the present invention. [Figure 7A] 3 is a schematic cross-sectional view showing the configuration of a board surface detection section of a sensor unit according to one embodiment of the present invention. FIG. [Figure 7B] 3 is a schematic cross-sectional view showing the configuration of a board surface detection section of a sensor unit according to one embodiment of the present invention. FIG. [Figure 7C] 3 is a schematic cross-sectional view showing the configuration of a board surface detection section of a sensor unit according to one embodiment of the present invention. FIG. [Figure 8] 10 is a flowchart illustrating a method for detecting the position of a base material using a sensor unit according to an embodiment of the present invention. [Figure 9A] 1A and 1B are schematic diagrams illustrating a method for detecting the position of a base material using a sensor unit according to an embodiment of the present invention. [Figure 9B] 1A and 1B are schematic diagrams illustrating a method for detecting the position of a base material using a sensor unit according to an embodiment of the present invention. [Figure 10] 10A and 10B are schematic diagrams illustrating a method for detecting the position of a base material without using a sensor unit according to an embodiment of the present invention. DETAILED DESCRIPTION OF THE INVENTION

[0017] Hereinafter, embodiments of the present invention will be described with reference to the drawings. The embodiments described below are merely examples, and configurations that can be easily conceived by those skilled in the art by making appropriate modifications while maintaining the gist of the invention are naturally included within the scope of the present invention. Furthermore, in order to clarify the explanation, the drawings may schematically depict the width, thickness, shape, etc. of each component compared to the actual embodiment. However, the shapes of the illustrated components are merely examples and do not limit the interpretation of the present invention.

[0018] In this specification, for the sake of convenience, the terms "above" or "upper" or "below" or "lower" are used, but these terms merely describe the hierarchical relationship of components.

[0019] In this specification, ordinal numbers such as "first" or "second" attached to elements are convenient expressions used to distinguish elements and have no other meaning unless otherwise specified.

[0020] In this specification and drawings, identical or similar components are represented by the same reference numeral. However, when one component is divided into multiple components, each of the multiple components may be represented by adding a hyphen and a number to the reference numeral of the single component.

[0021] [1. How to use the sensor unit] Fig. 1 is a schematic diagram illustrating a usage mode of a sensor unit 100 according to an embodiment of the present invention, and Fig. 2 is a schematic diagram illustrating screw driving positions on a board 1000.

[0022] 1 shows a wall surface on which interior construction work of a building is being carried out using a screw driving robot 10. The wall surface in the interior construction work of a building is composed of a base material 1100, and a board 1000 is attached to the base material 1100. The screw driving robot 10 can drive screws 1200 into the board attached to the base material 1100, thereby fixing the board 1000 to the base material 1100.

[0023] As shown in FIG. 2, the screws 1200 are driven into the board along the extension direction of the base material 1100. Although detailed configuration is omitted, the screw driving robot 10 includes a screw driving device and an elevating mechanism for raising and lowering the screw driving device. The screw driving robot 10 can continuously drive the screws 1200 into the board 1000 along the extension direction of the base material 1100 by raising and lowering the screw driving device while driving screws from the screw driving device. The screw driving robot 10 can also move on the floor surface. After completing the screw driving along one base material 1100, the screw driving robot 10 moves in front of the adjacent base material 1100 and repeats the screw driving into the board along the extension direction of the base material 1100. This allows screws to be driven into multiple boards 1000 across the entire wall surface.

[0024] The board 1000 is, for example, a plate-like member such as a plasterboard. The base material 1100 is, for example, a light gauge steel (LGS) frame used as a base for the ceiling or wall of a building. There are several standard values ​​for the board 1000 and the base material 1100. Specifically, an example of the standard value for the board 1000 is the length l b is 1820mm, and the width w b is 606mm or 910mm, and the thickness t b The standard value of the base material 1100 is the cross-sectional length (hereinafter simply referred to as "length") l s and cross-sectional width (hereinafter simply referred to as "width") w s are 100 mm and 45 mm, respectively. The material of the base material 1100 is not particularly limited, but is preferably a conductor or a dielectric.

[0025] In order to fix the board 1000 to the base material 1100, the screws 1200 must be driven within the width of the base material 1100. For this reason, the screw driving robot 10 is equipped with a sensor unit 100 that can detect the position of the base material 1100 on the back side of the board 1000 from the front side of the board 1000.

[0026] When the screw driving robot 10 drives a screw, the sensor unit 100 detects the base material 1100 before the screw is driven out from the screw driving device. Although detailed configuration will be omitted, the screw driving robot 10 is equipped with a movement mechanism that moves the sensor unit 100 in the left-right direction (the width direction of the base material 1100). While moving the sensor unit 100 in the left-right direction, the screw driving robot 10 detects the position of the base material 1100 on the back side of the board 1000 using the sensor unit 100. Then, based on the detected position of the base material 1100, the screw driving robot 10 drives a screw out from the screw driving device and drives the screw within the width range of the base material 1100.

[0027] The sensor unit 100 can detect the position of the base material 1100 on the back side of the board 1000 even from the front side of the board 1000. Therefore, the sensor unit 100 will be described in detail below.

[0028] [2. Sensor unit configuration] 3 to 5 are schematic perspective views showing the configuration of sensor unit 100 according to one embodiment of the present invention. Specifically, Fig. 3 is a perspective view of sensor unit 100 from above the front, Fig. 4 is a perspective view of sensor unit 100 from above the rear, and Fig. 5 is a perspective view of sensor unit 100 from above the rear, with some of the components omitted. Also, Fig. 6 is a schematic plan view showing the configuration of sensor unit 100 according to one embodiment of the present invention. Specifically, Fig. 6 is a front view of sensor unit 100.

[0029] As shown in Figures 3 to 5, the sensor unit 100 includes a base material detection sensor 110, a first board surface detection unit 120-1, a second board surface detection unit 120-2, a third board surface detection unit 120-3, a first plate-shaped member 130, a second plate-shaped member 140, a first connecting member 150-1, a second connecting member 150-2, a third connecting member 150-3, a first elastic member 160-1, a second elastic member 160-2, a third elastic member 160-3, a first rod-shaped member 170-1, a second rod-shaped member 170-2, and an actuator 180.

[0030] In the following, for convenience of explanation, when the first board surface detection unit 120-1 to the third board surface detection unit 120-3 are not particularly distinguished, they may be referred to as board surface detection unit 120. Similarly, when the first connecting member 150-1 to the third connecting member 150-3, the first elastic member 160-1 to the third elastic member, and the first rod-shaped member 170-1 and the second rod-shaped member 170-2 are not particularly distinguished, they may be referred to as connecting member 150, elastic member 160, and rod-shaped member 170, respectively.

[0031] The first plate-shaped member 130 includes a first surface 131 that faces the surface of the board 1000 when the sensor unit 100 detects the position of the base material 1100, and a second surface 132 opposite the first surface 131. The second plate-shaped member 140 is disposed at a distance from the first plate-shaped member 130 and includes a third surface 141 that faces the second surface 132, and a fourth surface 142 opposite the third surface. The first plate-shaped member 130 supports the base material detection sensor 110. Specifically, the base material detection sensor 110 is supported and fixed so as to protrude from the first surface 131. For example, in a front view of the sensor unit 100 (see FIG. 6), the base material detection sensor 110 is disposed above the center line of the first plate-shaped member 130. The fourth surface 142 of the second plate-shaped member 140 is connected to the actuator 180. Each of the first plate-shaped member 130 and the second plate-shaped member 140 is not particularly limited as long as it has a flat plate shape. The material of each of the first plate-shaped member 130 and the second plate-shaped member is also not particularly limited, and a metal material or a resin material may be used.

[0032] A connecting member 150 and an elastic member 160 are disposed between the first plate-shaped member 130 and the second plate-shaped member 140. Specifically, the connecting member 150 is connected to the first surface 131 of the first plate-shaped member 130, and the elastic member 160 is connected to the connecting member 150 and the third surface 141 of the second plate-shaped member 140. In other words, the connecting member 150 connects the first plate-shaped member 130 and the second plate-shaped member 140 via the elastic member 160. The elastic member 160 is, for example, an elastic rubber or a spring, but is not limited to these. By disposing the elastic member 160 between the first plate-shaped member 130 and the second plate-shaped member 140, even when the first surface 131 of the first plate-shaped member 130 is pressed, the elastic member 160 contracts, thereby reducing the force transmitted to the second plate-shaped member 140.

[0033] A rod-shaped member 170 is disposed between the first plate-shaped member 130 and the second plate-shaped member 140. One end of the rod-shaped member 170 is connected to the second surface 132 of the first plate-shaped member 130. The rod-shaped member 170 is disposed to pass through an opening provided in the second plate-shaped member 140, and the other end of the rod-shaped member 170 is located on the fourth surface 142 side of the second plate-shaped member 140. The diameter of the opening need only be slightly larger than the diameter of the rod-shaped member 170. A locking portion having a width larger than the diameter of the opening is provided at the other end of the rod-shaped member 170 so that the rod-shaped member 170 does not come off the opening. When the first plate-shaped member 130 and the second plate-shaped member 140 are connected via the stretchable elastic member 160, there is a risk that the first plate-shaped member 130 and the second plate-shaped member 140 may twist. Therefore, by inserting the rod-shaped member 170 connected to the first plate-shaped member 130 into an opening provided in the second plate-shaped member 140, twisting between the first plate-shaped member 130 and the second plate-shaped member 140 is suppressed.

[0034] The number of rod-shaped members 170 is not particularly limited, but it is preferable to provide two or more rod-shaped members 170. As shown in Figures 3 to 6, when two rod-shaped members 170, i.e., a first rod-shaped member 170-1 and a second rod-shaped member 170-2, are provided, it is preferable that the first rod-shaped member 170-1 and the second rod-shaped member 170-2 are provided symmetrically with respect to the center line of the first plate-shaped member 130.

[0035] As described above, the actuator 180 is connected to the fourth surface 142 of the second plate-shaped member 140. The actuator 180 can move the second plate-shaped member 140 and the first plate-shaped member 130 connected to the second plate-shaped member 140 along the direction from the second plate-shaped member 140 toward the first plate-shaped member 130 (hereinafter sometimes referred to as the "front-rear direction"). By driving the actuator 180, the first plate-shaped member 130 can move closer to or away from the surface of the board 1000. When the first plate-shaped member 130 approaches the surface of the board 1000, the base material detection sensor 110 supported by the first plate-shaped member 130 also approaches the surface of the board 1000.

[0036] In some cases, the screw driving robot 10 is provided with a movement mechanism that moves the sensor unit 100 in the forward and backward directions. In this case, the sensor unit 100 may be configured not to include the actuator 180.

[0037] The base material detection sensor 110 detects the position of a base material arranged from the front side of the board 1000 to the back side of the board 1000. In other words, the base material detection sensor 110 can detect the base material 1100 that is shielded by the board 1000 and cannot be seen. For example, the base material detection sensor 110 is a proximity sensor. The detection method of the proximity sensor may be a capacitance method using an electric field, or a high-frequency transmission method using a magnetic field.

[0038] The base detection sensor 110 has a detection direction in which it can detect the base material 1100. In other words, the base detection sensor 110 can detect the base material 1100 in the detection direction. As described above, the base sensor 110 is supported and fixed to the first plate-shaped member 130, and the detection direction of the base sensor 110 is generally normal to the first surface 131 of the first plate-shaped member 130. Therefore, when the first surface 131 of the first plate-shaped member 130 is approximately parallel to the surface of the board 1000, the base sensor 110 can accurately detect the position of the base material 1100. However, if the first plate-shaped member 130 is inclined with respect to the surface of the board 1000, erroneous detection of the position of the base material 1100 occurs. Therefore, in the sensor unit 100, the board surface detection unit 120 adjusts the inclination of the first plate-shaped member 130.

[0039] The board surface detection unit 120 can detect the surface of the board 1000 by coming into contact with the surface of the board 1000. In the sensor unit 100, the board surface detection unit 120 detects the surface of the board 1000, thereby adjusting the inclination of the first plate-shaped member 130. Specifically, the first surface 131 of the first plate-shaped member 130 is adjusted to be approximately parallel to the surface of the board 1000. As a result, the detection direction of the base material detection sensor 110 supported by the first plate-shaped member 130 is adjusted to be approximately aligned with the normal direction of the surface of the board 1000, thereby reducing detection variation of the base material detection sensor 110. Therefore, the board surface detection unit 120 will be described in detail below with reference to FIGS. 7A to 7C.

[0040] 7A to 7C are schematic cross-sectional views showing the configuration of the board surface detection section 120 of the sensor unit according to one embodiment of the present invention. Specifically, FIGS. 7A to 7C are cross-sectional views of the third board surface detection section 120-3 taken along line A-A' shown in FIG.

[0041] 7A shows the configuration of the board surface detection unit 120 in a steady state (a state in which position detection of the base material 1100 is not being performed). As shown in Fig. 7A, the board surface detection unit 120 includes a caster unit 121, a caster support unit 122, and a caster detection unit 123. That is, the first board surface detection unit 120-1 includes a first caster unit 121-1, a first caster support unit 122-1, and a first caster detection unit 123-1, the second board surface detection unit 120-2 includes a second caster unit 121-2, a second caster support unit 122-2, and a second caster detection unit 123-2, and the third board surface detection unit 120-3 includes a third caster unit 121-3, a third caster support unit 122-3, and a third caster detection unit 123-3.

[0042] The caster unit 121 and the caster support unit 122 are disposed on the first surface 131 side of the first plate-shaped member 130. The caster unit 121 is a so-called ball caster having a rotatable ball 121a, but is not limited to this. The caster unit 121 is disposed so that the ball 121a can come into contact with the board 1000. The caster support unit 122 partially accommodates the caster unit 121 therein and supports the caster unit 121 so that the caster unit 121 can move therein. The caster detection unit 123 is disposed on the second surface 132 side of the first plate-shaped member 130. However, the movable contact 123a of the caster detection unit 123 protrudes from the first surface 131 into the caster support unit 122 through an opening provided in the first plate-shaped member 130. The caster detection unit 123 is, for example, but is not limited to, a limit switch. The caster detection unit 123 may be covered by the connection member 150.

[0043] 7B shows the configuration of the board surface detection unit 120 in a state in which the position of the base material 1100 is detected using the sensor unit 100 and the sensor unit 100 is pressed against the board 1000. When the sensor unit 100 is pressed against the board 1000, the balls 121a of the caster parts 121 come into contact with the board 1000, causing the caster parts 121 to move in the front-to-rear direction inside the caster support parts 122 and press down the movable contacts 123a of the caster detection unit 123. As a result, the caster detection unit 123 detects contact of the caster parts 121. Therefore, the board surface detection unit 120 can detect contact with the surface of the board 1000 by the caster detection unit 123 detecting contact of the caster parts 121.

[0044] FIG. 7C shows the configuration of the board surface detection unit 120 in a state in which the sensor unit 100 is further pressed against the board 1000 from the state shown in FIG. 7B. As shown in FIG. 7C, the movement of the caster unit 121 in the front-rear direction is stopped by the first surface 131 of the first plate-shaped member 130. Therefore, the stress that the caster unit 121 receives from the board 1000 is transmitted to the first plate-shaped member 130 and the connecting member 150 connected to the first plate-shaped member 130. The second plate-shaped member 140 is also connected to the connecting member 150 via the elastic member 160. However, when the elastic member 160 contracts, the stress transmitted to the second plate-shaped member 140 can be reduced. In other words, the elastic member 160 absorbs the stress, thereby preventing excessive force from being applied to the second plate-shaped member 140. This reduces the load on the actuator 180, thereby preventing failure of the actuator 180. It is also possible to prevent the balls 121a from coming into contact with the board 1000 and forming a dent in the board 1000.

[0045] 7A to 7C have been described with respect to one board surface detection unit 120, but as shown in FIGS. 3 to 6, the sensor unit 100 includes multiple board surface detection units 120. In the sensor unit 100, the multiple board surface detection units 120 detect the surface of the board 1000 before the base material detection sensor 110 detects the base material 1100. As a result, the first surface 131 of the first plate-like member 130 is adjusted to be approximately parallel to the surface of the board 1000, and the detection direction of the base material detection sensor 110 is also adjusted, so that the base material detection sensor 110 can detect the position of the base material 1100 under approximately the same detection conditions. Therefore, hereinafter, a method for detecting the position of the base material 1100 using the sensor unit 100 will be described in detail.

[0046] [3. Method for detecting the position of a substrate using a sensor unit] Fig. 8 is a flowchart illustrating a method for detecting the position of the base material 1100 using the sensor unit 100 according to one embodiment of the present invention. Fig. 9A and Fig. 9B are schematic diagrams illustrating a method for detecting the position of the base material 1100 using the sensor unit 100 according to one embodiment of the present invention.

[0047] As shown in Fig. 8, a method for detecting the position of a base material 1100 using a sensor unit 100 includes steps S100 to S150, and can be executed by a control device (not shown) that controls the sensor unit 100 or a control device of the screw driving robot 10. Steps S100 to S150 will be described in order below with reference to Figs. 9A and 9B as appropriate. In addition, the following description will be given assuming that three board surface detection units 120 are arranged on a first plate-like member 130 of the sensor unit 100, as shown in Figs. 3 to 5.

[0048] In step S100, the actuator 180 starts to be driven. As a result, the first plate-shaped member 130, on which the base material detection sensor 110 and the board surface detection unit 120 are arranged, moves in the front-rear direction so as to approach the board 1000 (see FIG. 9A).

[0049] In step S110, it is determined whether or not two or more of the three board surface detection units 120 have detected contact with the surface of the board 1000. When the caster unit 121 abuts against the surface of the board 1000, the caster unit 121 is pushed and comes into contact with the caster detection unit 123, which enables the board surface detection unit 120 to detect contact with the surface of the board 1000. In the sensor unit 100, the rod-shaped member 170 prevents the first plate-shaped member 130 from twisting, and if two or more board surface detection units 120 detect the surface of the board 1000, it can be said that the first surface 131 of the first plate-shaped member 130 has been adjusted to be approximately parallel to the surface of the board 1000.

[0050] In the determination in step S110, one of the two board surface detection units 120 may be a first board surface detection unit 120-1 located below the base material detection sensor 110, and the other of the two board surface detection units 120 may be one of a second board surface detection unit 120-2 and a third board surface detection unit 120-3 provided symmetrically about the center line of the first plate-like member 130. In this case, the two or more board surface detection units 120 used in the determination will always include the first board surface detection unit 120-1.

[0051] In step S110, if two or more board surface detection units 120 detect contact with the surface of the board 1000 (step S110: YES), step S120 is executed. On the other hand, in step S110, if only one board surface detection unit 120 detects contact with the surface of the board 1000 (step S110: NO), step S100 is executed again. In this case, as the first plate-shaped member 130 moves further toward the board 1000, the board surface detection units 120 that have not detected contact with the surface of the board 1000 can also come into contact with the surface of the board 1000. Furthermore, the board surface detection units 120 that have already detected contact with the surface of the board 1000 will be further pressed against the board 1000, but the elastic member 160 contracts, preventing excessive force from being applied to the actuator 180. Furthermore, as the elastic member 160 contracts, the inclination of the first plate-shaped member 130 is adjusted so that the first surface 131 becomes approximately parallel to the surface of the board 1000.

[0052] In step S120, the driving of the actuator 180 is stopped. Since the adjustment of the tilt of the first plate-shaped member 130 has been completed in step S110, there is no need to further press the board surface detection unit 120 against the surface of the board 1000, and the driving of the actuator 180 is stopped.

[0053] In step S130, the movement of the sensor unit 100 is started. As a result, the sensor unit 100 including the base material detection sensor 110 moves along the surface of the board 1000 in the width direction of the base material 1100, and the base material detection sensor 110 detects the position of the base material 1100 (see FIG. 9B).

[0054] In step S140, it is determined whether the base material detection sensor 110 has detected the position of the base material 1100. By adjusting the tilt of the first plate-shaped member 130 in step S110, the detection direction of the base material detection sensor 110 approximately coincides with the normal direction to the surface of the board 1000. Therefore, as shown in FIG. 9B, the base material detection sensor 110 can detect the position of the base material 1100 at point B, which is a corner of the base material 1100. In contrast, if the detection direction of the base material detection sensor 110 is not adjusted, erroneous detection of the position of the base material 1100 occurs. FIG. 10 is a schematic diagram illustrating a method for detecting the position of the base material 1100 without using the sensor unit 100 according to one embodiment of the present invention. 10, if the detection direction of the base material detection sensor 110 is tilted from the normal direction to the surface of the board 1000, the base material detection sensor 110 will detect point C of the base material 1100, and as a result, will detect point D, where the base material 1100 is not placed on the back side of the board 1000, as the position of the base material 1100. By using the sensor unit 100, it is possible to prevent such erroneous detection of the position of the base material 1100.

[0055] In step S140, when the base material detection sensor 110 detects the position of the base material 1100 (step S140: YES), step S140 is executed. On the other hand, in step S140, when the base material detection sensor 110 does not detect the position of the base material 1100 (step S140: NO), step S130 is executed again. In this case, the base material detection sensor 110 moves further in the width direction of the base material 1100 and detects the position of the base material 1100.

[0056] In step S150, the movement of the sensor unit 100 is stopped. In step S150, the detection of the position of the base material 1100 using the sensor unit 100 is completed. After that, the screw driving device drives a screw based on the detected position of the base material 1100. For example, the screw driving position where the screw is driven is determined by the distance from the detected position of the base material 1100 to the width w of the base material 1100. s The position can be set to 1 / 2 of the original position.

[0057] As described above, according to the sensor unit 100, the detection direction of the base material detection sensor 110 is adjusted using the board surface detection unit 120, thereby reducing detection variability of the base material detection sensor 110. Therefore, the base material detection sensor 110 can accurately detect the position of the base material 1100 arranged on the back side of the board 1000, even from the front side of the board 1000. Furthermore, in the screw driving robot 10 equipped with the sensor unit 100, the position of the base material 1100 can be accurately detected, thereby preventing faulty screw driving, such as driving a screw into a position where no base material 1100 is present.

[0058] The embodiments of the present invention can be implemented by appropriately combining configurations as long as they are not mutually contradictory. Furthermore, even if a person skilled in the art appropriately adds or deletes configurations or modifies designs based on the embodiments, or adds or omits processes or modifies conditions, such additions or deletions are included in the scope of the present invention as long as they include the gist of the present invention.

[0059] Even if there are other effects and advantages different from those brought about by the above-described embodiments, those that are clear from the description in this specification or that can be easily predicted by a person skilled in the art are naturally understood to be brought about by the present invention. [Explanation of symbols]

[0060] 10: screw driving robot, 100: sensor unit, 110: base material detection sensor, 120: board surface detection section, 120-1: first board surface detection section, 120-2: second board surface detection section, 120-3: third board surface detection section, 121: caster section, 121-1: first caster section, 121-2: second caster section, 121-3: third caster section, 121a: ball, 122: caster support section, 122-1: first caster support section, 122-2: second caster support section, 122-3: third caster support section, 123: caster detection section, 123-1: first caster detection section, 123-2: second caster detection section, 123-3: third caster detection unit, 123a: movable contact, 130: first plate-shaped member, 131: first surface, 132: second surface, 140: second plate-shaped member, 141: third surface, 142: fourth surface, 150: connecting member, 150-1: first connecting member, 150-2: second connecting member, 150-3: third connecting member, 160: elastic member, 160-1: first elastic member, 160-2: second elastic member, 160-3: third elastic member, 170: rod-shaped member, 170-1: first rod-shaped member, 170-2: second rod-shaped member, 180: actuator, 1000: board, 1100: base material, 1200: Bis

Claims

1. a base material detection sensor that detects a base material arranged on the back side of the board from the front side of the board; a board surface detection unit that detects contact with the surface of the board; a first plate-like member including a first surface and a second surface opposite to the first surface, the first plate-like member supporting the base material detection sensor such that the base material detection sensor protrudes from the first surface; a second plate-like member including a third surface facing the second surface and a fourth surface opposite the third surface, the second plate-like member being disposed at a distance from the second surface; a connecting member connected to the second surface; an elastic member connected to the third surface and the connecting member.

2. The sensor unit according to claim 1 , further comprising a rod-shaped member connected to the second surface and passing through an opening provided in the second plate-shaped member.

3. The sensor unit according to claim 2 , wherein the number of the rod-shaped members provided is at least two.

4. The sensor unit according to claim 1 , further comprising an actuator connected to the fourth surface, the actuator moving the second plate-like member in a direction from the second plate-like member toward the first plate-like member.

5. The board surface detection unit A caster portion disposed on the first surface side; a caster support portion connected to the first surface and supporting the caster portion movably in a first direction from the first plate-shaped member toward the second plate-shaped member; a caster detection sensor disposed on the second surface side and configured to detect contact with the caster portion; The sensor unit of claim 1 , wherein when the caster portion comes into contact with the surface of the board, the caster portion is pushed into contact with the caster detection sensor.

6. The sensor unit according to claim 5 , wherein the elastic member overlaps the caster portion in a plan view seen from the first direction.

7. The sensor unit according to claim 6 , wherein the number of the board surface detectors is at least three.

8. the at least three board surface detection units include a first board surface detection unit, a second board surface detection unit, and a third board surface detection unit; the first board surface detection unit is provided below the base material detection sensor, The sensor unit according to claim 7 , wherein the second board surface detection unit and the third board surface detection unit are arranged symmetrically with respect to a line connecting the base material detection sensor and the first board surface detection unit.

9. 9. The sensor unit of claim 8, wherein the detection of the base material by the base material detection sensor is initiated when contact with the surface of the board is detected by at least two of the first board surface detection unit, the second board surface detection unit, and the third board surface detection unit.

10. 9. The sensor unit of claim 8, wherein when contact with the surface of the board is detected by at least one of the first board surface detection unit, the second board surface detection unit, and the third board surface detection unit, the base material detection sensor starts detecting the base material.

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