Automatic measuring device

Abstract

Measure the shape or dimensions of each part of the workpiece appropriately. [Solution] The automatic measuring device 1 comprises a surface plate 11 on which a workpiece W can be placed directly or via a jig, a measuring machine 31 that measures the shape or dimensions of each part of the workpiece W with the workpiece W placed on the surface plate 11, a traveling shaft 21 that extends in one direction relative to the surface plate 11 and guides the measuring machine 31 in one direction, and a plurality of tooling balls TB that are detected by the measuring machine 31 and can function as reference points for measurement by the measuring machine 31. The tooling balls TB include a plurality of first tooling balls TB1 (first placement point P1) positioned off the surface plate 11 and a second tooling ball TB2 (second placement point P2) positioned on the surface plate 11.

Description

Technical Field

[0001] The present invention relates to an automatic measuring device.

Background Art

[0002] In vehicle body manufacturing of a vehicle, first, panels for respective parts are produced using sheet metal (mainly pressed steel plates) as raw materials. Next, a plurality of panels are joined by a method such as welding or adhesion to construct a subassembly (which is also called "subcomponent", hereinafter referred to as "sub"). Then, by combining a plurality of subs, the entire vehicle body (which is an unpainted vehicle body, called a "body-in-white") is constructed.

Prior Art Documents

Patent Documents

[0003]

Patent Document 1

Summary of the Invention

Problem to be Solved by the Invention

[0004] In the process of vehicle body manufacturing, it is necessary to appropriately confirm that the shape and dimensions of each part of the vehicle body are appropriate at the stage of the sub or the body-in-white.

[0005] Measurement targeting a sub or a body-in-white is usually performed in an offline state where the measurement object (hereinafter sometimes referred to as "workpiece") is removed from the production line.

[0006] For measurement, for example, a non-contact measuring machine using laser is used. A traveling shaft extending in one direction along the workpiece is arranged, and the laser measuring machine is mounted on the traveling shaft so as to be movable along the traveling shaft.

[0007] Furthermore, reference spheres called tooling balls, used for alignment, are placed at predetermined intervals along the travel axis. A laser beam is emitted from the laser measuring device towards the tooling balls, and the reflected light from the tooling balls is received by the laser measuring device to determine its position.

[0008] However, when using a subcompressor or white body as the object of measurement, the following problems arose.

[0009] Firstly, the arrangement of the tooling balls, which are aligned linearly along the travel axis, results in areas on the workpiece that are difficult or impossible to measure.

[0010] Secondly, the operator performing the measurement must confirm the specifications of the workpiece, which is either a subcompressor or a white body, and select and switch to a measurement control program (hereinafter referred to as the "measurement program") that corresponds to those specifications. Traditionally, switching measurement programs has been done manually by the operator using a PC or the like, which has been cumbersome and raised concerns about the selection of the wrong measurement program.

[0011] In view of these circumstances, the present invention aims to provide an automatic measuring device that can appropriately measure the shape or dimensions of each part of a workpiece that is the object to be measured. [Means for solving the problem]

[0012] To solve the aforementioned problems, an automatic measuring device according to one embodiment of the present invention comprises: a surface plate on which a workpiece can be placed directly or via a jig; a measuring machine for measuring the shape or dimensions of each part of the workpiece while the workpiece is placed on the surface plate; a traveling shaft extending in one direction relative to the surface plate and guiding the measuring machine in that direction; and a plurality of tooling balls detected by the measuring machine and capable of functioning as reference points for measurement by the measuring machine. The tooling balls include a plurality of first tooling balls positioned off the surface plate and a second tooling ball positioned on the surface plate.

[0013] Another embodiment of the present invention provides an automatic measuring device comprising: a laser measuring machine; a movable part that changes the position and / or orientation of the laser measuring machine relative to a workpiece when measuring the workpiece; a storage unit that stores in advance a plurality of measurement programs different for each specification of the workpiece; and a control unit that controls the operation of the movable part and the laser measuring machine according to the measurement program. The control unit measures the parts of the workpiece where specification differences, which are differences in the shape or dimensions according to the specifications, appear using the laser measuring machine, and stores information regarding the parts of the workpiece where specification differences appear as specification identification information based on the measurement results. Then, based on the stored specification identification information, it selects the measurement program to be used for measuring the workpiece, reads the selected measurement program from the storage unit, and controls the operation of the movable part. [Effects of the Invention]

[0014] According to the present invention, it becomes possible to appropriately measure the shape or dimensions of each part of a workpiece that is the object to be measured. [Brief explanation of the drawing]

[0015] [Figure 1] This is a schematic diagram showing the overall configuration of an automated measuring device according to one embodiment of the present invention. [Figure 2] This is a schematic diagram showing the arrangement of tooling balls in the automatic measuring device according to the same embodiment. [Figure 3] (a) is a plan view and (b) is a cross-sectional view showing the mounting structure of the tooling ball in the automatic measuring device according to the above embodiment. [Figure 4] This is a schematic diagram showing the configuration of the control system for the automatic measuring device according to the same embodiment. [Figure 5] This flowchart shows the overall flow of automatic measurement and control according to the same embodiment. [Figure 6] This flowchart shows the details of the specification determination process (measurement program selection process) in the above-mentioned automatic measurement and control system. [Figure 7]It is a flowchart showing the content of specification difference part measurement processing in the above automatic measurement control. [Figure 8] It is (a) an overall perspective view and (b) a plan view of a surface plate showing the arrangement of a jig and a second tooling ball when measuring a side body. [Figure 9] It is a perspective view showing the arrangement of a laser measuring machine when measuring a side body. [Figure 10] It is (a) an overall perspective view and (b) a plan view of a surface plate showing the arrangement of a jig and a second tooling ball when measuring a main body. [Figure 11] It is (a) an overall perspective view and (b) a plan view of a surface plate showing the arrangement of a jig and a second tooling ball when measuring a main floor. [Figure 12] It is (a) an overall plan view and (b) a plan view of a surface plate showing the arrangement of a jig and a second tooling ball when measuring an assembly body. MODE FOR CARRYING OUT THE INVENTION

[0016] Embodiments of the present invention will be described below with reference to the drawings.

[0017] (Overall Configuration of Automatic Measuring Apparatus) With reference to FIG. 1, the overall configuration of an automatic measuring apparatus 1 (hereinafter referred to as "automatic measuring apparatus") according to an embodiment of the present invention will be described.

[0018] In each of FIG. 1, and FIGS. 2 and 3(a) described later, the upper side of the drawing sheet of each figure is defined as the front of the surface plate 11, and the lower side is defined as the rear of the surface plate 11. The right side on the drawing sheet is defined as the right side of the surface plate 11, and the left side is defined as the left side of the surface plate 11.

[0019] As shown in FIG. 1, the automatic measuring apparatus 1 includes a surface plate 11 horizontally installed on a floor surface F, and measures a workpiece W placed on the surface plate 11 directly or via a jig.

[0020] The automatic measuring device 1 can measure various subcompressors or bodies. Examples of subcompressors to be measured include the front underbody, main floor, rear underbody, underbody, or side body, and examples of bodies include the main body, white body, or assembly body.

[0021] The automatic measuring device 1 uses a subcompressor or body as the object to be measured, and measures the shape or dimensions of each part of the object in an offline state, after moving it from a manufacturing line (not shown) and placing it on a surface plate 11.

[0022] The automatic measuring device 1 includes a travel shaft 21 that extends in the front-rear direction relative to the surface plate 11. In this embodiment, it includes a pair of travel shafts 21A and 21B that are arranged parallel to each other with a gap between them in the left-right direction and extend in the front-rear direction, with the surface plate 11 provided between these pair of travel shafts 21A and 21B.

[0023] A measuring device 31 is mounted on the travel axle 21 so as to be movable in the front-rear direction along it. A measuring device 31 is mounted on both the first travel axle 21A, which is located to the right of the surface plate 11, and the second travel axle 21B, which is located to the left. For illustrative purposes, Figure 1 schematically shows the external shape of the measuring device 31 mounted on the first travel axle 21A using a dashed line, and also shows the laser measuring device 311 provided on this measuring device 31.

[0024] In this embodiment, the measuring machine 31 mounted on the first travel axis 21A and the measuring machine 31 mounted on the second travel axis 21B have the same configuration. That is, as will be described later, the measuring machine 31 on the first travel axis 21A and the measuring machine 31 on the second travel axis 21B are equipped with the same laser measuring machine 311 and robot arm 312.

[0025] (Configuration and operation of the measuring instrument) The configuration and operation of the measuring device 31 will be explained using the measuring device 31 for the first travel shaft 21A as an example, with reference to Figure 2.

[0026] The measuring device 31 is mounted on the first travel axis 21A via a movable base 313 and includes a robot arm 312 fixed to the upper surface of the base 313 and a laser measuring device 311 attached to the tip (hereinafter referred to as "arm tip") 312a of the robot arm 312. As the base 313 moves back and forth along the first travel axis 21A, the entire measuring device 31 moves back and forth along the first travel axis 21A.

[0027] The robot arm 312 is a multi-joint robot with appropriate degrees of freedom, and adjusts the position of the laser measuring device 311 relative to the base 313, as well as the posture or orientation of the laser measuring device 311 at the position after movement.

[0028] In this embodiment, the robot arm 312 has five degrees of freedom. Specifically, the robot arm 312 can rotate on the base 313 about a first axis perpendicular to the floor surface F, and can also bend and extend about two horizontal axes (second axis and third axis), thereby controlling the position of the arm tip 312a relative to the base 313.

[0029] For example, the robot arm 312 adjusts the distance and height of the arm tip 312a from the first travel axis 21A. A laser measuring device 311 is mounted on the arm tip 312a so as to be rotatable about a fourth axis perpendicular to its central axis and a fifth axis perpendicular to the fourth axis. In the adjusted position, the laser measuring device 311 can adjust its posture or orientation by rotating about the fourth and fifth axes.

[0030] The laser measuring device 311 is configured to allow the laser irradiation direction to be changed in rotational directions around a vertically extending yaw axis and a horizontally extending pitch axis, respectively, while the laser measuring device 311 is upright on the floor surface F. In this embodiment, the laser measuring device 311 can be a Nikon APDIS® laser radar.

[0031] The laser measuring machine 311, with the robot arm 312 controlled and its position and orientation determined, measures the surface of an object to be measured within the range that the laser can irradiate by changing the direction of laser irradiation in a rotational direction around the yaw axis and the pitch axis, respectively.

[0032] In this embodiment, the base 313 and robot arm 312 of the measuring machine 31 constitute the "movable part" of the measuring machine, and the laser measuring machine 311 constitutes the "detection part" of the measuring machine.

[0033] (Placement of touring balls) Referring to Figures 2 and 3, the arrangement of tooling balls TB (TB1, TB2) in the automatic measuring device 1 will be explained. Figure 2 schematically shows the positions P1 and P2 where the tooling balls (first tooling ball TB1, second tooling ball TB2) are placed (hereinafter referred to as "tooling ball placement points"), indicated by cross-shaped markers. In Figure 2, the first tooling ball TB1 is placed at placement point P1, and the second tooling ball TB2 is placed at placement point P2. Furthermore, as will be described later, placement point P2 includes placement point P21, which is aligned along the center line of the workpiece W placed on the surface plate 11, and placement point P22 on the surface plate 11 other than placement point P21, where the second tooling ball TB2 is placed.

[0034] The tooling balls TB (TB1, TB2) are used as reference points for measurement by the measuring machine 31 after the position and orientation of the laser measuring machine 311 have been adjusted by the robot arm 312.

[0035] The automatic measuring device 1 moves the base 313 along the travel axis 21 and drives the robot arm 312 to position the laser measuring machine 311 in a suitable position and orientation for measurement. After positioning the laser measuring machine 311, the automatic measuring device 1 stops the movement of the base 313 and the robot arm 312 to fix the position and orientation of the laser measuring machine 311.

[0036] The tooling ball TB includes a first tooling ball TB1 positioned off-center from the surface plate 11 and a second tooling ball TB2 positioned on the surface plate 11. The first tooling ball TB1 is suitably used for measuring the top or side surface of a workpiece W placed on the surface plate 11 via a fixture, and the second tooling ball TB2 is suitably used for measuring the inner or bottom surface of a workpiece W placed on the surface plate 11 via a fixture. The top surface of the workpiece W refers to the upper surface or the surface facing upwards among the surfaces of the workpiece W, and the side surface refers to the surface facing outwards in the left-right direction, for example, the surface on the right side that faces the first travel axis 21A. The inner surface of the workpiece W refers to the surface of the workpiece that faces inwards in the front-rear or left-right direction, and the bottom surface refers to the lower surface or the surface facing downwards.

[0037] Figure 2 shows the placement points P1 (hereinafter referred to as "first placement point") for the first tooling ball TB1 and P2 (P21, P22) (hereinafter referred to as "second placement point") for the second tooling ball TB2. The first placement point P1 is provided outside the surface plate 11, and the second placement point P2 is provided on the surface plate 11. In this embodiment, multiple first placement points P1 and multiple second placement points P2 are provided.

[0038] The first tooling balls TB1 are arranged along the first travel axle 21A and the second travel axle 21B, respectively. The first tooling balls TB1 include a plurality of first tooling balls TB1 attached to the first travel axle 21A at a first placement point P1 and arranged at intervals from each other along the first travel axle 21A, and a plurality of first tooling balls TB1 attached to the second travel axle 21B at the first placement point P1 and arranged at intervals from each other along the second travel axle 21B. The arrangement of the first tooling balls TB1 at the first placement point P1 is such that they cannot be removed from the first and second travel axles 21A and 21B.

[0039] The first tooling ball TB1 attached to the first travel axle 21A is in a position or height that can be detected by the measuring device 31 attached to the second travel axle 21B, while the first tooling ball TB1 attached to the second travel axle 21B is in a position or height that can be detected by the measuring device 31 attached to the first travel axle 21A.

[0040] The height at which the first tooling ball TB1 is mounted between the first travel axle 21A and the second travel axle 21B may be the same or different. Similarly, the longitudinal position at which the first tooling ball TB1 is mounted between the first and second travel axles 21A and 21B may be the same or different. In other words, there may be a difference in height or longitudinal position between the first travel axle 21A and the second travel axle 21B at the location where the first tooling ball TB1 is positioned.

[0041] In this embodiment, four first tooling balls TB1 are arranged along the first travel axis 21A and the second travel axis 21B, respectively, at equal heights and in equal longitudinal positions relative to each other.

[0042] The second tooling balls TB2 are positioned at multiple second placement points P2 (P21, P22) set on the surface plate 11, offset from the arrangement of the first tooling balls TB1 along the first and second travel axes 21A, 21B.

[0043] The second tooling balls TB2 are arranged in one or more rows. In each row, the direction in which the second tooling balls TB2 are arranged is parallel to the direction in which the first tooling balls TB1 are arranged on the first and second measuring axes 21A and 21B, respectively. In other words, both the first tooling balls TB1 and the second tooling balls TB2 are arranged in the front-to-back direction.

[0044] In this embodiment, the second tooling ball TB2 is arranged below the workpiece W placed on the surface plate 11 in a row (hereinafter referred to as the "first row") L1 extending along the centerline of the workpiece W, and in one or more rows (hereinafter referred to as the "second row") L2 (L21, L22) extending parallel to the first row L1. Here, the first row L1 can be rephrased as a row of second placement points P21 aligned along the centerline of the workpiece W placed on the surface plate 11, and the second rows L21 and L22 can be rephrased as rows of second placement points P22 other than the second placement points P21 aligned in the first row L1.

[0045] In the example shown in Figure 2, the second column L2 includes a column L21 that is closer to the first running axis 21A than the first column L1 (hereinafter referred to as the "right second column"), and a column L22 that is closer to the second running axis 21B than the first column L1 (hereinafter referred to as the "left second column"). Depending on the type of workpiece W, the right second column L21 and the left second column L22 may be located outside the outer edge of the workpiece W. In other words, in a plan view of the surface plate 11 from above, there may be a second placement point P22 or a second tooling ball TB2 that is visible and not hidden below the workpiece W.

[0046] In this embodiment, in the first column L1, four second tooling balls TB2 are arranged in the front-to-back direction with equal spacing between them, and in the right second column L21 and the left second column L22, three second tooling balls TB2 are arranged in the front-to-back direction. The number of second tooling balls TB2 in the first column L1 and the second tooling balls TB2 in the second column L2 can be any number, and the number of second tooling balls TB2 in the first column L1, the right second column L21, and the left second column L22 can be the same or different. The arrangement of the second tooling balls TB2 in each column L1, L21, and L22 can be at equal or different spacings.

[0047] (Mounting structure of the tooling ball) The second tooling ball TB2 is detachable from the surface plate 11.

[0048] Referring to Figure 3, the mounting structure of the tooling ball TB (second tooling ball TB2) on the surface plate 11 will be described.

[0049] The surface plate 11 has a plurality of grooves g1 formed to extend in the front-rear direction with spacing in the left-right direction (hereinafter referred to as "front-rear grooves"), and a plurality of grooves g2 formed to extend in the left-right direction with spacing in the front-rear direction, perpendicular to the front-rear grooves g1 (hereinafter referred to as "left-right grooves"). The front-rear grooves g1 and the left-right grooves g2 are formed to have equal width and depth.

[0050] In this embodiment, the longitudinal grooves g1 and the lateral grooves g2 are perpendicular to each other and are arranged at equal intervals, forming a grid pattern (Figure 2). The points where the longitudinal grooves g1 and the lateral grooves g2 intersect are the placement points (i.e., second placement points) P2 for the second tooling balls TB2. For actual measurement, the second tooling balls TB2 are placed at appropriate second placement points P2. In the example shown in Figure 2, 10 second placement points P2 suitable for measurement are selected from each of the placement points corresponding to the grid, and the second tooling balls TB2 are placed at the selected second placement points P2.

[0051] Here, the longitudinal groove g1 corresponds to the "first groove" according to this embodiment, and the lateral groove g2 corresponds to the "second groove" according to this embodiment.

[0052] The second tooling ball TB2 has a spherical surface, a spherical portion 411 capable of reflecting the laser irradiated from the laser measuring machine 311, a cylindrical base portion 412 to which the spherical portion 411 is attached on the upper surface and which contacts the upper surface of the base plate 11 on the lower surface, and a plurality of protrusions 413 (413a, 413b) formed on the bottom surface of the base portion 412.

[0053] In this embodiment, the projection 413 has a first projection 413a formed to be engageable with a front-rear groove g1, and a second projection 413b formed to be engageable with a left-right groove g2. At least one of the projections, the first projection 413a and the second projection 413b, is divided front-rear or left-right at the center of the base portion 412. In the example shown in Figure 3(a), the first projection 413a and the second projection 413b are separated, and the first projection 413a straddles the left-right groove g2 in the front-rear direction and fits into the front-rear grooves g1 on both the front-rear and rear sides of the left-right groove g2. The second projection 413b straddles the front-rear groove g1 from left to right and fits into the left-right grooves g2 on both the left-right and rear-rear grooves g1. As a result, when the second tooling ball TB2 is positioned at the second placement point P2, the first projection 413a engages with the upper and lower front-to-back grooves g1 of the second placement point P2, and the second projection 413b engages with the left and right left-to-right grooves g2 of the second placement point P2. The first and second projections 413a and 413b suppress the movement of the second tooling ball TB2 in the front-to-back and left-to-right directions, as well as its rotation around the second placement point P2.

[0054] In addition to the above, the second tooling ball TB2 is provided with a marker 421 indicating its orientation. The marker 421 can be made by making a notch in the base portion 412. For example, a notch of a size that can be visually confirmed by an operator is formed at a predetermined location in the circumferential direction of the base portion 412. In the example shown in Figure 3(a), a notch is formed on the peripheral edge of the upper surface of the base portion 412 at the circumferential position where the first projection 413a is formed. This marker 421 improves the positional accuracy of the second tooling ball TB2, specifically the spherical portion 411, attached to the second placement point P2, and ensures positional repeatability.

[0055] The marker 421 can be formed not only by a notch but also by other means (for example, a projection).

[0056] In this embodiment, as shown in Figure 2, the front-to-back grooves g1 and the left-to-right grooves g2 are arranged in a grid pattern, forming a larger number of second placement points P2 than the second tooling ball TB2 used for measurement. The longitudinal grooves g1 and lateral grooves g2 may be formed in the number necessary to form the same number of second placement points P2 as the second tooling balls TB2 used for measurement. For example, to form the 10 second placement points P2 shown in Figure 2, three longitudinal grooves g1 corresponding to the first column L1, the right second column L21, and the left second column L22, and seven lateral grooves g2 located at the positions of the second placement points P2 in the longitudinal direction are formed.

[0057] (Control system configuration) Referring to Figure 4, the configuration of the control system S of the automatic measuring device 1 will be described.

[0058] The control system S comprises, as its main components, an input / output device 101 and a controller 201.

[0059] The input / output device 101 receives instructions from the operator to the automatic measuring device 1 regarding the measurement of the workpiece W, and outputs a command signal to the controller 201 corresponding to the operator's instructions. The input / output device 101 has a display unit 111, which displays the measurement results so that the operator can confirm them.

[0060] The controller 201 comprises a calculation unit and a storage unit. The storage unit pre-stores multiple measurement programs defined for each specification of the workpiece W. The controller 201 receives command signals from the input / output device 101 and, based on the command signals, executes calculations defined in the measurement programs. The controller 201 then outputs a control signal to the measuring machine 31 according to the result of the calculations.

[0061] The controller 201 receives a detection signal obtained from the laser measuring machine 311 by measuring the workpiece W. The controller 201 then converts the detection signal into a drive signal for the display unit 111 and outputs the drive signal to the display unit 111.

[0062] Here, the controller 201 constitutes the "control unit" according to this embodiment, and the storage unit of the controller 201 constitutes the "storage unit" according to this embodiment. The controller 201, which is the "control unit," and the storage unit can be configured as an integrated unit, or they can be configured as separate units.

[0063] (Details of automatic measurement and control) Referring to Figures 5 to 7, the control performed by the automatic measuring device 1 when measuring the workpiece W (hereinafter referred to as "automatic measurement control") will be explained.

[0064] Figure 5 is a flowchart showing the overall flow of automatic measurement control. Figure 6 is a flowchart showing the content of the specification discrimination process (measurement program selection process) in automatic measurement control, and Figure 7 is a flowchart showing the content of the specification difference part measurement process in automatic measurement control.

[0065] In this embodiment, automatic measurement control is performed by the controller 201. The controller 201 performs automatic measurement control when it receives a signal from the input / output device 101 instructing it to start measurement.

[0066] In the flowchart shown in Figure 5, the operator inputs information regarding the workpiece W to be measured, including the vehicle type in which the workpiece W is used and the type of workpiece W, via the input / output device 101, and instructs the controller 201 to start the measurement. Here, the type of workpiece W refers to the form of the workpiece W, such as the main body, main floor, side body, assembly body, subcompartment, etc. In S101, the information about the workpiece W entered by the operator is confirmed. Specifically, the vehicle type and type of workpiece W to be measured are displayed on the display unit 111 of the input / output device 101, and the operator is prompted to confirm whether the workpiece W placed on the surface plate 11 matches the vehicle type and type displayed on the display unit 111.

[0067] To facilitate understanding, let's use "A" as an example and refer to the Work W type as a side body for the following explanation. We will assume specifications for vehicle A, such as the drive system (e.g., two-wheel drive or four-wheel drive) and equipment specifications (e.g., standard equipment or custom equipment).

[0068] In addition to prompting the worker to confirm the entered vehicle type and category by displaying them on the display unit 111, the controller 201 may also use automatic control to identify the shape of the workpiece W placed on the surface plate 11 using a camera (not shown) or the like, and confirm whether the identified shape matches that of the entered vehicle type and category. If the workpiece W placed on the surface plate 11 does not match the vehicle type and category displayed on the display unit 111, for example, if the vehicle type is different from "A", or if the category of workpiece W is a main body instead of a side body, the display unit 111 will display an indication of this and the measurement will be stopped.

[0069] In S102, the measuring instrument 31 measures the location (hereinafter referred to as "spec difference area") where a difference in the workpiece W occurs that serves as a marker according to the specifications (hereinafter referred to as "spec difference area"), and determines the specifications of the workpiece W. In this embodiment, the presence or absence of holes, the presence or absence of brackets, differences in surface position, and the presence or absence of bolts or nuts are included in the spec difference.

[0070] Specifically, the measurement results of the specification difference parts (i.e., specification identification information) are used to determine whether the specifications of workpiece W are two-wheel drive or four-wheel drive, and whether they are standard equipment or custom equipment. The specification determination is performed according to the procedure shown in the flowchart of Figure 6. In this embodiment, the specification determination is implemented as a process of selecting a specification-specific program (for example, a measurement program for a four-wheel drive custom specification).

[0071] In S103, the measurement program corresponding to the specifications is read. In this embodiment, the measurement program consists of a program common to all specifications and a program specific to each specification, for each vehicle model and type of workpiece W. The program common to all specifications is a measurement program that is commonly defined for each type of workpiece W for the same vehicle model, regardless of the specifications, while the program specific to each specification is a measurement program that is defined for each type of workpiece W and specification for each different vehicle model.

[0072] In S104, a program common to all specifications is executed, and common parts (hereinafter referred to as "common parts for all specifications") are measured for identical vehicle models and Work W types where there are no specification differences.

[0073] In S105, the program is executed according to the specifications, and the parts where specification differences occur, i.e., the parts with specification differences, are measured.

[0074] S106 outputs the measurement results for parts common to all specifications and parts that differ from each specification.

[0075] After that, the automated measurement and control process will be terminated.

[0076] (Contents of the specification determination process) In the flowchart shown in Figure 6, S201 reads the CAD data related to workpiece W (hereinafter referred to as "workpiece design data").

[0077] In S202, the pre-defined specification differences are checked. Specifically, the part of the specification difference to be measured for identification is confirmed, and it is determined whether the specification difference to be measured is the presence or absence of a hole, the presence or absence of a bracket, or a difference in surface position.

[0078] In S203, the measurement method is selected according to the specification difference. Specifically, if the specification difference is the presence or absence of holes or brackets, hole measurement is selected as the measurement method. If the specification difference is a difference in surface position or the presence or absence of bolts or nuts, endpoint measurement is selected as the measurement method. The selection of the measurement method follows the procedure shown in the flowchart in Figure 7.

[0079] In S204, the part with specification differences is measured according to the selected measurement method.

[0080] In this hole measurement process, the laser measuring device 111 scans the surface of the workpiece W along multiple scanning lines that radiate across the hole in the target area. Holes are detected from the resulting laser point cloud data, and if both the center position and diameter of the hole are within a threshold, it is determined that a hole exists.

[0081] On the other hand, in endpoint measurement, the laser measuring instrument 111 scans the surface of the workpiece W along multiple parallel scanning lines at the target area. If a bolt or nut protrusion is detected, it is determined that the workpiece is designed to have a bolt or nut attached. If the laser point cloud exists only at the surface location, it is determined that the workpiece is not designed to have a bolt or nut attached. The workpiece is then determined to have the correct specification if the measured surface position and shape match the specification. For example, if there is a difference in surface position and the target area has a characteristic shape indicating a specification such as an extended surface, it is determined to have that specification.

[0082] In the S205, information regarding specification differences (hereinafter referred to as "specification identification information") is stored in association with the vehicle model and the type of work W, based on the measurement results. The specification identification information includes, for example, the following: "It is designed with a hole in it." "It is designed to include a bracket." "The design features an expanded surface on the target area."

[0083] In the S206, a specification-specific program is selected based on the stored specification identification information. For example, a measurement program for a four-wheel drive custom specification might be selected as the specification-specific program.

[0084] (Details of the measurement process for parts with specification differences) In the flowchart shown in Figure 7, S301 reads the specification differences. Specifically, it reads the specification differences confirmed in S202 during the specification determination process.

[0085] In S302, it is determined whether the difference in specifications is the presence or absence of holes. If the difference in specifications is the presence or absence of holes, proceed to S306; otherwise, proceed to S303.

[0086] In S303, it is determined whether the difference in specifications is the presence or absence of a bracket. If the difference in specifications is the presence or absence of a bracket, proceed to S306; otherwise, proceed to S304.

[0087] In S304, it is determined whether the difference in specifications is a difference in surface position. If the difference in specifications is a difference in surface position, proceed to S307; otherwise, proceed to S305.

[0088] In S305, it is determined whether the difference in specifications is the presence or absence of bolts or nuts. If the difference in specifications is the presence or absence of bolts or nuts, proceed to S307. Otherwise, specifically if the difference in specifications is something other than those listed above, or if there is no difference in specifications at all, proceed to S308.

[0089] In S306, hole measurement is selected as the method for measuring the parts with specification differences.

[0090] In S307, endpoint measurement is selected as the method for measuring the parts with specification differences.

[0091] In S308, an error message is displayed on the display unit of the input / output device 101.

[0092] (Example of touring ball placement: side body) Referring to Figure 8, the arrangement of the jig 501A and the second tooling ball TB2 when measuring the side body is shown. However, for convenience, the position of the second tooling ball TB2 is shown as the position of the second placement point P2. Figure 8(a) is a perspective view showing the entire workpiece W and jig 501A. Figure 8(b) is a plan view of the surface plate 11, and the installation position of the legs 511A of the jig 501A on the surface plate 11 is shown by dashed lines.

[0093] When measuring a side body, the jig 501A is placed on the surface plate 11, and then the workpiece W, which is the side body, is placed on the jig 501A from above. In this case, the second tooling balls TB2, which are set up in the arrangement shown in Figure 2, do not interfere with any of the legs 511A of the jig 501A, and all of the second tooling balls TB2 remain on the surface plate 11, allowing all of the second tooling balls TB2 to be used for measurement.

[0094] Furthermore, when measuring the inner or lower surface of the workpiece W, the automatic measuring device 1 can adjust its coordinate system using the second tooling ball TB2, which is provided on the surface plate 11, as the reference point.

[0095] For example, as shown in Figure 9, when measuring the inner surfaces IS1 and IS2 of a workpiece W, one or more second tooling balls TB2 located in positions where the laser measuring machine 311 can irradiate are used as reference points when adjusting the coordinate system. For example, in Figure 9, the measurement coordinate system of the laser measuring machine 311 is set using the three second tooling balls TB2a, TB2b, and TB2c enclosed in circles.

[0096] (Explanation of action and effects) The effects obtained by this embodiment will be described below.

[0097] Firstly, by providing a second tooling ball TB2 positioned on the surface platen 11, in addition to the first tooling ball TB1 positioned off the surface platen 11, it becomes possible to measure parts of the workpiece W that were difficult or impossible to measure using only the first tooling ball TB1.

[0098] Secondly, by positioning the first tooling ball TB1 along the travel axis 21 (21A, 21B), it becomes possible to easily and quickly position the measuring machine 31 (laser measuring machine 311) using the first tooling ball TB1.

[0099] Thirdly, by positioning the second tooling ball TB2 offset from the arrangement of the first tooling ball TB1, it becomes possible to position the laser measuring machine 311 in a location where measurement would be difficult with the first tooling ball TB1 due to the workpiece W or jig 501 obstructing the measurement, and to perform the measurement.

[0100] Fourth, by positioning the second tooling ball TB2 in the first row L1 below the workpiece W, it becomes possible to properly measure areas that were difficult to measure with the first tooling ball TB1, such as the underside of the workpiece W.

[0101] Fifth, by setting up a first column L1 that extends along the center line of the workpiece W, and a second column (right-side second column L21, left-side second column L22) that extends parallel to the first column L1, it becomes possible to measure more locations on the workpiece W.

[0102] Sixth, by making the second tooling ball TB2 detachable from the surface plate 11, it becomes possible to position the second tooling ball TB2 in an appropriate location according to the workpiece W, thereby enabling more accurate measurements.

[0103] For example, by removing the second tooling ball TB2 from the surface plate 11 if it is in a position that could get in the way when setting up the jig 501, or if it is in a position that overlaps with the workflow and could hinder smooth operation, these problems can be resolved and work can be performed more efficiently.

[0104] Seventh, by employing a laser measuring machine 311 in the measuring machine 31, it becomes possible to quickly and accurately measure the shape or dimensions of each part of the workpiece W.

[0105] Eighth, the base plate 11 is provided with a groove g1 extending in the front-rear direction (front-rear groove) and a groove g2 extending in the left-right direction (left-right groove), and the second tooling ball TB2 is provided with projections 413 (413a, 413b) that can engage with the front-rear groove g1 and the left-right groove g2, respectively, and the second tooling ball TB2 is positioned at the intersection of these grooves 413a and 413b, thereby making it possible to easily attach and detach the second tooling ball TB2 to the base plate 11 and to maintain a constant position of the second tooling ball TB2 after installation.

[0106] Ninth, by forming a marker 421 on the second tooling ball TB2 to indicate its orientation, the orientation of the second tooling ball TB2, which is placed at the same intersection (second placement point P2) before and after attachment and detachment, can be made consistent, thereby suppressing the situation in which discrepancies occur in the measurement results due to differences in the orientation of the second tooling ball TB2.

[0107] Tenth, a memory unit is provided in which a measurement program is pre-stored. The controller 201 controls the operation of the measuring machine 31 according to the measurement program, thereby controlling the position and orientation of the laser measuring machine 311 relative to the workpiece W. This makes it possible to appropriately measure the shape or dimensions of each part of the workpiece W according to a predetermined procedure.

[0108] Eleventh, the laser measuring machine 311 measures the parts of the workpiece W where differences in shape or dimensions according to the specifications (specification differences) appear, and the information regarding the measurement results indicating the specifications of the workpiece is stored as specification identification information. Then, based on the stored specification identification information, a measurement program to be used to measure the workpiece is selected, and the workpiece is measured according to the selected measurement program. This reduces the inconvenience for operators when selecting a measurement program from multiple pre-stored programs to be used for the actual measurement of the entire workpiece W, and also prevents the incorrect measurement program from being selected and used for measurement.

[0109] Twelfth, by selecting a discrimination method according to the type of specification difference and measuring the part where the specification difference appears according to the selected discrimination method, it becomes possible to appropriately control the operation of the measuring machine 31 through the selection of an appropriate measurement program for each specification difference.

[0110] Thirteenth, by defining the workpiece W as a subcomponent or body that constitutes the vehicle, and by identifying the vehicle type and storing the measured specification identification information in association with the identified vehicle type, the burden of selecting a measurement program based on the specification identification information is reduced, and incorrect selection can be more reliably avoided.

[0111] The workpiece W to be measured is not limited to the side body, but may also be other subcompartments or bodies. The arrangement of the fixture 501 and the second tooling ball TB2 when measuring the main body, main floor, or assembly body is described below.

[0112] (Example of tooling ball placement 2: Main body) Figure 10 shows the arrangement of the jig 501B and the second tooling ball TB2 (second placement point P2) when measuring the main body. Figure 10(a) is a perspective view showing the entire workpiece W and jig 501B. Figure 10(b) is a plan view of the surface plate 11, with the installation position of the legs 511B of the jig 501B on the surface plate 11 indicated by dashed lines.

[0113] When measuring the main body, the jig 501B is placed on the surface plate 11, and then the workpiece W, which is the main body, is placed on the jig 501B from above. In this case as well, as when measuring the side body, the second tooling balls TB2 do not interfere with any of the legs 511 of the jig 501, and all of the second tooling balls TB2 remain on the surface plate 11.

[0114] (Example of touring ball placement 3: Main floor) Figure 11 shows the arrangement of the jig 501C and the second tooling ball TB2 (second placement point P2) when measuring the main floor. Figure 11(a) is a perspective view showing the entire workpiece W and jig 501C, and Figure 11(b) is a plan view of the surface plate 11.

[0115] When measuring the main floor, the jig 501C is placed on the surface plate 11, and then the workpiece W, which is the main floor, is lifted by hand by multiple workers and placed on the jig 501C. In this case, interference occurs between the jig 501C and the second tooling balls TB2 that are lined up in the first row L1 along the center line of the workpiece W. Figure 11(b) shows the placement points (second placement points) of the second tooling poles TB2 that cause interference with the jig 501C by enclosing them with circles. One of the second tooling balls TB2 that causes interference with the jig 501C is the second tooling ball TB2 at the second placement point P21a, which overlaps with the leg portion 511C of the jig 501C, and the other is the second tooling ball TB2 at the second placement point P21b, which is surrounded on three sides (rear and left and right) by the leg portion 501C. These two second tooling balls TB2 are removed from the surface plate 11 when taking measurements.

[0116] In addition to the above, if there is a second tooling ball TB2 that interferes with the worker's movement when placing the workpiece W on the jig 501C, it can be removed in the same manner.

[0117] (Tooling ball placement example 4: Assembly body) Figure 12 shows the arrangement of the jig 501D and the second tooling ball TB2 (second placement point P2) when measuring the assembly body. Figure 12(a) is a plan view showing the entire workpiece W and jig 501D, and Figure 12(b) is a plan view of the surface plate 11.

[0118] When measuring an assembly body, no jig is used; instead, the workpiece W, which is the assembly body, is moved on a trolley and placed on the surface plate 11. In this case, since the workpiece W is moved from the rear (i.e., from below relative to the plane of the paper) relative to the surface plate 11, interference occurs between the workpiece W and the second tooling ball TB2 that lies in the travel path of the assembly body. Figure 12(b) shows the placement points (second placement points) of the second tooling poles TB2 that interfere with the workpiece W, enclosed in circles. Specifically, these are the two second tooling balls TB2 located at the two second placement points P22a in the second column L21 on the right, and the two second tooling balls TB2 located at the two second placement points P22b in the second column L22 on the left. These four second tooling balls TB2 are also removed from the surface plate 11 during measurement.

[0119] The embodiments described above are illustrative and do not limit the scope of the invention. These novel embodiments can be implemented in various other forms, and various omissions, substitutions, or modifications can be made without departing from the spirit of the invention. These embodiments or their variations are included in the scope and spirit of the invention, as well as in the claims of the invention and its equivalents. [Explanation of Symbols]

[0120] 1...Automatic measuring device, 11...Surface plate, 21...Travel axis, 21A...First travel axis, 21B...Second travel axis, 31...Measuring machine, 311...Laser measuring machine, 312...Robot arm, 313...Base, 411...Spherical part, 412...Base part, 413...Protrusion, 413a...First projection, 413b...Second projection, 101...Input / output device, 201...Controller, TB...Tooling ball, TB1...First tooling ball, TB2...Second tooling ball, W...Workpiece, F...Floor surface, P...Tooling ball placement point, P1...First placement point, P2, P21, P22...Second placement points, g1...Front-rear groove, g2...Left-right groove.

Claims

1. A surface plate configured to allow workpieces to be placed directly or via a jig, A measuring machine for measuring the shape or dimensions of each part of the workpiece while the workpiece is placed on the surface plate, A travel shaft extending in one direction relative to the surface plate and guiding the measuring instrument in that one direction, The system comprises a plurality of tooling balls that are detected by the measuring instrument and can function as reference points for measurement by the measuring instrument, The aforementioned tooling ball is Multiple first tooling balls are positioned off the surface plate, An automatic measuring device including a second tooling ball placed on the aforementioned surface plate.

2. The automatic measuring device according to claim 1, wherein the first tooling balls are arranged at intervals from one another along the travel axis.

3. The automatic measuring device according to claim 2, wherein the second tooling ball is arranged offset from the arrangement of the first tooling ball.

4. The automatic measuring device according to claim 3, wherein the second tooling balls are arranged in a first row extending in one direction below the workpiece.

5. The automatic measuring device according to claim 3, wherein the second tooling balls are arranged in a first row extending along the center line of the workpiece and in a second row extending parallel to the first row.

6. The automatic measuring device according to any one of claims 1 to 5, wherein the second tooling ball is detachable from the surface plate.

7. The automatic measuring device according to claim 6, wherein the measuring device includes a laser measuring device.

8. The aforementioned surface plate is A plurality of first grooves extending in one direction and formed apart from each other in a direction perpendicular to that one direction, It has a plurality of second grooves that are perpendicular to the first groove and are formed apart from each other in the one direction, The automatic measuring device according to claim 6, wherein the second tooling ball has projections that can engage with the first groove and the second groove, respectively, and can be positioned at the intersection of the first groove and the second groove.

9. The automatic measuring device according to claim 8, wherein the second tooling ball is provided with a mark indicating the orientation of the second tooling ball.

10. The aforementioned measuring device is Detection unit, It includes a movable part that is mounted on the aforementioned travel shaft, supports the detection unit, and is movable in one direction relative to the aforementioned travel shaft, The automatic measuring device is, A storage unit in which the measurement program is pre-stored, The automatic measuring device according to claim 6, further comprising: a control unit that controls the operation of the measuring machine in accordance with a measurement program stored in the storage unit, and controls the position and / or orientation of the detection unit with respect to the workpiece.

11. The storage unit has in advance stored multiple measurement programs, each different from the specifications of the workpiece. The control unit, The detection unit measures the portion of the workpiece where a specification difference, which is a difference in the shape or dimensions according to the specifications, appears. Based on these measurement results, information regarding the specification differences of the workpiece is stored as specification identification information. Based on the stored specification identification information, the measurement program to be used for measuring the workpiece is selected. The automatic measuring device according to claim 10, which reads the selected measurement program from the storage unit and controls the operation of the measuring machine.

12. Laser measuring instrument, A movable part that changes the position and / or orientation of the laser measuring machine relative to the workpiece when measuring the workpiece, A storage unit in which multiple measurement programs, each different for the specifications of the aforementioned workpiece, are pre-stored, The system comprises a control unit that controls the operation of the movable part and the laser measuring machine according to the measurement program, The control unit, The parts of the workpiece whose shape or dimensions differ from the specified specifications are measured using the laser measuring instrument, Based on these measurement results, information regarding the specification differences of the workpiece is stored as specification identification information. Based on the stored specification identification information, the measurement program to be used for measuring the workpiece is selected. An automatic measuring device that reads the selected measurement program from the storage unit and controls the operation of the movable part and the laser measuring machine.

13. The control unit, In measuring the part where the aforementioned specification difference appears, a discrimination method is selected according to the type of specification difference. The automatic measuring device according to claim 12, which measures the part according to the selected discrimination method.

14. The type of the aforementioned specification difference is a hole provided in the aforementioned part. The automatic measuring device according to claim 13, wherein the control unit stores information relating to the presence, position, or dimensions of the hole as the specification identification information.

15. The type of the aforementioned specification difference is a protrusion that extends from the surface of the aforementioned part. The automatic measuring device according to claim 13, wherein the control unit stores information relating to the presence, position, or dimensions of the protrusion as the specification identification information.

16. The aforementioned workpiece is a panel, subcompartment, or body that constitutes a vehicle. The control unit, Determine the type of vehicle, The automatic measuring device according to any one of claims 12 to 15, wherein the specification identification information is stored in association with the identified vehicle model.

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