Inspection hand and inspection device

Abstract

To provide an inspection hand and an inspection device capable of improving the efficiency of inspection of an inspected unit.SOLUTION: According to an embodiment, an inspection hand includes a base, a supply unit, an inspection probe, and a suction unit. The base is connected to a robotic arm. The supply unit is provided in the base and supplies a contact medium to the inspected unit. The inspection probe is provided at the base and transmits and receives ultrasonic waves. The suction unit is provided at the base and sucks the contact medium supplied to the inspected unit.SELECTED DRAWING: Figure 3

Description

[Technical Field]

[0001] An embodiment of the present invention relates to an inspection hand and an inspection device. [Background technology]

[0002] As an example of an inspection device, an ultrasonic nondestructive inspection device is known that inspects whether a weld is properly welded. The ultrasonic nondestructive inspection device is known to be configured to include a supply nozzle that supplies a liquid couplant and an inspection hand that includes an inspection probe that transmits and receives ultrasonic waves, and a robot that moves the inspection hand.

[0003] This type of ultrasonic nondestructive testing device supplies a couplant to the welded area using a supply nozzle, then brings an inspection probe into contact with the welded area via the couplant, transmits ultrasonic waves from the inspection probe, and receives the reflected ultrasonic waves from the inspection probe.The ultrasonic nondestructive testing device then tests whether the welded area is properly welded based on the received ultrasonic waves.The couplant supplied to the welded area is then wiped off by, for example, an operator. [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Patent No. 6570600 Summary of the Invention [Problem to be solved by the invention]

[0005] The problem to be solved by the present invention is to provide an inspection hand and an inspection device that can improve the efficiency of inspection of an inspected part. [Means for solving the problem]

[0006] According to an embodiment, the inspection hand includes a base, a supply unit, an inspection probe, and a suction unit. A moving unit and a control unit,The base is connected to a robot arm. The supply unit is provided on the base and supplies a couplant to the part to be inspected. The inspection probe is provided on the base and transmits and receives ultrasonic waves. The suction unit is provided on the base and sucks the couplant supplied to the part to be inspected. The moving unit is provided on the base and displaces the relative positions of the inspection probe, the supply unit, and the suction unit. The control unit controls the supply unit, the suction unit, and the moving unit. The supply direction of the contact medium supplied by the supply unit toward the inspection target part, the longitudinal direction of the inspection probe, and the longitudinal direction of the suction unit are maintained parallel, and the supply unit, the inspection probe, and the suction unit are arranged independently. [Brief explanation of the drawings]

[0007] [Figure 1] FIG. 1 is a perspective view showing a configuration of an inspection device according to an embodiment. [Figure 2] FIG. 2 is a block diagram showing the configuration of the inspection device. [Figure 3] FIG. 2 is a perspective view showing the configuration of an inspection hand of the inspection device of the same inspection device. [Figure 4] FIG. 2 is a front view showing the configuration of an inspection hand for the inspection device. [Figure 5] FIG. 3 is an explanatory diagram showing an example of the operation of the inspection device. [Figure 6] FIG. 3 is an explanatory diagram showing an example of the operation of the inspection device. [Figure 7] FIG. 3 is an explanatory diagram showing an example of the operation of the inspection device. [Figure 8] FIG. 4 is an explanatory diagram showing an example of movement of the suction unit of the inspection apparatus. [Figure 9] FIG. 10 is a front view showing the configuration of an inspection hand for an inspection device used in a modified example of the inspection device. DETAILED DESCRIPTION OF THE INVENTION

[0008] An inspection device 1 according to one embodiment will be described with reference to FIGS. FIG. 1 is a perspective view showing the configuration of the inspection device 1. FIG. 2 is a block diagram showing the configuration of the inspection device 1. FIG. 3 is a perspective view showing the configuration of the inspection hand 3 of the inspection device 1. FIG. 4 is a front view showing the configuration of the inspection hand 3. FIG. 4 shows the inspection hand 3 as viewed along a first direction V1, which will be described later. FIG. 5 is an explanatory diagram showing an example of the operation of the inspection device 1. FIG. 6 is an explanatory diagram showing an example of the operation of the inspection device 1. FIG. 7 is an explanatory diagram showing an example of the operation of the inspection device 1. FIG. 8 is an explanatory diagram showing an example of the movement of the suction unit 34 of the inspection device 1.

[0009] The inspection device 1 uses, for example, ultrasonic waves to inspect a welded portion 101, which is an example of an inspected portion of an inspection object 100. As an example of inspection, the inspection device 1 inspects whether the welded portion 101 is properly welded. The welded portion 101 is a welded portion where a plurality of members, for example, two members, are fixed together by spot welding. The inspection object 100 is, for example, a door panel of an automobile.

[0010] As shown in Figures 1 and 2, the inspection device 1 includes, for example, a moving device 2, an inspection hand 3, a first tank 4, a first piping 5, a first pump 6, a second tank 7, a second piping 8, a second pump 9, and a control device 10.

[0011] The moving device 2 is configured to be able to move the inspection hand 3 to a desired position. Here, the desired position is a position of the inspection hand 3 relative to the welding point 101 that is set for each of the inspection probe 32, supply unit 33, and suction unit 34, which will be described later. For example, for the inspection probe 32, it is a position where it comes into contact with the welding point 101 via a coupling medium 102, which will be described later. For example, for the supply unit 33, it is a position where it can supply the coupling medium 102 to the welding point 101. For the suction unit 34, it is a position where it can suck in the coupling medium 102 supplied to the welding point 101.

[0012] The moving device 2 is configured to be able to move the inspection hand 3 in, for example, the up-down direction, the front-back direction, and the left-right direction. The moving device 2 is, for example, a six-axis articulated robot. The moving device 2 includes, for example, a robot body 21 and a robot control unit 22. The robot body 21 includes, for example, a plurality of arms 23. Here, the arm at the tip of the plurality of arms is referred to as the tip arm 23a. The tip arm 23a is configured to be rotatable around one axis. The robot control unit 22 controls the robot body 21 based on the control of a second control unit 62 (described later) of the control device 10.

[0013] 3, the inspection hand 3 includes, for example, a base 31, an inspection probe 32, a supply unit 33, a suction unit 34, and a movement unit 35. Here, a first direction V1, a second direction V2, and a third direction V3 that are perpendicular to one another are set in the inspection hand 3. The inspection hand 3 is, for example, detachably attached to the distal arm 23a in an orientation in which the first direction V1 is parallel to the axial direction of the distal arm 23a. The axial direction of the distal arm 23a is the axis that serves as the center of rotation of the distal arm 23a. The inspection hand 3 also includes a control unit. This control unit controls the supply unit 33, the suction unit 34, and the movement unit 35. In this embodiment, a configuration will be described as an example in which a second control unit 62 (described later) of the control device 10 is used as the control unit of the inspection hand 3. In other words, the inspection hand 3 includes the second control unit 62 as the control unit.

[0014] The base 31 is detachably fixed to the distal arm 23a. The base 31 supports the inspection probe 32, the supply unit 33, the suction unit 34, and the movement unit 35. The base 31 includes, for example, a plurality of plate members 36 and a connecting member 37 that connects the plurality of plate members 36 in the first direction V1. The base 31 is configured, for example, in a shape that is elongated in the first direction V1.

[0015] The base 31 includes, for example, an inspection probe fixing portion 38 and a moving unit fixing portion 39. The inspection probe 32 is fixed to the inspection probe fixing portion 38. The inspection probe fixing portion 38 is provided, for example, at one end of the base 31 on the opposite side from the robot body 21 in the first direction V1. As shown in FIGS. 3 and 4, the moving unit fixing portion 39 has the moving unit 35 fixed thereto. When the inspection hand 3 is viewed in the first direction V1 as shown in FIG. 4, the moving unit fixing portion 39 is formed at a position spaced apart from the inspection probe fixing portion 38, for example, in the second direction V2.

[0016] The inspection probe 32 is formed, for example, in a shape that is long in one direction. The inspection probe 32 is fixed to the inspection probe fixing portion 38 in a position in which, for example, the longitudinal direction is parallel to the first direction V1. The inspection probe 32 is disposed, for example, coaxially with the distal arm 23a. The distal end 32a of the inspection probe 32 is formed, for example, on a plane that is perpendicular to the first direction V1.

[0017] The inspection probe 32 is electrically connected to a first control unit 61 (described later) of the control device 10, for example, by a wiring 41. The wiring 41 is laid, for example, inside the robot body 21 of the moving device 2. The inspection probe 32 is configured to be able to transmit and receive ultrasonic waves via a tip 32a.

[0018] The supply unit 33 is configured to be able to supply the couplant 102 to the welding location 101. The supply unit 33 is fixed to a fixed unit 53 (described later) of the moving unit 35. The couplant 102 is, for example, in a liquid state. The supply unit 33 is, for example, a nozzle that ejects the couplant 102. The supply unit 33 has a supply port 33a.

[0019] The supply unit 33 is formed, for example, long in the discharge direction of the contact medium 102. The supply unit 33 is fixed to the moving unit 35 in an orientation such that the discharge direction is parallel to the first direction V1 and the supply port 33a is at one end on the opposite side of the robot body 21 in the first direction V1. The supply unit 33 is arranged, for example, at a position aligned with the inspection probe 32 in the third direction V3 when the inspection hand 3 is viewed along the first direction V1 as shown in FIG.

[0020] The suction unit 34 is configured to be able to suck the couplant 102 on the surface of the inspection object 100. The suction unit 34 is fixed to the fixed portion 53 of the moving unit 35. The suction unit 34 has a suction port 34a that sucks the couplant 102. The suction unit 34 is, for example, a nozzle. The suction unit 34 is formed, for example, in a shape that is elongated in one direction. The suction unit 34 is fixed to the fixed portion 53 of the moving unit 35 in an orientation such that, for example, its longitudinal direction is parallel to the first direction V1 and the suction port 34a is at one end opposite the robot body 21 in the first direction V1. The suction unit 34 is, for example, arranged in a position aligned with the supply unit 33 in the second direction V2 when the inspection hand 3 is viewed in the first direction V1 as shown in FIG. 4.

[0021] 6, when the suction unit 34 is sucking the couplant 102 on the surface of the object under test 100, the suction unit 34 is disposed forward of the inspection probe 32 and the supply unit 33 in the direction in which the couplant 102 is discharged by the supply unit 33. In the present embodiment, as an example, the suction unit 34 is disposed forward of the supply unit 33 in the direction in which the couplant 102 is discharged by the supply unit 33, and is moved in the first direction V1 by the movement unit 35, so that when the suction unit 34 is sucking the couplant 102 on the surface of the object under test 100, the suction unit 34 is disposed forward of the inspection probe 32 in the direction in which the couplant 102 is discharged by the supply unit 33.

[0022] In a configuration in which the relative positions of the inspection probe 32, the supply unit 33, and the suction unit 34 are fixed, the suction unit 34 may be arranged forward of the inspection probe 32 and the supply unit 33 in the direction in which the couplant 102 is discharged by the supply unit 33. Alternatively, in a configuration in which the suction unit 34 is fixed to the base 31 and the inspection probe 32 and the supply unit 33 are movable, the inspection probe 32 and the supply unit 33 may be moved, so that the suction unit 34 is arranged forward in the direction in which the couplant 102 is discharged by the supply unit 33.

[0023] The moving unit 35 is fixed to the moving unit fixing unit 39. The moving unit 35 is configured to be able to displace the relative positions of the inspection probe 32, the supply unit 33, and the suction unit 34. The moving unit 35 is configured to be able to displace, for example, the relative positions of the supply unit 33 and the suction unit 34 in the first direction V1 with respect to the inspection probe 32. Furthermore, the moving unit 35 is configured to be able to position the suction unit 34 forward with respect to the inspection probe 32 and the supply unit 33 in the direction in which the couplant 102 is discharged by the supply unit 33 when the couplant 102 is being sucked by the suction unit 34.

[0024] 3 and 7, the moving unit 35 includes, for example, a moving unit main body 51, a driving unit 52, and a fixing unit 53. The moving unit main body 51 is fixed to the moving unit fixing unit 39. The moving unit main body 51 moves the driving unit 52 forward and backward in, for example, a first direction V1. The moving unit main body 51 is electrically connected to a second control unit 62 of the control device 10.

[0025] The driving unit 52 is driven by the moving unit main body 51 to move forward and backward in the first direction V1 relative to the moving unit main body 51. The driving unit 52 is configured, for example, in the shape of a rod that is long in the first direction V1.

[0026] The fixing unit 53 is fixed to the driving unit 52. The supply unit 33 and the suction unit 34 are fixed to the fixing unit 53. When the inspection hand 3 is viewed in the first direction V1 as shown in FIG. 4, the fixing unit 53 disposes the supply unit 33 and the suction unit 34 at positions offset in the third direction V3 with respect to the inspection probe 32. The fixing unit 53 includes, for example, a supply unit fixing unit 53a and a suction unit fixing unit 53b. The supply unit fixing unit 53a is arranged, for example, at a position aligned with the inspection probe fixing unit 38 in the third direction V3. The suction unit fixing unit 53b is arranged, for example, at a position aligned with the supply unit fixing unit 53a in the second direction V2.

[0027] 1, the first tank 4 is an example of a storage unit that stores the contact medium 102 to be supplied to the supply unit 33. The first tank 4 is installed, for example, at an installation site 103 where the inspection device 1 is installed.

[0028] The first pipe 5 connects the supply unit 33 and the first tank 4. The first pipe 5 forms a flow path that guides the contact medium 102 in the first tank 4 to the supply unit 33. A portion of the first pipe 5 is disposed, for example, inside the robot body 21.

[0029] 2, the first pump 6 moves the contact medium 102 stored in the first tank 4 to the supply unit 33. The first pump 6 is provided in the first tank 4, the first pipe 5, or the supply unit 33, for example.

[0030] The second tank 7 is an example of a storage section that stores the contact medium 102 sucked by the suction section 34. The second tank 7 is installed at an installation location 103, for example. The second pipe 8 connects the suction unit 34 and the second tank 7. The second pipe 8 forms a flow path that guides the contact medium 102 sucked by the suction unit 34 to the second tank 7. A portion of the second pipe 8 is disposed, for example, inside the robot body 21. The second pump 9 generates a negative pressure that sucks the contact medium 102 in the suction section 34. The second pump 9 is provided in the second tank 7, the second pipe, or the suction section 34, for example.

[0031] The control device 10 controls the inspection probe 32, the supply unit 33, the suction unit 34, and the movement unit 35. As shown in FIG. 2, the control device 10 includes, for example, a first control unit 61 and a second control unit 62.

[0032] The first control unit 61 controls the transmission and reception of ultrasonic waves by the inspection probe 32. Based on the ultrasonic waves received by the inspection probe 32, the first control unit 61 determines whether the welding point 101 is properly welded.

[0033] The first control unit 61 includes, for example, a control unit and a storage unit. The control unit is, for example, a processor. The processor is, for example, configured with a CPU (Central Processing Unit). The storage unit is, for example, a memory or a storage. The memory includes a ROM (Read Only Memory), which is a read-only data memory, or a RAM (Random Access Memory), which temporarily stores data. The storage may be a large-capacity storage such as an HDD (Hard Disk Drive) or an SSD (Solid State Drive). The memory or storage stores control programs and various data. The processor performs various processes based on programs and the like stored in the memory or storage. In other words, the processor executes various programs as a software function unit. The control unit may use, instead of a CPU, an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array) as a hardware function unit.

[0034] Like the first control unit 61, the robot control unit 22 of the moving device 2 also includes a control unit and a storage unit.

[0035] The second control unit 62 controls the movement of the supply unit 33 and the suction unit 34 by controlling the drive unit 52, controls the supply of the contact medium 102 by the supply unit 33 by controlling the first pump 6, and controls the suction of the contact medium 102 by the suction unit 34 by controlling the second pump 9.

[0036] Further, the second control unit 62 determines the position of the supply unit 33 when supplying the couplant 102 based on the information on the position of the welding point 101. The position of the welding point 101 is input to the second control unit 62 from an external device, for example, before inspecting the welding point 101. In this embodiment, the position of the supply unit 33 when supplying the couplant 102 to the welding point 101 is such that the supply port 33a is directly above the welding point 101 and is a predetermined distance away from the welding point 101.

[0037] Furthermore, the second control unit 62 determines the position of the inspection probe 32 when transmitting and receiving ultrasonic waves from the inspection probe 32, based on the information on the position of the welding point 101. The position at which the inspection probe 32 transmits and receives ultrasonic waves is, for example, the position at which the tip 32a of the inspection probe 32 comes into contact with the welding point 101 via the couplant 102. When the tip 32a comes into contact with the welding point 101, the couplant 102 is expanded at the tip 32a.

[0038] The second control unit 62 also determines the position of the suction unit 34 when sucking the couplant 102, based on the information on the position of the welding point 101. For example, the position of the suction unit 34 when sucking the couplant 102 is a position where the suction port 34a of the suction unit 34 abuts against the inspection object 100, or a position where there is a slight gap between the inspection object 100 and the suction port 34a.

[0039] The second control unit 62 also controls the robot control unit 22, thereby controlling the robot main body 21. Specifically, the second control unit 62 transmits to the robot control unit 22 information on the position of the supply unit 33 when supplying the contact medium 102 to the welding point 101. The second control unit 62 also transmits to the robot control unit 22 information on the position of the suction unit 34 when sucking the contact medium 102. The second control unit 62 and the robot control unit 22 constitute an example of a control unit that controls the supply unit 33, the suction unit 34, and the moving device 2.

[0040] The second control unit 62 also controls the moving unit 35. The second control unit 62 may control the moving unit 35 in each of a first operation in which the supply unit 33 supplies the couplant 102 to the welding point 101, a second operation in which the inspection probe 32 transmits and receives ultrasonic waves, and a third operation in which the suction unit 34 sucks the couplant 102 from the welding point 101. For example, the second control unit 62 controls the moving unit 35 when performing each of the first operation, the second operation, and the third operation, thereby displacing the relative positions of the inspection probe 32, the supply unit 33, and the suction unit 34 and positioning the inspection probe 32, the supply unit 33, and the suction unit 34 at positions that do not interfere with the inspection object 100.

[0041] When the relative positions of the inspection probe 32, the supply unit 33, and the suction unit 34 are displaced, the second control unit 62 transmits information on the positions of the inspection probe 32, the supply unit 33, and the suction unit 34 to the robot control unit 22 based on the inspection hand 3 after movement by the movement unit 35. The second control unit 62, like the first control unit 61, includes a control unit and a storage unit.

[0042] Next, an example of inspection of the welded portion 101 by the inspection device 1 will be described.

[0043] First, based on the information on the position of the welding point 101, the second control unit 62 determines the position of the supply unit 33 when supplying the contact medium 102 to the welding point 101. The second control unit 62 transmits the information on the position of the supply unit 33 to the robot control unit 22.

[0044] Based on the control of the second control unit 62, the robot control unit 22 controls the robot body 21 to move the supply unit 33 to a position where the contact medium 102 is supplied to the welding point 101.

[0045] When the supply unit 33 is moved to a position where it supplies the couplant 102, the second control unit 62 drives the first pump 6 to discharge the couplant 102 from the supply port 33a, thereby supplying the couplant 102 to the welding point 101. Note that when the supply unit 33 is in a state where it is supplying the couplant 102, the moving unit 35 may be driven to move the supply unit 33 toward the welding point 101.

[0046] When the second control unit 62 supplies the contact medium 102, it determines the position of the inspection probe 32 when inspecting the welded portion 101, and transmits information on the determined position of the inspection probe 32 to the robot control unit 22.

[0047] The robot control unit 22 moves the inspection probe 32 to a position where it transmits and receives ultrasonic waves under the control of the second control unit 62. Note that, when an inspection is being performed using the inspection probe 32, the supply unit 33 and the suction unit 34 may be moved closer to the robot body 21 than the inspection probe 32 by driving the movement unit 35. In other words, the supply unit 33 and the suction unit 34 are moved to retracted positions.

[0048] When the inspection probe 32 is moved to a position where it transmits and receives ultrasonic waves, the first control unit 61 controls the inspection probe 32 to transmit ultrasonic waves. The inspection probe 32 transmits ultrasonic waves to the welding point 101 and receives the reflected ultrasonic waves. The inspection probe 32 transmits information about the received ultrasonic waves to the first control unit 61. The first control unit 61 determines whether the welding point 101 is properly welded based on the information about the ultrasonic waves received by the inspection probe 32.

[0049] When the inspection by the first control unit 61 is completed, the second control unit 62 determines the position of the suction unit 34 that sucks the couplant 102 of the inspection object 100. Furthermore, as shown in Fig. 6, the second control unit 62 controls the drive unit 52 of the movement unit 35 to move the suction port 34a of the suction unit 34 forward in the direction in which the couplant 102 is protruded by the supply unit 33, further than the tip 32a of the inspection probe 32. This position is a position where the inspection probe 32 and the supply unit 33 do not interfere with the inspection object 100 during the process of suctioning the couplant 102 by the suction unit 34.

[0050] The second control unit 62 transmits information about the determined position of the suction unit 34 to the robot control unit 22. The robot control unit 22 controls the robot main body 21 based on the control of the second control unit 62 to move the suction unit 34 to a position where it will suck in the contact medium 102.

[0051] When the suction unit is moved to a position where it can suck in the couplant 102, the second control unit 62 controls the second pump 9 to cause the suction unit to suck in the couplant .

[0052] 6 and 8, the second control unit 62 controls the robot body 21 to move the suction unit 34 toward the welding point 101 and suck the contact medium 102. The movement path of the suction unit 34 is preferably a path that allows efficient suction of the contact medium 102.

[0053] 8, the second control unit 62 sucks the couplant 102 while moving the suction unit 34 in a circular direction along the surface of the welded portion 101 relative to the area where the couplant 102 has been applied. For example, if the opening area of ​​the suction port 34a of the suction unit 34 is smaller than the area of ​​the area where the couplant 102 has been applied, the second control unit 62 sucks the couplant 102 while moving the suction unit 34. The second control unit 62 can determine the positional information of the area where the couplant 102 has been applied from, for example, the amount of couplant 102 supplied, the area of ​​the tip 32a of the inspection probe 32, etc.

[0054] These steps complete the inspection of one welded portion 101. If the inspection object 100 has a plurality of welded portions 101 to be inspected, the same steps as above are performed on the other welded portions 101.

[0055] In this way, the inspection hand 3 can remove the couplant 102 from the welded area 101 using the suction unit 34. This allows the processes of supplying the couplant 102, inspecting the welded area 101, and removing the couplant 102 to be automated, eliminating the need for a person to perform removal work, such as wiping off the couplant 102 from the welded area 101. Eliminating the need for a person to remove the couplant 102 improves the efficiency of inspection of the welded area 101. This is particularly effective when the inspection target 100 has multiple welds 101, for example, a large number of welds 101. Furthermore, while manual removal of the couplant 102 can result in some of the couplant 102 being missed, using the suction unit 34 to suck the couplant 102 can prevent this from happening.

[0056] Furthermore, the inspection hand 3 includes a moving unit 35, which is configured to be able to displace the relative positions of the inspection probe 32, the supply unit 33, and the suction unit 34. Therefore, by displacing the relative positions of the inspection probe 32, the supply unit 33, and the suction unit 34 when the couplant 102 is supplied by the supply unit 33, when the inspection probe 32 transmits and receives ultrasonic waves, and when the couplant 102 is sucked by the suction unit 34, it is possible to prevent the inspection probe 32, the supply unit 33, and the suction unit 34 from interfering with the inspection object 100 when the couplant 102 is supplied, when the inspection probe 32 transmits and receives ultrasonic waves, and when the couplant 102 is sucked by the suction unit 34. Furthermore, since the moving unit 35 can displace the relative positions of the inspection probe 32, the supply unit 33, and the suction unit 34, when the inspection hand 3 is not in use, the moving unit 35 can displace the relative positions of the inspection probe 32, the supply unit 33, and the suction unit 34, thereby making the inspection probe 32 compact.

[0057] Furthermore, since the moving unit 35 is configured to move the supply unit 33 and the suction unit 34 together in the first direction V1 along the direction in which the contact medium 102 is discharged by the supply unit 33, the configuration for moving the supply unit 33 and the suction unit 34 can be simplified.

[0058] Furthermore, when the suction unit 34 is sucking the couplant 102, the suction port 34a of the suction unit 34 is positioned forward of the inspection probe 32 in the direction in which the couplant 102 is discharged by the supply unit 33. This prevents the inspection probe 32 from interfering with the object 100 to be inspected when the suction unit 34 is sucking the couplant 102.

[0059] Furthermore, when the suction unit 34 sucks the couplant 102, the inspection device 1 can efficiently suck the couplant 102 by moving the suction unit 34 along the application area of ​​the couplant 102. Furthermore, by moving the suction unit 34 in a circular direction, the couplant 102 can be efficiently sucked.

[0060] Furthermore, the inspection device 1 includes a second tank 7 that stores the couplant 102 sucked by the suction unit 34. This makes it possible to reuse the sucked couplant 102.

[0061] As described above, according to this embodiment, the inspection hand 3 is provided with the suction unit 34, which sucks the couplant 102, making it possible to automate the supply of the couplant 102, the inspection using the inspection probe 32, and the removal of the couplant 102. This improves the efficiency of the inspection of the welded portion 101.

[0062] The inspection device 1 is not limited to the above example. In the above example, the inspection device 1 has a configuration in which the second tank 7, which stores the contact medium 102 sucked by the suction unit 34, is separate from the inspection hand 3, and as an example, the second tank 7 is disposed at the installation location 103 of the inspection device 1. The second pump 9 is separate from the inspection hand 3, and is provided in the second tank 7, the second piping 8, or the suction unit 34. However, the second tank 7, the second piping 8, and the second pump 9 are not limited to being separate from the inspection hand 3. In another example, the second tank 7, the second piping 8, and the second pump 9 may be provided in the inspection hand 3.

[0063] In the above example, the inspection device 1 supplies a couplant 102 to one weld 101 of the inspection target 100 using the supply unit 33, then inspects the weld 101 using the inspection probe 32, and then sucks the couplant 102 from the surface of the weld 101 using the suction unit 34. After completing each of these steps of supplying, inspecting, and sucking, the inspection device 1 performs similar steps of supplying, inspecting, and sucking on another weld 101. However, this is not limiting. For example, the supplying step and the inspection step may be performed on each of a plurality of welds 101, and after completing the supplying and inspection steps on each of the plurality of welds 101, the step of sucking the couplant 102 from the plurality of welds 101 in sequence may be performed. Alternatively, a supply process may be performed for each of the multiple welding points 101, and once the supply process for each of the multiple welding points 101 is completed, an inspection process may be performed for each of the multiple welding points 101, and once the inspection process for each of the multiple welding points 101 is completed, a suction process may be performed for each of the multiple welding points 101.

[0064] In the above example, the suction unit 34 is moved by the robot body 21 when the suction unit 34 sucks the couplant 102, but this is not limiting. In another example, the moving unit 35 may be configured to move the suction unit 34 within the application range of the couplant 102 at the welding point 101.

[0065] In the above example, the suction unit 34 is configured to suck the couplant 102 while being moved in a circular direction, but the present invention is not limited to this. The suction unit 34 may be moved in a direction other than a circle over the application area of ​​the couplant 102 on the inspection target 100. As an example, the suction unit 34 may suck the couplant 102 by moving in a linear direction.

[0066] In the above example, the inspection hand 3 may include a camera 71 as shown in Fig. 9. The camera 71 is configured to be able to photograph the welding point 101 and the contact medium 102 applied to the welding point 101. The camera 71 transmits the photographed information to the second control unit 62. For example, as shown in Fig. 9, the camera 71 is disposed on the opposite side of the inspection probe 32 across the supply unit 33 and the suction unit 34 when viewed along the first direction V1. In the above example, the supply unit 33 and the suction unit 34 are moved integrally by the moving unit 35, but this is not limiting. In another example, the moving unit 35 moves the suction unit 34, and the supply unit 33 may be fixed to the base 31 or movably supported by another moving unit. Then, while the suction unit 34 is sucking the contact medium 102, the suction unit 34 may be moved by the moving unit 35 toward the welding point 101, which is the part to be inspected, relative to the supply unit 33 and the inspection probe 32.

[0067] In the above example, the inspection device 1 has been described as having a configuration in which the control device 10 includes the first control unit 61 and the second control unit 62, but this is not limiting. In another example, the inspection device 1 may not include the first control unit 61, and the second control unit 62 may have the functions of the first control unit 61. In addition, the inspection device 1 has been described as having a configuration in which the robot control unit 22 is included, but this is not limiting. In another example, the inspection device 1 may not include the robot control unit 22, and the control device 10 may have the functions of the robot control unit 22.

[0068] According to at least one of the embodiments described above, the inspection hand 3 is equipped with the suction unit 34, which sucks the couplant 102, making it possible to automate the supply of the couplant 102, the inspection using the inspection probe 32, and the removal of the couplant 102. This improves the efficiency of the inspection of the welded portion 101.

[0069] Although several embodiments of the present invention have been described, these embodiments are presented as examples and are not intended to limit the scope of the invention. These novel embodiments can be embodied in various other forms, and various omissions, substitutions, and modifications can be made without departing from the spirit of the invention. These embodiments and their modifications are included within the scope and spirit of the invention, and are also included in the scope of the invention and its equivalents as defined in the claims. The following is a summary of the claims of this application at the time of filing. [Appendix 1] a base connected to the robotic arm; a supply section provided on the base section and configured to supply a contact medium to the section to be inspected; an inspection probe provided on the base and configured to transmit and receive ultrasonic waves; a suction section provided on the base section and configured to suck the contact medium supplied to the inspection target section; An inspection hand comprising: [Appendix 2] a moving unit provided on the base and configured to displace relative positions of the inspection probe, the supply unit, and the suction unit; An inspection hand as described in Appendix 1. [Appendix 3] a control unit that controls the supply unit, the suction unit, and the movement unit, the control unit controls the moving unit to move the suction unit toward the inspected portion relative to both the supply unit and the inspection probe in a state in which the suction unit sucks the contact medium supplied to the inspected portion. An inspection hand as described in Appendix 2. [Appendix 4] The supply unit discharges the contact medium, the moving unit moves the suction unit in one axial direction along the direction in which the contact medium is discharged by the supply unit. An inspection hand as described in Appendix 3. [Appendix 5] the moving unit moves the suction unit along the application area of ​​the contact medium of the inspection target part. An inspection hand as described in Appendix 3 or Appendix 4. [Appendix 6] the inspection probe is arranged coaxially with the robot arm; An inspection hand as described in Appendix 1. [Appendix 7] an inspection hand including a base, a supply unit provided on the base for supplying a couplant to an inspection target, an inspection probe provided on the base for transmitting and receiving ultrasonic waves, and a suction unit provided on the base for suctioning the couplant supplied to the inspection target; a moving device that moves the inspection hand; a reservoir connected to the suction section and configured to store the contact medium sucked by the suction section; a control unit that controls the supply unit, the suction unit, and the moving device; An inspection device comprising: [Appendix 8] the moving device moves the suction unit along the application area of ​​the contact medium of the inspection target unit. 8. The inspection device described in Appendix 7. [Explanation of symbols]

[0070] 1...inspection device, 2...moving device, 3...inspection hand, 4...first tank, 5...first piping, 6...first pump, 7...second tank, 8...second piping, 9...second pump, 10...control device, 21...robot body, 22...robot control unit, 32...inspection probe, 33...supply unit, 33a...supply port, 34...suction unit, 34a...suction port, 35...moving unit, 51...moving unit body, 52...driving unit, 53...fixed unit, 61...first control unit, 62...second control unit, 71...camera, 100...object to be inspected, 101...welded area (inspected area), 102...coupling medium.

Claims

1. a base connected to the robotic arm; a supply section provided on the base section and configured to supply a contact medium to the inspection target section; an inspection probe provided on the base and configured to transmit and receive ultrasonic waves; a suction section provided on the base section and configured to suck the contact medium supplied to the inspection target section; a moving unit provided on the base unit and configured to displace relative positions of the inspection probe, the supply unit, and the suction unit; a control unit that controls the supply unit, the suction unit, and the movement unit; Equipped with a supply direction of the contact medium supplied by the supply unit toward the inspection target part, a longitudinal direction of the inspection probe, and a longitudinal direction of the suction unit are maintained in parallel postures, and the supply unit, the inspection probe, and the suction unit are arranged independently; Inspection hand.

2. the control unit moves the position of the suction unit based on the position of the inspected part to be inspected by the inspection probe, and controls the moving unit to move the suction unit closer to the inspected part than both the supply unit and the inspection probe when the suction unit is sucking the contact medium supplied to the inspected part. The inspection hand according to claim 1 .

3. The supply unit discharges the couplant, the moving unit moves the suction unit in one axial direction along the direction in which the contact medium is discharged by the supply unit. The inspection hand according to claim 2 .

4. the inspection probe is disposed coaxially with the robot arm; The inspection hand according to any one of claims 1 to 3.

5. An inspection hand according to any one of claims 1 to 4, a moving device that moves the inspection hand; a reservoir connected to the suction unit and configured to store the contact medium sucked by the suction unit; An inspection device comprising:

6. the moving device moves the suction unit along the application area of ​​the contact medium on the inspection target part. The inspection device according to claim 5 .

7. The control unit determines the application range of the contact medium based on at least one of the amount of contact medium supplied to the inspected part and the area of ​​the tip of the inspection probe. The inspection device according to claim 6.

8. A robot control unit for controlling the moving device, the robot control unit controls the supply unit to move to the inspection unit, then the inspection probe to move to the inspection unit, and then the suction unit to move to the inspection unit. The inspection device according to any one of claims 5 to 7.

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