Switch device inspection system

Abstract

To provide an inspection system for a switch device capable of being automized inexpensively.SOLUTION: An inspection system 1 for a switch device 20 that generates an electrical signal in response to a movement operation, comprises: an inspection control device 4 that inspects switch parts SWa, SWb, SWc based on an electrical signal obtained when an inspector performs manual inspect operation on the switch parts SWa, SWb, SWc of the switch device 20 in a state where the switch device 20 is installed on a receiving jig 3; a display device 5 that displays an inspection result; an activation switch 6 that can be activated by the inspector; a collaborative robot 7 configured to be able to perform an automatic inspection operation similar to the manual inspection operation on the switch parts SWa, SWb, SWc of the switch device 20 installed in the receiving jig 3; and a robot control device 8 that causes the collaborative robot 7 to perform the automatic inspection operation when an activation signal is received from the activation switch 6.SELECTED DRAWING: Figure 1

Description

[Technical Field]

[0001] The present invention relates to an inspection system for a switch device. [Background technology]

[0002] Electrical devices used in automobiles, industrial equipment, consumer devices, etc. include switch devices that generate electrical signals in response to operator movements, such as pushing, pulling, and dialing.

[0003] Switch devices need to be inspected to ensure they operate normally. In other words, it is necessary to inspect whether the switch device can output an appropriate electrical signal in response to a movement operation when it is moved. To inspect a switch device, for example, the switch device to be inspected is placed on a testing jig, and it is confirmed that the switch device outputs an appropriate electrical signal when the switch part (contact part) of the switch device is operated.

[0004] Devices for performing this inspection include manual inspection systems that allow a person to perform the inspection manually, and automatic inspection systems that allow inspection to be performed automatically by a robot or the like. A manual inspection system determines the electrical signal output by a switch device when a person performs a manual inspection operation on a switch unit of the switch device with the switch device installed in a receiving fixture. An automatic inspection system determines the electrical signal output by a switch device when a robot or the like operates the switch device with the switch device installed in a receiving fixture.

[0005] Incidentally, Patent Document 1 describes an automatic inspection of panel switch devices. This inspection differs from the inspection of electrical signals output by the switch devices as described above, in that it inspects the feel of the switch when pressed.

[0006] Patent Document 2 also describes a method for cell production. In this production method, work is performed in a human work area, and a robot works in a robot work area. When the power to the robot is cut off, the tool held by the robot is detached from the robot, and a worker in the human work area performs the work originally performed by the worker, as well as the work previously performed by the robot, using the detached tool.

[0007] Patent Document 3 describes a flow production method, in which humans and robots coexist in a flow production process in which production elements are shared between humans and robots, and when a defect occurs in a production element shared by a robot, the action shared by the robot is replaced by a human and the human is allowed to share the action. [Prior art documents] [Patent documents]

[0008] [Patent Document 1] Japanese Patent Application Laid-Open No. 2001-221719 [Patent Document 2] Japanese Patent Application Laid-Open No. 2014-223694 [Patent Document 3] Japanese Patent Application Publication No. 2019-84669 Summary of the Invention [Problem to be solved by the invention]

[0009] As devices for inspecting switch devices, manual inspection systems are inexpensive, while automatic inspection systems are expensive. Therefore, if a manual inspection system is already in place, it is not easy to build a new automatic inspection system. However, there is a demand for automating inspection, and if it is possible to automate the system while effectively utilizing the existing manual inspection system, the cost of installing the equipment can be reduced. Thus, there is a demand for an inspection system that can be automated at low cost.

[0010] As described above, the movement operations of the switch unit of a switch device include a push operation, a pull operation, a dial operation, etc. For example, when there is a switch unit that requires a push operation and a pull operation, the operation is complicated, and it is not easy to automate it using a robot. When targeting a switch device that requires these types of operations, the structure of the robot needs to be devised in order to automate it.

[0011] The present invention has been made in view of the above background, and aims to provide an inspection system for switch devices that can be automated at low cost, or to provide an inspection system for switch devices that can be automated when inspecting switch parts that require push-in and pull-up operations. [Means for solving the problem]

[0012] A first aspect of the present invention is For the switch section An inspection system for a switch device that generates an electrical signal in response to a movement operation, a receiving jig configured to be able to install the switch device and electrically connected to the switch device when the switch device is installed; The switch device is configured to be capable of transmitting and receiving electrical signals to and from the receiving jig, and the switch device is operated by an inspector when the switch device is installed in the receiving jig. The aforementioned an inspection control device that acquires the electrical signal generated by the switch device in response to a manual inspection operation performed on the switch unit when the manual inspection operation is performed on the switch unit, and inspects the switch unit based on the acquired electrical signal; a display device connected to the inspection control device and displaying the inspection results of the switch unit by the inspection control device; a start switch configured to be startable by the examiner and outputting a start signal when started by the examiner; a collaborative robot arranged adjacent to the jig and configured to be able to perform an automatic inspection operation similar to the manual inspection operation on the switch unit of the switch device installed on the jig; a robot control device that starts an operation program for operating the collaborative robot when the start signal is received from the start switch, and causes the collaborative robot to perform the automatic inspection operation based on the execution of the operation program. 、 The inspection control device further acquires the electrical signal generated by the switch device in response to the automatic inspection operation when the automatic inspection operation is performed, and inspects the switch unit based on the acquired electrical signal. It is used in inspection systems for switch devices.

[0013] A second aspect of the present invention is For the switch section An inspection system for a switch device that generates an electrical signal in response to a movement operation, a receiving jig configured to be able to install the switch device and electrically connected to the switch device when the switch device is installed; The switch device is configured to be able to transmit and receive electrical signals to and from the receiving jig, and when the switch device is installed in the receiving jig, The aforementioned an inspection control device that acquires the electrical signal generated by the switch device in response to an inspection operation when an inspection operation is performed on the switch unit, and inspects the switch unit based on the acquired electrical signal; a display device connected to the inspection control device and displaying the inspection results of the switch unit by the inspection control device; a robot disposed adjacent to the receiving jig and configured to be able to perform the inspection operation on the switch unit of the switch device installed on the receiving jig; Equipped with the switch device includes a first switch unit as the switch unit, the first switch portion is configured to be capable of being pressed in and pulled up, generates an electric signal in response to the pressing operation, and generates an electric signal in response to the pulling up operation, is configured to be swingable in the pressing direction and the pulling up direction, and includes a switch claw portion that engages in the swinging direction; The robot A robot main body, a robot hand provided at a tip of the robot main body, configured to be able to contact the first switch unit, and configured to be able to perform the pushing operation and the pulling operation; Equipped with The robot hand a long member provided so as to extend from a tip of the robot main body and having a robot claw portion at a tip; a short member provided to extend from a tip of the robot main body, to face the long member, and to be shorter than the long member; Equipped with The robot the pushing operation is performed by pressing the first switch unit with the long member or the short member while the tip of the long member or the short member is in contact with a surface of the first switch unit; The switch device inspection system performs the lifting operation by swinging the robot hand while the tip of the short member is in contact with the surface of the first switch portion and the robot claw portion of the long member is engaged with the back side of the switch claw portion. [Effects of the Invention]

[0014] According to the switch device inspection system of the first aspect of the present invention, the inspection control device can perform manual inspection. That is, an inspector performs manual inspection operations with the switch device installed on a jig. Then, the inspection control device can inspect the switch unit based on electrical signals generated by the switch device in response to the manual inspection operation. Then, the inspection results are displayed on the display device. In this way, the inspection system can perform manual inspection of the switch device.

[0015] The inspection system further includes a collaborative robot and a robot control device. The robot control device executes an operating program, allowing the collaborative robot to perform an automatic inspection operation similar to a manual inspection operation. The automatic inspection operation by the collaborative robot is performed on a switch device installed on a receiving fixture, in the same manner as a manual inspection operation. Furthermore, the collaborative robot performs the automatic inspection operation when an inspector operates a start switch. In this way, the inspection system can perform automatic inspection of a switch device when an inspector operates a start switch.

[0016] Therefore, the inspection system can be automated based on the equipment for manual inspection. In this way, the equipment for automatic inspection can be installed while utilizing the receiving fixtures, inspection control device, and display device required for manual inspection. Therefore, an inspection system for automatic inspection can be installed inexpensively.

[0017] The inspection system can perform manual inspection by an inspector, or can perform automatic inspection by a collaborative robot when the inspector operates a start switch. In other words, the inspector can select either manual inspection or automatic inspection. Therefore, when the collaborative robot is operable, automatic inspection using the collaborative robot can be performed, thereby reducing the number of work steps. When the collaborative robot stops operating due to a breakdown or maintenance, the inspector can perform manual inspection. Therefore, inspection can be performed continuously.

[0018] As described above, according to the first aspect, it is possible to provide an inspection system for switch devices that can be automated at low cost.

[0019] According to a second aspect of the present invention, a robot can perform automatic inspection of a switch device. Here, a first switch unit of the target switch device is configured to be capable of being pushed in and pulled up. To realize the pushing and pulling operations on the first switch unit, the robot hand includes a long member and a short member. The long member has a robot claw at its tip, and the short member is arranged to face the long member.

[0020] When the robot performs a pushing operation on the first switch unit, the robot presses the long or short member against the first switch unit with the tip of the long or short member in contact with the surface of the first switch unit.When the robot performs a pulling operation on the first switch unit, the robot swings the robot hand with the tip of the short member in contact with the surface of the first switch unit and the robot claw of the long member engaged with the back side of the switch claw of the first switch unit.

[0021] In particular, during the lifting operation, the robot claw of the long member engages with the switch claw of the first switch member, thereby enabling the first switch member to be lifted. However, simply engaging the robot claw of the long member with the switch claw of the first switch member may result in the switch device itself being lifted, potentially making stable inspection impossible. Therefore, the short member is in contact with the surface of the first switch member. In other words, the short member exerts a force that holds down the switch device. Therefore, the first switch member can be lifted while the switch device remains attached to the jig.

[0022] As described above, according to the second aspect, it is possible to provide an inspection system for a switch device that can realize automation when inspecting a switch portion that requires a push-in operation and a pull-up operation. [Brief explanation of the drawings]

[0023] [Figure 1] FIG. 1 is a diagram showing the configuration of an inspection system according to a first embodiment. [Figure 2] FIG. 2 is a cross-sectional view of the switch device according to the first embodiment. [Figure 3] FIG. 2 is an enlarged perspective view showing a robot hand of a collaborative robot that constitutes the inspection system in the first embodiment. [Figure 4] 1 is a flowchart illustrating a manual inspection method using an inspection system. [Figure 5] 10 is a flowchart showing a main process performed by the inspection control device. [Figure 6] 1 is a flowchart illustrating an automatic inspection method using the inspection system. [Figure 7] 10 is a flowchart showing a main process performed by the robot control device. [Figure 8] 10A and 10B are diagrams illustrating a pressing operation on a switch portion SWa during an automatic inspection operation. [Figure 9] 10A and 10B are diagrams showing the operation of pressing the switch SWb during the automatic inspection operation. [Figure 10] FIG. 10 is a diagram showing the initial state of the pull-up operation for the switch section SWb in the automatic inspection operation. [Figure 11] FIG. 10 is a diagram showing a state after the switch SWb is pulled up in the pulling-up operation of the automatic inspection operation. [Figure 12] 10A and 10B are diagrams illustrating a pressing operation on the switch section SWc during the automatic inspection operation. [Figure 13] 10 is a flowchart showing an abnormality process performed by the inspection control device. [Figure 14] 10 is a flowchart showing an abnormality process performed by the robot control device. [Figure 15] FIG. 10 is a diagram showing the configuration of an inspection system according to a second embodiment. DETAILED DESCRIPTION OF THE INVENTION

[0024] (Embodiment 1) 1. Configuration of Inspection System 1 The configuration of the inspection system 1 will be described with reference to Fig. 1. The object to be inspected by the inspection system 1 is a switch device 20 that generates an electrical signal in response to a movement operation. The inspection system 1 inspects whether the switch device 20 operates normally by determining whether a normal electrical signal is generated when the switch device 20 is moved. The switch device 20 has multiple switch units SWa, SWb, and SWc, and each of the switch units SWa, SWb, and SWc is a part that is operated with a movement.

[0025] The inspection system 1 is configured to allow manual inspection by an inspector, and automatic inspection by a collaborative robot 7 (described later). The inspector can select whether to perform manual inspection or automatic inspection.

[0026] The inspection system 1 comprises an inspection jig main body 2, a receiving jig 3, an inspection control device 4, a display device 5, a start switch 6, a collaborative robot 7, and a robot control device 8. The inspection jig main body 2 is a component that is installed on an installation surface. The inspection jig main body 2 is configured so that various receiving jig 3 can be replaced. The inspection jig main body 2 may be formed in a flat plate shape as shown in FIG. 1, or may be formed in various shapes such as a container shape.

[0027] The receiving jig 3 is attached to the upper surface of the inspection jig main body 2 and is positioned on the inspection jig main body 2. The receiving jig 3 is configured so that the switch device 20 to be inspected can be placed on it. In detail, the receiving jig 3 is configured so that the switch device 20 can be placed on its upper surface. In particular, the receiving jig 3 supports the switch device 20 from below so that it can be placed on it, and does not include a clamping device or the like to prevent it from coming off upward. However, the receiving jig 3 may be configured so as to include a clamping device or the like.

[0028] Furthermore, the receiving jig 3 has a terminal 3a. The terminal 3a of the receiving jig 3 is electrically connected to the terminal 22 of the switch device 20 when the switch device 20 is installed on the receiving jig 3. Therefore, the receiving jig 3 can supply power to the switch device 20. When the switch device 20 generates an electrical signal, the receiving jig 3 can acquire the electrical signal.

[0029] Furthermore, the receiving fixture 3 is formed in a different shape for each type of switch device 20. However, the multiple types of receiving fixtures 3 each have a common mounting surface with the inspection jig main body 2. Therefore, even if the shapes of the receiving fixtures 3 are different, various receiving fixtures 3 can be mounted on the inspection jig main body 2.

[0030] The inspection control device 4 is configured to be able to send and receive electrical signals to and from the receiving fixture 3. The transmission and reception of electrical signals between the inspection control device 4 and the receiving fixture 3 may be performed by wire or wirelessly. Furthermore, the inspection control device 4 supplies power to the switch device 20, which is the inspection target, when the switch device 20 is installed in the receiving fixture 3.

[0031] Furthermore, when an inspection operation is performed on the switch sections SWa, SWb, and SWc of the switch device 20 while the switch device 20 to be inspected is installed on the receiving fixture 3, the inspection control device 4 acquires an electrical signal generated by the switch device 20 in response to the inspection operation. Then, the inspection control device 4 inspects the switch sections SWa, SWb, and SWc of the switch device 20 based on the acquired electrical signal.

[0032] Here, the inspection system 1 can perform manual inspection by an inspector, or can perform automatic inspection by a collaborative robot 7. Therefore, when an inspector performs a manual inspection operation on the switch units SWa, SWb, and SWc of the switch device 20, the inspection control device 4 can acquire an electrical signal generated by the switch device 20 in response to the manual inspection operation. In this case, the inspection control device 4 can inspect the switch units SWa, SWb, and SWc of the switch device 20 based on the electrical signal acquired by the manual inspection.

[0033] Furthermore, when the collaborative robot 7 performs an automatic inspection operation on the switch units SWa, SWb, and SWc of the switch device 20, the inspection control device 4 can acquire an electrical signal generated by the switch device 20 in response to the automatic inspection operation. In this case, the inspection control device 4 can inspect the switch units SWa, SWb, and SWc of the switch device 20 based on the electrical signal acquired by the automatic inspection. The automatic inspection operation by the collaborative robot 7 is the same type of operation as a manual inspection operation by an inspector.

[0034] The display device 5 is connected to the inspection control device 4, and displays the inspection results of the switch sections SWa, SWb, and SWc of the switch device 20 by the inspection control device 4. The display device 5 is arranged adjacent to the inspection jig main body 2 so that it can be viewed by an inspector. Therefore, the display device 5 is arranged adjacent to the receiving fixture 3 attached to the inspection jig main body 2.

[0035] The start switch 6 is configured to be operable by an inspector, and outputs a start signal when operated by the inspector. The start switch 6 is arranged adjacent to the inspection jig main body 2. Therefore, the start switch 6 is arranged adjacent to the receiving fixture 3 attached to the inspection jig main body 2. As shown in FIG. 1, the start switch 6 is an example of a switch that is independent from other components. Alternatively, for example, the display device 5 can be a touch panel that allows touch input, and the display device 5 can include a touch switch that functions as the start switch 6.

[0036] The collaborative robot 7 is a robot that can work in collaboration with humans. Therefore, the collaborative robot 7 can operate in areas where humans can work and is designed to be highly safe for humans. Various known technologies can be applied to the collaborative robot 7, and detailed explanations will be omitted. In FIG. 1, a serial robot is taken as an example of the collaborative robot 7. However, the collaborative robot 7 can also be a parallel robot, a loader-type robot, a humanoid robot, or other robots with various configurations.

[0037] The collaborative robot 7 is disposed adjacent to the inspection jig main body 2. In other words, the collaborative robot 7 is disposed adjacent to the receiving fixture 3 attached to the inspection jig main body 2. Furthermore, the collaborative robot 7 is configured to be able to perform automatic inspection operations similar to manual inspection operations on the switch sections SWa, SWb, and SWc of the switch device 20 installed on the receiving fixture 3.

[0038] Here, the collaborative robot 7 comprises a robot main body 11 and a robot hand 12 (also referred to as an end effector) attached to the tip of the robot main body 11. In order for the collaborative robot 7 to realize various automatic inspection operations, the robot hand 12 is replaceably attached to the tip of the robot main body 11. Each robot hand 12 is formed in a different shape depending on the type of switch device 20 to be inspected. In other words, a robot hand 12 compatible with the switch device 20 to be inspected can be attached to the tip of the robot main body 11.

[0039] When the robot control device 8 receives a start signal from the start switch 6, it starts an operation program for operating the collaborative robot 7. The robot control device 8 causes the collaborative robot 7 to perform an automatic inspection operation based on the execution of the operation program. Furthermore, the robot control device 8 is configured to be able to communicate with the inspection control device 4. That is, the robot control device 8 may operate based on a signal received from the inspection control device 4, and conversely, the inspection control device 4 may operate based on a signal received from the robot control device 8. Note that, although the inspection control device 4 and the robot control device 8 have been described separately in this embodiment, they may also be configured as an integrated control device. In this case, the integrated control device will have a portion that functions as the inspection control device 4 and a portion that functions as the robot control device 8.

[0040] 2. Example of switch device 20 An example of the switch device 20 will be described with reference to FIG. 2. As shown in FIG. 2, the switch device 20 includes, for example, a switch main body 21, a terminal 22, and a plurality of switch sections SWa, SWb, and SWc. The switch main body 21 is a part that forms the outer shape and is formed in any shape. For example, the switch main body 21 is formed in an elongated shape extending in the left-right direction of FIG. 2. The installation surface of the receiving fixture 3 is formed in a shape that matches the shape of the switch main body 21.

[0041] The terminal 22 is provided below the switch main body 21. When the switch device 20 is installed on the receiving jig 3, the terminal 22 of the switch device 20 is electrically connected to the terminal 3a of the receiving jig 3. The terminals 3a and 22 may form a connector.

[0042] In this embodiment, the multiple switch sections SWa, SWb, and SWc are provided so as to be exposed on the upper surface of the switch main body 21. The multiple switch sections SWa, SWb, and SWc are all movable switches. Note that the multiple switch sections SWa, SWb, and SWc may also be provided so as to be exposed on the side surface of the switch main body 21.

[0043] The switch sections SWa and SWc are configured to be capable of being pressed. A pressing operation on the switch sections SWa and SWc is an operation of moving the switch sections SWa and SWc toward the inside of the switch main body 21. In this embodiment, a pressing operation on the switch sections SWa and SWc is an operation of moving them downward in FIG. 2. Therefore, when the switch sections SWa and SWc are pressed downward, they move downward. When a pressing operation is performed on the switch sections SWa and SWc, the switch device 20 generates an electrical signal corresponding to the pressing operation of each of the switch sections SWa and SWc.

[0044] The switch portion SWb is configured to be capable of being pushed in and pulled up. A push operation on the switch portion SWb is an operation of moving the switch portion SWb toward the inside of the switch main body 21. A pull operation on the switch portion SWb is an operation of moving the switch portion SWb toward the outside of the switch main body 21.

[0045] Furthermore, the switch portion SWb is provided so as to be swingable around a fulcrum, and is configured to be swingable in a pushing direction and a pulling direction. In this embodiment, the switch portion SWb swings downward when pressed. On the other hand, the switch portion SWb swings upward when pulled. Furthermore, the switch portion SWb includes a switch claw portion SWb1. The switch claw portion SWb1 is configured so that, for example, an examiner can hook his / her finger thereon. In other words, the switch claw portion SWb1 is configured to engage in the swinging direction of the switch portion SWb.

[0046] When the switch SWb is pressed, the switch device 20 generates an electrical signal corresponding to the pressing operation of the switch SWb. When the switch SWb is pulled up, the switch device 20 generates an electrical signal corresponding to the pulling operation of the switch SWb.

[0047] 3. Configuration of Robot Hand 12 An example of the configuration of the robot hand 12 of the collaborative robot 7 will be described with reference to Fig. 3. The robot hand 12 shown in Fig. 3 has a shape suitable for inspecting the switch device 20 shown in Fig. 2. In particular, the robot hand 12 shown in Fig. 3 is suitable for performing a pull-up operation on the switch section SWb of the switch device 20 shown in Fig. 2, and is also configured to be capable of performing other movement operations.

[0048] 2, and is further configured to be able to push in the switch sections SWa, SWb, and SWc and pull up the switch section SWb. The robot hand 12 is not limited to the configuration shown in FIG. 3, and various other configurations can be adopted. In particular, it is preferable that the robot hand 12 be formed into a shape that corresponds to the type of switch device 20.

[0049] As shown in Fig. 3, the robot hand 12 includes a base 31 attached to the tip of the robot main body 11 (shown in Fig. 1), a long member 32, and a short member 33. The base 31 is configured to be replaceable with respect to the robot main body 11. In Fig. 3, the base 31 is formed in a plate shape, and the upper surface side of the base 31 is the surface that is attached to the robot main body 11.

[0050] The long member 32 is fixed to the surface of the base 31 opposite to the surface attached to the robot body 11. The long member 32 is formed in a plate or rod shape and extends, for example, in the normal direction to the surface of the base 31. Therefore, when the robot hand 12 is attached to the robot body 11, the long member 32 is provided so as to extend from the tip of the robot body 11.

[0051] The elongated member 32 has a robot claw 34 at its tip. The robot claw 34 is formed so as to bend at an angle from the tip of the elongated member 32. For example, the robot claw 34 bends in an orthogonal direction. The robot claw 34 is formed over the entire width of the elongated member 32. However, the robot claw 34 may be formed only over a portion of the width of the elongated member 32.

[0052] The elongated member 32 also includes a core portion 32a and a covering portion 32b. The core portion 32a is formed from a hard material, such as a hard resin or metal. The core portion 32a constitutes the central portion of the outer shape of the elongated member 32. Therefore, the core portion 32a is formed in a plate shape, is fixed to the base portion 31, and has a claw portion at its tip that corresponds to the robot claw portion 34. Examples of materials that can be used for the core portion 32a include hard resins such as polyacetal and monomer cast nylon, and metals such as steel and aluminum.

[0053] The covering portion 32b covers the portions of the surface of the core portion 32a that come into contact with the switch portions SWa, SWb, and SWc. The covering portion 32b is molded from a material with a lower elastic modulus than the core portion 32a. In other words, the covering portion 32b is molded from a material that is more flexible than the core portion 32a. For example, rubber or elastomer is used as the material for the covering portion 32b. Therefore, even if the covering portion 32b comes into contact with the switch portions SWa, SWb, and SWc, scratches on the switch portions SWa, SWb, and SWc can be prevented.

[0054] 3, the covering portion 32b is formed at least near the tip of the elongated member 32. For example, the covering portion 32b is formed on the tip surface of the elongated member 32 and on the surface of the robot claw portion 34 of the elongated member 32. However, the covering portion 32b may be formed on the entire surface of the elongated member 32. Furthermore, when the design surface of the switch device 20 is only the surfaces of the switch portions SWa, SWb, and SWc, the covering portion 32b may be formed only on the tip surface of the elongated member 32.

[0055] Similar to the long member 32, the short member 33 is fixed to the surface of the base 31 opposite to the surface attached to the robot body 11. The short member 33 is formed in a plate or rod shape and extends, for example, in the normal direction to the surface of the base 31. Therefore, when the robot hand 12 is attached to the robot body 11, the short member 33 is provided so as to extend from the tip of the robot body 11.

[0056] Furthermore, the short member 33 is provided so as to face the long member 32. More specifically, the short member 33 is provided parallel to the long member 32. The short member 33 is formed to be shorter than the long member 32. Therefore, the tip position of the short member 33 is located closer to the base portion 31 than the tip position of the long member 32.

[0057] The short member 33 also includes a core portion 33a and a covering portion 33b. The core portion 33a is molded from the same material as the core portion 32a of the long member 32. The covering portion 33b is molded from the same material as the covering portion 32b of the long member 32. The covering portion 33b covers the portions of the surface of the core portion 33a that come into contact with the switch portions SWa, SWb, and SWc.

[0058] The covering portion 33b is formed at least near the tip of the short member 33. For example, the covering portion 33b is formed on the tip surface of the short member 33. However, the covering portion 33b may be formed on the entire surface of the short member 33, or may be formed only on the tip surface.

[0059] 4. Manual inspection method using inspection system 1 A manual inspection method using the inspection system 1 will be described with reference to Fig. 4. In manual inspection, of the components of the inspection system 1, the inspection jig main body 2, the receiving jig 3, the inspection control device 4, and the display device 5 are used, but the start switch 6, the collaborative robot 7, and the robot control device 8 are not used.

[0060] As shown in FIG. 4, an inspector places the switch device 20 to be inspected on the receiving fixture 3 (S1). Then, the inspector performs a manual inspection operation (S2). Specifically, the inspector performs a pushing operation on switch unit SWa to inspect switch unit SWa (S2a). Then, the inspector performs a pushing operation on switch unit SWb to inspect the pushing direction of switch unit SWb (S2b). Then, the inspector performs a lifting operation on switch unit SWb to inspect the lifting direction of switch unit SWb (S2c). Then, the inspector performs a pushing operation on switch unit SWc to inspect switch unit SWc (S2d).

[0061] Then, the inspector checks the display content of the display device 5 to check whether the switch sections SWa, SWb, SWc are normal or not (S3), and the manual inspection method is then completed.

[0062] The main processing of the inspection control device 4 when the above-mentioned manual inspection is performed will be described with reference to Fig. 5. In S2a of Fig. 4, when the inspector presses the switch unit SWa, the switch device 20 generates an electrical signal corresponding to the operation. Then, the inspection control device 4 acquires the electrical signal generated when the switch unit SWa is pressed (S11). Next, the inspection control device 4 determines whether the acquired electrical signal is normal (S12), and if normal (S12: Yes), performs processing to display that the display device 5 is normal (S13). On the other hand, if the product is defective (S12: No), the inspection control device 4 performs processing to display that the product is defective on the display device 5 (S14), and ends the main processing.

[0063] When the inspection control device 4 performs a normal display process (S13) for the push operation of the switch unit SWa, the inspection control device 4 continues the following main process. When the inspector pushes the switch unit SWb in S2b of FIG. 4, the switch device 20 generates an electrical signal corresponding to the operation. Then, the inspection control device 4 acquires the electrical signal generated when the switch unit SWb is pushed (S15). Next, the inspection control device 4 determines whether the acquired electrical signal is normal (S16), and if normal (S16: Yes), performs a process to display that the display device 5 is normal (S17). On the other hand, if the product is defective (S16: No), the inspection control device 4 performs a process to display that the product is defective on the display device 5 (S18), and ends the main process.

[0064] When the inspection control device 4 performs a normal display process (S17) for the push operation of the switch unit SWb, the inspection control device 4 continues the following main process. When the inspector performs a pull operation on the switch unit SWb in S2c of FIG. 4, the switch device 20 generates an electrical signal corresponding to the operation. Then, the inspection control device 4 acquires the electrical signal generated when the switch unit SWb is pulled up (S19). Next, the inspection control device 4 determines whether the acquired electrical signal is normal (S20), and if normal (S20: Yes), performs a process to display that the display device 5 is normal (S21). On the other hand, if the product is defective (S20: No), the inspection control device 4 performs a process to display that the product is defective on the display device 5 (S22), and ends the main process.

[0065] When the inspection control device 4 performs a normal display process (S21) for the pull-up operation of the switch unit SWb, the inspection control device 4 continues the following main process. When the inspector presses the switch unit SWc in S2d of FIG. 4, the switch device 20 generates an electrical signal corresponding to the operation. The inspection control device 4 then acquires the electrical signal generated when the switch unit SWc is pressed (S23). Next, the inspection control device 4 determines whether the acquired electrical signal is normal (S24). If normal (S24: Yes), the inspection control device 4 performs a process to display that the switch unit SWc is normal on the display device 5 (S25), and ends the main process. On the other hand, if defective (S24: No), the inspection control device 4 performs a process to display that the switch unit SWc is defective on the display device 5 (S26), and ends the main process.

[0066] As described above, whether or not the plurality of switch sections SWa, SWb, and SWc of the switch device 20 operate normally can be confirmed by a manual inspection operation by an inspector.

[0067] 5. Automatic Inspection Method Using Inspection System 1 An automatic inspection method using the inspection system 1 will be described with reference to Figures 6 to 12. In the automatic inspection, the inspection jig main body 2, the receiving jig 3, the inspection control device 4, the display device 5, the start switch 6, the collaborative robot 7, and the robot control device 8 are used from the components of the inspection system 1. That is, in addition to the components used in the manual inspection, the automatic inspection uses the start switch 6, the collaborative robot 7, and the robot control device 8.

[0068] 6, an inspector places the switch device 20 to be inspected on the receiving fixture 3 (S31). Next, the inspector performs an activation operation on the activation switch 6 (S32). Next, when the robot control device 8 receives an activation signal from the activation switch 6, the collaborative robot 7 starts an automatic inspection operation (S33).

[0069] 7, the main processing of the robot controller 8 determines whether or not a start signal has been received from the start switch 6 (S41). When the examiner performs a start operation on the start switch 6, the robot controller 8 receives a start signal from the start switch 6. In this case (S41: Yes), the robot controller 8 executes a pre-stored operation program (S42). The robot controller 8 continues to execute the operation program until the operation program ends (S43: No). When the robot controller 8 has not received a start signal (S41: No) or when the operation program ends (S43: Yes), the robot controller 8 repeats the processing from S41.

[0070] Therefore, when the robot control device 8 receives a start signal from the start switch 6, the operation program is executed, and the collaborative robot 7 performs an automatic inspection operation (S33 in FIG. 6). The specific operation of the automatic inspection operation will be described below.

[0071] By executing the operation program, the collaborative robot 7 performs a pushing operation on the switch unit SWa in order to inspect the switch unit SWa (S33a). As shown in Fig. 8, the pushing operation on the switch unit SWa is performed by pressing the switch unit SWa downward with the elongated member 32 while the tip end face of the elongated member 32 is in contact with the surface of the switch unit SWa.

[0072] Next, as shown in Fig. 6, the operating program is executed, and the collaborative robot 7 performs a pushing operation on the switch part SWb to inspect the pushing direction of the switch part SWb (S33b). As shown in Fig. 9, the pushing operation on the switch part SWb is performed by pressing the switch part SWb downward with the short member 33 while the tip face of the short member 33 is in contact with the surface of the switch part SWb.

[0073] However, the switch section SWb is configured to swing around a fulcrum. Therefore, the short member 33 is pivoted around the swing center of the switch section SWb while pressing the switch section SWb to perform a pushing operation. By pivoting the short member 33, it is possible to prevent the short member 33 from slipping on the surface of the switch section SWb, and the design surface of the switch section SWb can be maintained in good condition.

[0074] Furthermore, as described above, the short member 33 of the robot hand 12 is used to press the switch unit SWb. Because the short member 33 presses against the switch unit SWb while being pivoted, a force that causes bending deformation acts on the short member 33. However, because the short member 33 is shorter than the long member 32, bending deformation of the short member 33 can be suppressed. Therefore, even if a force that causes bending deformation acts on the short member 33, the use of the short member 33 ensures that the switch unit SWb can be pressed in reliably.

[0075] The pressing operation of the switch section SWb can be performed by linear movement instead of pivoting. In this case, it is preferable to move the short member 33 in a linear manner that is close to pivoting. Specifically, it is preferable to move the short member 33 in a linear manner at the point of contact between the short member 33 and the switch section SWb in a direction that coincides with or is close to the tangent direction of a circle centered at the fulcrum of the switch section SWb.

[0076] For example, in FIG. 9, it is preferable to linearly move the short member 33 in a direction (lower left direction in FIG. 9) that is at an angle to the vertical direction (up and down direction in FIG. 9). Furthermore, as shown in FIG. 9, when the short member 33 is linearly moved in a direction that is at an angle to the direction in which the short member 33 extends, a force that causes bending deformation acts on the short member 33, just as in the case of a pivoting movement. However, by using the short member 33, it is possible to reliably perform the pushing operation of the switch portion SWb. Note that, as described above, the long member 32 can also be used to push the switch portion SWb instead of the short member 33 by molding it from a material that can suppress bending deformation.

[0077] Next, as shown in Fig. 6, by executing the operation program, the collaborative robot 7 performs a lifting operation on the switch unit SWb to inspect the lifting direction of the switch unit SWb (S33c). As shown in Fig. 10, the lifting operation on the switch unit SWb is performed with the tip surface of the short member 33 in contact with the surface of the switch unit SWb and with the robot claw 34 of the long member 32 engaged with the back side of the switch claw SWb1 of the switch unit SWb.

[0078] Then, as shown in FIG. 11 , in the above state, the robot hand 12 is swung to perform a lifting operation. Here, the robot claw 34 of the long member 32 engages with the switch claw SWb1 of the switch unit SWb, causing the switch unit SWb to swing around the fulcrum and also to simply move upward. However, the tip of the short member 33 remains in contact with the surface of the switch unit SWb. In other words, the short member 33 exerts the function of holding down the switch unit SWb so that the entire switch unit SWb is not lifted up. Therefore, the switch unit SWb is pulled up by the robot claw 34 of the long member 32 while being held down by the short member 33, and is therefore able to swing around the fulcrum.

[0079] Next, as shown in Fig. 6, the operation program is executed, and the collaborative robot 7 performs a pushing operation on the switch part SWc in order to inspect the switch part SWc (S33d). As shown in Fig. 12, the pushing operation on the switch part SWc is performed in the same manner as for the switch part SWa, by pressing the switch part SWa downward with the elongated member 32 while the tip end face of the elongated member 32 is in contact with the surface of the switch part SWa.

[0080] The pushing operation on the switch portions SWa and SWc is a downward movement operation in Figures 8 and 12. The elongated member 32 is in a position extending in the vertical direction in Figures 8 and 12. In other words, the elongated member 32 is moved linearly in a direction parallel to the extension direction of the elongated member 32. In this case, the elongated member 32 is not flexed or deformed in response to the pushing operation, so that a pressing force can be reliably applied to the switch portions SWa and SWc.

[0081] It is also possible to use the short member 33 to perform the pushing operation of the switches SWa and SWc, but in this case, space is required for the long member 32 to enter. Furthermore, when the short member 33 is used, the operating path may become longer, which may increase the number of inspection steps. Therefore, it is better to use the long member 32 to perform the pushing operation of the switches SWa and SWc.

[0082] Here, the automatic inspection operation performed by the collaborative robot 7 is the same type of operation as the manual inspection operation performed by an inspector. Therefore, when the automatic inspection operation is performed by the collaborative robot 7, the inspection control device 4 performs the process shown in Fig. 5, as in the case of a manual inspection operation. Therefore, the display device 5 displays, as the inspection result when the automatic inspection operation is performed, the same display content as the display content of the inspection result when the manual inspection operation is performed.

[0083] 6, when the automatic inspection operation by the collaborative robot 7 is completed (S33), the inspector can check the display content of the display device 5 to confirm whether the switches SWa, SWb, and SWc are normal or not (S34). Then, the automatic inspection method is completed.

[0084] In this case, automatic inspection means at least an automated inspection of the movement operation of the switch units SWa, SWb, and SWc. In addition to the above, the inspection system 1 can also be equipped with a device for loading and unloading the switch device 20 to be inspected, thereby automating the loading and unloading of the switch device 20.

[0085] 6. Handling Abnormalities Next, the processing performed by the inspection control device 4 and the robot control device 8 when an abnormality occurs will be described with reference to FIGS.

[0086] As described above, the switch device 20 includes a plurality of switch units SWa, SWb, and SWc, and is configured to generate an electrical signal in response to a movement operation of each of the plurality of switch units SWa, SWb, and SWc. Therefore, the first abnormality is a case in which, during an automatic inspection operation by the collaborative robot 7, the inspection results of each of the switch units SWa, SWb, and SWc in the main processing by the inspection control device 4 shown in Figure 5 are determined to be defective.

[0087] As a second example of an abnormality, an inspection operation abnormality caused by an inspector accidentally moving one of the switch units SWa, SWb, or SWc while the automatic inspection operation is being performed by the collaborative robot 7 will be taken as an example. As a third example of an abnormality, a collision detection abnormality caused by the collaborative robot 7 colliding with an object other than the switch units SWa, SWb, or SWc to be inspected, such as an inspector or surrounding equipment, while the automatic inspection operation is being performed by the collaborative robot 7 will be taken as an example.

[0088] A first abnormality, ie, a poor inspection result, a second abnormality, ie, an abnormal inspection operation, and a third abnormality, ie, an abnormal collision detection, are handled by the robot control device 8 in cooperation with the inspection control device 4. Below, first, the abnormality handling by the inspection control device 4 will be described with reference to Fig. 13, and then the abnormality handling by the robot control device 8 will be described with reference to Fig. 14.

[0089] As shown in Fig. 13, as an abnormality process, the inspection control device 4 determines whether the collaborative robot 7 is performing an automatic inspection operation, i.e., whether the execution program is being executed, using the robot control device 8 (S51). If the automatic inspection operation of the collaborative robot 7 is not being executed (S51: No), the determination process of S51 is performed again. If the collaborative robot 7 is performing an automatic inspection operation (S51: Yes), the inspection control device 4 determines whether the inspection results of each switch unit SWa, SWb, SWc were bad in the main process of the inspection control device 4 shown in Fig. 5 (S52). If the inspection results are bad (S52: Yes), the inspection control device 4 outputs a command to the robot control device 8 to stop the collaborative robot 7 (S53).

[0090] If the test result is not defective (S52: No), the test control device 4 determines whether or not simultaneous ON of multiple contacts has been detected (S54). Simultaneous ON of multiple contacts refers to a state in which two or more of the switch units SWa, SWb, and SWc are simultaneously moved and operated, and the test control device 4 simultaneously acquires multiple electrical signals corresponding to the movement operations of the switch units SWa, SWb, and SWc from the switch device 20.

[0091] When the inspection control device 4 detects that multiple contacts are simultaneously ON (S54: Yes), it determines that the inspection operation is abnormal (S55). In this case, since the robot control device 8 is executing an automatic inspection operation, the inspection control device 4 outputs a command to the robot control device 8 to stop the collaborative robot 7 (S56). Next, the inspection control device 4 performs a process to display details about the inspection operation abnormality on the display device 5 (S57). Then, the display device 5 displays a display content indicating that a command to stop the automatic inspection operation by the collaborative robot 7 has been output due to the inspection operation abnormality.

[0092] Then, after the inspection control device 4 performs the inspection operation abnormality display process (S57), after the robot stop command is output due to a poor inspection result (S53), and when multiple contacts have not been detected to be simultaneously ON (S54: No), the inspection control device 4 determines whether a collision detection stop signal has been received from the robot control device 8 (S58). If the inspection control device 4 receives the collision detection stop signal (S58: Yes), the inspection control device 4 determines that a collision detection abnormality has occurred (S59). A collision detection abnormality is an abnormality caused by the collaborative robot 7 detecting a collision with an object other than the switch units SWa, SWb, and SWc to be inspected, such as an inspector or surrounding equipment. If the inspection control device 4 has not received the collision detection stop signal (S58: No), the inspection control device 4 returns the process and repeats the process from S51.

[0093] Next, the inspection control device 4 performs a process of displaying details regarding the collision detection abnormality on the display device 5 (S60). Then, the display device 5 displays a display content indicating that the automatic inspection operation by the collaborative robot 7 has been stopped due to the collision detection abnormality. After the display process, the process is repeated again from S51.

[0094] As shown in FIG. 14, as an abnormality process, the robot controller 8 first determines whether the collaborative robot 7 is performing an automatic inspection operation, i.e., whether the execution program is running (S61). If the collaborative robot 7 is not currently performing an inspection (S61: No), the robot controller 8 performs the determination process of S61 again. Next, the robot controller 8 determines whether a collision with an object other than the switch units SWa, SWb, and SWc to be inspected, such as an inspector or surrounding equipment, has been detected (S62). If a collision has been detected (S62: Yes), the robot controller 8 stops the collaborative robot 7 (S63). Next, the robot controller 8 outputs a collision detection stop signal to the inspection controller 4 (S64). Thereafter, the process is repeated from S61.

[0095] On the other hand, if no collision is detected (S62: No), it is then determined whether or not a robot stop command has been received from the inspection control device 4 (S65). If a robot stop command has been received (S65: Yes), the robot control device 8 stops the collaborative robot 7 (S66) and returns the process. On the other hand, if a robot stop command has not been received (S65: No), the process is repeated again from S61.

[0096] That is, if an inspection operation abnormality occurs, the inspection control device 4 outputs a robot stop command to the robot control device 8, which enables the robot control device 8 to stop the collaborative robot 7. Then, the inspection control device 4 displays on the display device 5 that there is an inspection operation abnormality, thereby informing the inspector that there is an inspection operation abnormality. On the other hand, if a collision detection abnormality occurs, the robot control device 8 stops the collaborative robot 7. At this time, the robot control device 8 outputs a collision detection stop signal to the inspection control device 4, which enables the inspection control device 4 to display on the display device 5 that there is a collision detection abnormality. Then, it is possible to inform the inspector that there is a collision detection abnormality.

[0097] 7.Effects According to the inspection system 1 of this embodiment, the inspection control device 4 can perform manual inspection. That is, an inspector performs manual inspection operations with the switch device 20 installed on the receiving fixture 3. Then, the inspection control device 4 can inspect the switch units SWa, SWb, and SWc based on the electrical signals generated by the switch device 20 in response to the manual inspection operations. Then, the display device 5 displays the inspection results. In this way, the inspection system 1 can perform manual inspection of the switch device 20.

[0098] Furthermore, the inspection system 1 includes a collaborative robot 7 and a robot control device 8. The robot control device 8 executes an operating program, allowing the collaborative robot 7 to perform an automatic inspection operation similar to a manual inspection operation. The automatic inspection operation by the collaborative robot 7 is performed on the switch device 20 installed on the jig 3, in the same manner as a manual inspection operation. Furthermore, the collaborative robot 7 performs the automatic inspection operation when the start switch 6 is activated by an inspector. In this way, the inspection system 1 can perform automatic inspection of the switch device 20 when the inspector activates the start switch 6.

[0099] Therefore, the inspection system 1 can be automated on the premise of equipment for manual inspection. In this way, equipment for automatic inspection can be installed while still utilizing the receiving fixture 3, inspection control device 4, and display device 5 required for manual inspection. Therefore, the inspection system 1 for automatic inspection can be installed inexpensively.

[0100] The inspection system 1 can perform manual inspection by an inspector, or can perform automatic inspection by the collaborative robot 7 when the inspector operates the start switch 6. In other words, the inspector can select either manual inspection or automatic inspection. Therefore, when the collaborative robot 7 is operable, automatic inspection using the collaborative robot 7 can be performed, thereby reducing the number of work steps. When the collaborative robot 7 stops operating due to a breakdown or maintenance, for example, manual inspection can be performed by an inspector. Therefore, inspection can be performed continuously.

[0101] Furthermore, the collaborative robot 7 can perform automatic inspection of the switch device 20. In particular, the switch section SWb of the target switch device 20 is configured to be capable of being pushed in and pulled up. To realize the pushing and pulling operations on the switch section SWb, the robot hand 12 of the collaborative robot 7 is equipped with a long member 32 and a short member 33. The long member 32 has a robot claw section 34 at its tip, and the short member 33 is arranged to face the long member 32.

[0102] When the collaborative robot 7 performs a pushing operation on the switch unit SWb, the long member 32 or the short member 33 is pressed against the switch unit SWb with the tip of the long member 32 or the short member 33 in contact with the surface of the switch unit SWb. When the collaborative robot 7 performs a pulling operation on the switch unit SWb, the robot hand 12 is swung with the tip of the short member 33 in contact with the surface of the switch unit SWb and with the robot claw 34 of the long member 32 engaged with the back side of the switch claw SWb1 of the switch unit SWb.

[0103] In particular, during the lifting operation, the robot claw 34 of the long member 32 engages with the switch claw SWb1 of the switch unit SWb, thereby enabling the switch unit SWb to be lifted. However, simply engaging the robot claw 34 of the long member 32 with the switch claw SWb1 of the switch unit SWb may result in the switch device 20 itself being pulled up, potentially preventing stable inspection. Therefore, the short member 33 is in contact with the surface of the switch unit SWb. In other words, the short member 33 exerts a force that holds down the switch device 20. Therefore, the switch unit SWb can be lifted while the switch device 20 remains attached to the receiving jig 3. Therefore, automation can be achieved when inspecting a switch unit SWb that requires a pushing operation and a pulling operation.

[0104] (Embodiment 2) The inspection system 1 of the second embodiment will be described with reference to Fig. 15. The inspection system 100 of the second embodiment differs from the inspection system 1 of the first embodiment in the switch device 120 to be inspected, the receiving fixture 103, and the robot hand 112. Since the other components are common, the same reference numerals are used and the description thereof will be omitted.

[0105] The switch device 120 includes a switch main body 121, a terminal 122, and a dial switch SW. The switch main body 121 is a part that forms the outer shape and can be formed into any shape. The installation surface of the receiving fixture 103 is formed into a shape that matches the shape of the switch main body 121. However, the receiving fixture 103 is fixed to the common inspection jig main body 2.

[0106] The terminal 122 is provided below the switch main body 121. When the switch device 20 is placed on the receiving jig 103, the terminal 122 of the switch device 120 is electrically connected to the terminal 103a of the receiving jig 103. The switch section SW is configured as a dial switch. The switch section SW generates an electrical signal according to the dial position when the dial is operated. At least a portion of the outer circumferential surface of the switch section SW is exposed to the outside. While FIG. 15 shows an example in which the entire outer circumferential surface of the switch section SW is exposed, it is also possible for only a portion to be exposed.

[0107] The robot hand 112 is formed of a plate-like member with a high coefficient of friction. The robot hand 112 can rotate the switch part SW by moving in the tangential direction of the outer circumferential surface of the switch part SW while in contact with the outer circumferential surface of the switch part SW.

[0108] For example, by determining an electrical signal corresponding to the dial position when the switch unit SW is rotated counterclockwise at a constant speed, it is possible to determine whether the switch device 120 operates normally when rotated counterclockwise. Similarly, by determining an electrical signal corresponding to the dial position when the switch unit SW is rotated clockwise at a constant speed, it is possible to determine whether the switch device 120 operates normally when rotated clockwise. When such a switch device 120 is to be inspected, manual inspection or automatic inspection can be performed, as in the first embodiment.

[0109] (others) 1 and 15 are given as examples of the switch devices 20, 120 in the above. However, the switch devices to be inspected by the inspection system 1 can be other than the above-mentioned switch devices. This is particularly effective when the switch device to be inspected has a switch unit that moves.

[0110] Furthermore, although the above-described inspection system 1 is configured to be capable of performing both manual and automatic inspection operations, it can also be configured to perform only automatic inspection operations. When only automatic inspection operations are performed, the above-described collaborative robot 7 can be a robot without a collaborative function. [Explanation of symbols]

[0111] 1,100 inspection systems 3, 103 Receiving tool 4 Inspection control device 5 Display equipment 6 Start switch 7. Collaborative robots 8 Robot control device 11 Robot body 12,112 Robot Hands 20,120 Switching Equipment 32 Long members 33 Short members 34 Robot claw SWa, SWc switch section (second switch section) SWb switch section (first switch section) SWb1 Switch tab SW Switch section (third switch section)

Claims

1. An inspection system for a switch device that generates an electrical signal in response to a movement operation of a switch unit, a receiving jig configured to be able to install the switch device and electrically connected to the switch device when the switch device is installed; an inspection control device configured to be able to send and receive electrical signals to and from the receiving jig, and which, when an inspector performs a manual inspection operation on a switch unit of the switch device while the switch device is installed on the receiving jig, acquires the electrical signal generated by the switch device in response to the manual inspection operation, and inspects the switch unit based on the acquired electrical signal; a display device connected to the inspection control device and displaying the inspection results of the switch unit by the inspection control device; a start switch configured to be startable by the examiner and outputting a start signal when started by the examiner; a collaborative robot arranged adjacent to the jig and configured to be able to perform an automatic inspection operation similar to the manual inspection operation on the switch unit of the switch device installed on the jig; a robot control device that starts an operation program for operating the collaborative robot when the start signal is received from the start switch, and causes the collaborative robot to perform the automatic inspection operation based on the execution of the operation program; Equipped with The inspection control device further acquires the electrical signal generated by the switch device in response to the automatic inspection operation when the automatic inspection operation is performed, and inspects the switch unit based on the acquired electrical signal.

2. 2. The switch device inspection system of claim 1, wherein the display device displays the display content of the inspection result when the manual inspection operation is performed and the display content of the inspection result when the automatic inspection operation is performed as the same display content.

3. the robot control device stops the collaborative robot when it detects a collision with an object other than the switch unit during the execution of the automatic inspection operation by the collaborative robot; The inspection control device determines that a collision detection abnormality has occurred in the automatic inspection operation by receiving a signal from the robot control device that has stopped the collaborative robot; 3. The switch device inspection system according to claim 1, wherein the display device displays information about the collision detection abnormality when the inspection control device determines that the collision detection abnormality has occurred.

4. the switch device includes a plurality of the switch units and is configured to generate the electrical signal in response to a movement operation of each of the plurality of switch units; The inspection control device includes: determining that an inspection operation is abnormal when a plurality of the electrical signals corresponding to the movement operations of the plurality of switch units are simultaneously acquired; When the robot control device determines that the inspection operation is abnormal during the execution of the automatic inspection operation, it outputs a command to the robot control device to stop the collaborative robot; the robot control device stops the collaborative robot when receiving the signal to stop from the inspection control device; The switch device inspection system according to any one of claims 1 to 3, wherein the display device displays information about the inspection operation abnormality when the inspection control device determines that the inspection operation is abnormal.

5. The receiving tool is formed in a different shape depending on the type of the switch device, 5. The switch device inspection system according to claim 1, further comprising an inspection jig main body configured to allow the receiving jig to be replaced.

6. the switch device includes a first switch unit as the switch unit, The switch device inspection system according to any one of claims 1 to 5, wherein the first switch section is configured to be capable of being pushed in and pulled up, and generates an electrical signal in response to the pushing operation and an electrical signal in response to the pulling operation.

7. the first switch portion is configured to be pivotable in a pushing direction and a pulling direction, and includes a switch claw portion that engages in the pivoting direction; The collaborative robot comprises: A robot main body, a robot hand provided at a tip of the robot main body, configured to be able to contact the first switch unit, and configured to be able to perform the pushing operation and the pulling operation; Equipped with The robot hand a long member provided so as to extend from a tip of the robot main body and having a robot claw portion at a tip; a short member provided to extend from a tip of the robot main body, to face the long member, and to be shorter than the long member; Equipped with The collaborative robot comprises: the pushing operation is performed by pressing the first switch unit with the long member or the short member while the tip of the long member or the short member is in contact with a surface of the first switch unit; 7. The switch device inspection system of claim 6, wherein the lifting operation is performed by swinging the robot hand while the tip of the short member is in contact with the surface of the first switch portion and the robot claw portion of the long member is engaged with the back side of the switch claw portion.

8. 8. The switch device inspection system of claim 7, wherein the collaborative robot performs the pushing operation by pressing the first switch unit while rotating the short member around a swing center of the first switch unit with the tip of the short member in contact with the surface of the first switch unit.

9. The long member and the short member are a core portion molded from a hard material; a covering portion that covers a portion of the surface of the core portion that comes into contact with the switch portion and is formed of a material having a smaller elastic modulus than that of the core portion; The switch device inspection system according to claim 7 or 8, comprising:

10. 10. The switch device inspection system according to claim 7, wherein the long member and the short member are formed in a plate shape and arranged in parallel.

11. the switch device further includes a second switch unit as the switch unit, the second switch portion is configured to be capable of being pressed, and generates an electrical signal in response to the pressing operation; The switch device inspection system according to any one of claims 7 to 10, wherein the collaborative robot performs the pushing operation by pressing the second switch unit with the elongated member while the tip of the elongated member is in contact with the surface of the second switch unit.

12. the switch device includes a third switch unit as the switch unit, 6. The switch device inspection system according to claim 1, wherein the third switch section is configured as a dial switch and generates an electrical signal according to a dial position associated with a dial operation.

13. The collaborative robot comprises: A robot main body, a robot hand that is replaceably provided at the tip of the robot body and formed in a different shape depending on the type of the switch device; The switch device inspection system according to any one of claims 1 to 6 and 12, comprising:

14. An inspection system for a switch device that generates an electrical signal in response to a movement operation of a switch unit, a receiving jig configured to be able to install the switch device and electrically connected to the switch device when the switch device is installed; an inspection control device configured to be able to send and receive electrical signals to and from the receiving jig, and which, when an inspection operation is performed on the switch unit of the switch device while the switch device is installed on the receiving jig, acquires the electrical signal generated by the switch device in response to the inspection operation, and inspects the switch unit based on the acquired electrical signal; a display device connected to the inspection control device and displaying the inspection results of the switch unit by the inspection control device; a robot disposed adjacent to the receiving jig and configured to be able to perform the inspection operation on the switch unit of the switch device installed on the receiving jig; Equipped with the switch device includes a first switch unit as the switch unit, the first switch portion is configured to be capable of being pressed in and pulled up, generates an electric signal in response to the pressing operation, and generates an electric signal in response to the pulling up operation, is configured to be swingable in the pressing direction and the pulling up direction, and includes a switch claw portion that engages in the swinging direction; The robot A robot main body, a robot hand provided at a tip of the robot main body, configured to be able to contact the first switch unit, and configured to be able to perform the pushing operation and the pulling operation; Equipped with The robot hand a long member provided so as to extend from a tip of the robot main body and having a robot claw portion at a tip; a short member provided to extend from a tip of the robot main body, to face the long member, and to be shorter than the long member; Equipped with The robot the pushing operation is performed by pressing the first switch unit with the long member or the short member while the tip of the long member or the short member is in contact with a surface of the first switch unit; A switch device inspection system in which the lifting operation is performed by swinging the robot hand while the tip of the short member is in contact with the surface of the first switch portion and the robot claw portion of the long member is engaged with the back side of the switch claw portion.

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