JP2970335B2 - Shape measuring device - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a shape measuring device for measuring the shape of a measured object such as a panel, and more particularly to a shape measuring device having positioning means for suppressing deformation of the measured object.

[0002]

2. Description of the Related Art The distance of a measurement point of an object to be measured such as a panel,
For measuring the position or the shape, a shape measuring device is widely used.

[0003] The apparatus shown in FIG. 4 is a three-dimensional shape measuring apparatus 101 for measuring the position of a measuring point on a measured object and recognizing the shape of the measured object. This three-dimensional shape measuring device 101
Are a positioning member 103 for positioning an object to be measured such as a panel W to be mounted, and a laser sensor mounted on a distal end of a robot arm 3 supported by a frame member 105 and freely movable in a three-dimensional space. 5 is provided.

The positioning member 103 has a panel mounting table 107 on which the panel W is mounted. The shape of the panel mounting table 107 is a shape corresponding to the shape of the panel W to be mounted, and prevents the panel W mounted on the panel mounting table 107 from being deformed. Then, the panel W mounted on the panel mounting table 107
Is securely held on the positioning member 103 by holding the holding position by a clamp member (not shown).

[0005] As shown in FIG. 5, a laser sensor 5 attached to the robot arm 3 is formed at a measuring point on the surface of the panel W by a projector 7 for irradiating a laser beam Ls. L from the irradiated image F
and a light receiving unit 9 for receiving c. The position of the measurement point on the surface of the panel W relative to the laser sensor 5 is measured from the measurement data measured by the light receiving unit 9.

The laser sensor 5 and the robot arm 3
Are the sensor controllers 11a of the control panel 109, respectively.
And the robot controller 11b. The controller 11 composed of the above is instructed from the teaching pendant 12 in advance about the position of the laser sensor 5 when performing position measurement.
Reference numeral 1 controls the operation of the robot arm 3 and the laser sensor 5 based on the position data taught in advance.

The controller 11 calculates a relative position data (position calculating means) for calculating relative position data of the measuring point with respect to the laser sensor 5 based on the measured position data.
The calculation unit is connected to an absolute position calculation unit 15 that calculates the position of the measurement point in absolute coordinates. Here, the absolute coordinates are positions relative to a positioning member on which the panel is placed.

The operation of measuring the shape of a panel by such a three-dimensional shape measuring apparatus will be briefly described. First, when the panel W is mounted on the panel mounting table 107 of the positioning member 103, the panel W is clamped by the clamp member and fixed on the positioning member 103. When panel W is fixed,
By moving the robot arm 3, the laser sensor 5 at the tip of the robot arm 3 is moved to a predetermined position. Then, the laser light Ls is emitted from the light projector 7 toward the panel W, and an irradiation image F formed at a measurement point on the surface of the panel W is formed.
Is received by the light receiving unit 9 and the position of the measurement point on the surface of the panel W where the irradiation image F is formed is measured. Based on the position data thus measured, the relative position calculation unit 13 calculates a relative position of the measurement point with respect to the laser sensor 5. Then, the absolute position calculation unit 15 calculates the position of the measurement point in absolute coordinates from the relative position data, the position of the laser sensor 5 at the time of measurement, and the rotation angle of the robot arm 3.

[0009]

As described above, in the conventional positioning member 103, the panel is mounted on the panel mounting table 107.
And is fixed on the positioning member 103 by being clamped by a clamp member.

However, since the shape of the formed panel W is not always completely the same, the panel W
Is not always the same as the shape of the panel mounting table 107. Therefore, when the panel W is mounted on the panel mounting table 107, the mounted panel W is moved to the panel mounting table 1.
It may be deformed following the shape of 07. When the panel W, which is the object to be measured, is deformed in this manner, the shape of the object to be measured cannot be accurately measured in the three-dimensional shape measuring apparatus described above.

Further, a panel having a relatively small thickness is deformed when it is held by a clamp member. Even in such a case, accurate measurement cannot be performed.

SUMMARY OF THE INVENTION The present invention has been made in view of such a problem, and a panel component, which is an object to be measured, is fixed in a state of being immersed in a non-corrosive solution, thereby positioning the panel component without deformation. It is an object of the present invention to provide a shape measuring device for performing measurement.

[0013]

According to a first aspect of the present invention, there is provided a shape measuring apparatus, comprising: a positioning unit having a mounting table on which an object to be measured is mounted; A laser sensor having light emitting means for irradiating, and light receiving means for receiving light from an irradiation image formed at a measurement point on the surface of the object to be measured by the irradiated laser light, and measurement data measured by the light receiving means From the above, in a shape measuring apparatus having a position calculating means for calculating a position of a measurement point on the surface of the measured object, the positioning means is installed in a container containing a solution, and is calculated by the position calculating means Correction means for correcting the position of the measurement point using the refractive index of the solution with respect to the atmosphere is connected to the position calculation means.

[0014]

As described above, in the shape measuring apparatus according to the present invention, the panel component as the object to be measured is positioned by the positioning means while being immersed in the solution. When immersed in the solution in this way, buoyancy acts on the panel, and deformation of the panel is suppressed.

Further, the relative position data measured by using the laser beam refracted when entering the solution is corrected to the actual relative position data by using the refractive index of the solution with respect to the atmosphere.

[0016]

Next, an embodiment of the present invention will be described with reference to the drawings. In addition, the same reference numerals are given to members common to the members already described, and description thereof will be omitted. FIG. 1 is a diagram illustrating a three-dimensional shape measuring apparatus according to the present embodiment. As shown in the figure, the three-dimensional shape measuring apparatus 1 has a laser sensor 5 attached to a distal end of a robot arm 3. The structure of the laser sensor 5 is the same as that of the laser sensor 5 described in the related art, and is covered by a light projector (light emitting means) 7 for irradiating the laser light Ls and the laser light Ls emitted from the light projector 7. Light Lc from irradiation image F formed at a measurement point on the surface of a measurement object, that is, panel W (see FIG. 2)
And a light receiving unit (light receiving means) 9 for receiving the light. FIG.
As shown in the figure, the robot arm 3 and the laser sensor 5
Each is connected to the robot controller 11a and the sensor controller 11b (see FIG. 3).

The three-dimensional shape measuring apparatus 1 includes a positioning member (positioning means) 1 for positioning the panel W.
9. As shown in FIG. 1, the positioning member 19 includes a mounting table 21 on which the panel W is mounted, a guide member 23 for determining the orientation of the panel W, and a locating pin for positioning a hole H formed in the panel W. 25, which is installed in a container 17 containing a solution 1 that does not corrode the panel W. In addition, as the solution 1 accommodated in the container 17, for example, a volatile oil such as benzene or alcohol can be used.

As described above, in this embodiment, the panel W is mounted on the positioning member 19 installed in the solution 1. In the solution 1, the resistance acting on the panel W when the panel W is moved is larger than the resistance in the atmosphere, so that the displacement of the panel W can be prevented. For this reason, a positioning means having a simple structure such as the positioning member 19 of the present embodiment can be used. Further, in the solution 1, since the resistance to the movement of the panel W is large, even if the panel W collides with the positioning member 19, the impact is small and the panel W is hardly damaged.

Further, when the panel W is immersed in the solution 1, so-called buoyancy acts on the panel W. Therefore, the effect of the gravity acting on the panel W is a force obtained by subtracting the buoyancy acting in the solution 1 from the gravity acting on the panel W in the atmosphere. That is, for example, if the density of the panel W is 8.0 g weight / cm 3 and the density of the solution 1 is 3.0 g weight / cm 3, the gravity acting on the panel W in the solution 1 is 5.0 g / unit volume (1 cm 3). It weighs 0 g. Thus, the gravity acting on the panel W is smaller in the solution 1 than in the atmosphere. Therefore, the amount of deformation of the panel W in the solution 1 is small. In addition, as the mounting table of the positioning member 19 of this embodiment, a panel mounting table 107 having a shape corresponding to the shape of the panel is used.
May be used.

Further, the container 17 is provided with a lid 33 made of a light transmitting material capable of transmitting the laser beam Ls emitted from the projector 7 of the laser sensor 5.
The inside can be sealed. The pump 33 is connected to the lid 33 via the hose 27.
The pump 29 is connected to a storage tank 31 for storing the solution 1, and the solution 1 is transferred from the storage tank 31 to the container 17.
Supplied within. Therefore, as shown in FIG. 2, the laser beam Ls emitted from the light projector 7 passes through the lid 33 and the solution 1 stored in the container 17 and is placed on the positioning member 19 in the container 17. The panel W is irradiated. Then, the light Lc from the irradiation image F formed at the measurement point by the laser light Ls passes through the solution 1 and the lid 33 and is received by the light receiving unit 9. That is, the measured relative position data itself is affected by the refractive index of these substances, and needs to be corrected to data indicating the actual relative position. In addition, as a light transmissive material, a light transmissive resin, glass, etc. can be mentioned, for example.

Accordingly, as shown in FIG. 3, the three-dimensional shape measuring apparatus 1 of this embodiment corrects relative position data measured inside the control unit 10 to actual relative position data (correction processing unit). Means 35. The correction processing unit 35 is connected to the relative position calculation unit 13 connected to the controller 11 including the sensor controller 11a for controlling the laser sensor 5 and the robot controller 11b for controlling the operation of the robot arm 3. Therefore, the relative position data calculated by the relative position calculation unit 13 is corrected to the actual relative position data by the correction processing unit 35, and then sent to the absolute position calculation unit 15 that calculates the absolute position of the measurement point. .

There are various correction methods, which can be appropriately selected and used. For example, the refractive index of the lid 33 and the solution 1, the thickness of the lid 33 and the laser sensor 5
There is a method of obtaining the optical path of the laser beam using the distance D from the object to the lid 33 and correcting the measured data to the actual relative position data.

Next, the operation of the three-dimensional shape measuring device when measuring the shape of the panel with the three-dimensional shape measuring device will be described. First, a solution 1 that does not corrode the panel W
Is supplied into the container 17 using the pump 29 so as not to overflow. If the supply amount of the solution 1 has a certain margin, the solution 1 does not overflow when the panel W is subsequently immersed.

When the supply of the solution 1 is completed, the panel W is placed on the positioning member 19 in the container 17. That is, as shown in FIG. 2, the panel W is placed on the positioning member 19 while being immersed in the solution 1. The positioning member 19 has a locating pin 25 for positioning a hole H formed in the panel W and a guide member 23 for determining the direction of the panel W. The positioning member 19 is mounted on the positioning member 19 by these members 23 and 25. The panel W to be placed is positioned and fixed.

When the panel W is mounted on the positioning member 19, the lid 33 is closed to seal the inside of the container 17, and then the solution 1 is further supplied so that no gas remains in the container 17. For example, if an air layer is formed between the solution 1 and the lid 33, the thickness of the air layer must be taken into account when correcting the measured relative position data, and the measurement procedure is This is because the measurement becomes complicated and the measurement accuracy decreases. Further, when the solution 1 is supplied so that the gas does not remain in the container 17, the surface of the solution 1 does not become wavy and accurate measurement can be performed.

When the fixing of the panel W is completed as described above, the position of the measurement point of the panel W is measured by the laser sensor 5 attached to the tip of the robot arm 3. This measuring operation is as described above. That is, first, the laser sensor 5 attached to the distal end of the robot arm 3 is previously set to the teaching pendant 12.
Is moved to a predetermined position taught by the controller 11. Subsequently, a laser beam Ls is emitted from the light projector 7 of the laser sensor 5 moved to a predetermined position to a measurement point on the surface of the panel W to form an irradiation image F. The light receiving section 9 of the laser sensor 5 receives the light Lc from the irradiation image F and detects position data of a measurement point where the irradiation image F is formed. The detected position data is sent to the relative position calculation unit 13 and used for calculating the relative position. The relative position between the laser sensor 5 and the measurement point is calculated. The relative position data measured in this way is transmitted to the correction processing unit 35, and the relative position data of the time difference is calculated.

The calculated actual relative position data is sent to the next absolute coordinate calculation unit 15, and the position of the measurement point in the absolute coordinates is calculated from the position data of the laser sensor 5 in the absolute coordinates. The three-dimensional shape of the panel is measured by obtaining the position on the absolute coordinates of each measurement point in such a procedure.

[0028]

As described above, according to the present invention, the object to be measured is fixed to the positioning means while being immersed in the solution, so that buoyancy acts on the object to be measured and deformation of the object to be measured is suppressed. Also, in a solution contained in a container, an object can be easily stopped still compared to the atmosphere, so that a positioning means having an extremely simple structure is used as a positioning means for securely fixing a panel. it can.

[Brief description of the drawings]

FIG. 1 is a perspective view showing a three-dimensional shape measuring apparatus according to the present embodiment.

FIG. 2 is a side sectional view showing the three-dimensional shape measuring apparatus of the present embodiment.

FIG. 3 is a block diagram illustrating a control unit and a position calculating unit according to the present embodiment.

FIG. 4 is a schematic perspective view showing a conventional three-dimensional shape measuring apparatus.

FIG. 5 is a block diagram showing a control unit of a conventional three-dimensional shape measuring apparatus.

[Explanation of symbols]

1. 3D shape measuring device, 3. Robot arm, 5.
... Laser sensor, 7 ... Light emitter, 9 ... Light receiving section, 11 ... Controller, 13 ... Relative position calculation section, 15 ... Absolute position calculation section 17 ... Container, 19 ...
Positioning member, 21: mounting table, 29: hose,
33 ... lid.

Claims (1)

(57) [Claims] A measuring device for irradiating the measuring object with laser light; and a measuring means for measuring the surface of the measuring object by the irradiating laser light. A laser sensor having light receiving means for receiving light from an irradiation image formed at a point, and position calculating means for calculating a position of a measurement point on the surface of the measured object from measurement data measured by the light receiving means. In the shape measuring device having the above, the positioning means is installed in a container accommodating the solution, and the position of the measurement point calculated by the position calculating means is corrected using a refractive index of the solution with respect to the atmosphere. A shape measuring device, wherein a correcting means is connected to the position calculating means.