JP5583469B2

JP5583469B2 - Inspection equipment for bending products

Info

Publication number: JP5583469B2
Application number: JP2010108841A
Authority: JP
Inventors: 直貴鈴木
Original assignee: しげる工業株式会社
Priority date: 2010-05-10
Filing date: 2010-05-10
Publication date: 2014-09-03
Anticipated expiration: 2030-05-10
Also published as: JP2011235310A

Description

本発明は、導電体材料で構成された長尺金属体から成る曲げ加工品の割れの有無を検出する曲げ加工品の検査装置に関するものである。 The present invention relates to an inspection apparatus for a bent product that detects the presence or absence of cracks in a bent product made of a long metal body made of a conductive material.

自動車等に使用されるビームパイプ等のパイプやロッド等の長尺金属体はベンダーと呼ばれる曲げ加工装置によって曲げ加工品とされ、種々の用途に利用されている。また、曲げ加工装置での曲げ工程間の移動や曲げ加工装置から外部への搬送はロボットアームで行われ、自動化が図られている（特許文献１参照）。 Long metal bodies such as beam pipes and rods used in automobiles and the like are bent products by a bending apparatus called a bender and are used for various purposes. Further, movement between bending processes in the bending apparatus and conveyance from the bending apparatus to the outside are performed by a robot arm, and automation is achieved (see Patent Document 1).

特許第３７０４７８１号公報Japanese Patent No. 3704811

しかしながら、ビームパイプのように硬い材質のものを曲げ加工装置を用いて曲げ加工を行うと割れが発生することがあるため、曲げ加工品を全数目視で確認して不良品を除外しなければならず、この作業が煩わしいものであった。 However, cracking may occur if a hard material such as a beam pipe is bent using a bending machine, so it is necessary to visually check all the bent products and exclude defective products. In fact, this work was troublesome.

そこで本発明は、導電体材料で構成された長尺金属体からなる曲げ加工品の割れの有無を自動的に、かつ簡単に検査できるようにした曲げ加工品の検査装置を提供することを目的とする。 Accordingly, an object of the present invention is to provide an inspection apparatus for a bent product that can automatically and easily inspect the presence or absence of a crack in a bent product made of a long metal body made of a conductive material. And

このため第１の発明の曲げ加工品の検査装置は、導電体材料で構成された長尺金属体から成る曲げ加工品がロボットアームによって搬送される検査台を有し、この検査台には前記曲げ加工品の比較部位の位置ずれを検知する検知部材が設けられ、この検知部材が前記曲げ加工品の比較部位の位置ずれを検知したときに、警報を発するように制御する共に前記曲げ加工品を前記ロボットアームから外して前記検査台に放置するように制御する制御手段を備えたことを特徴とする。 For this reason, the inspection apparatus for a bent product according to the first aspect of the present invention has an inspection table on which a bent product made of a long metal body made of a conductive material is conveyed by a robot arm. A detection member for detecting a positional deviation of the comparison part of the bent product is provided, and when the detection member detects a positional deviation of the comparative part of the bent product , control is performed so as to issue an alarm, and the bent product is controlled. It is characterized by comprising control means for controlling the robot to be removed from the robot arm and left on the inspection table .

また第２の発明の曲げ加工品の検査装置は、導電体材料で構成された長尺金属体から成る曲げ加工品がロボットアームによって搬送される検査台を有し、この検査台には前記曲げ加工品の基準部位を位置決めする位置決め部材と、この位置決め部材により前記曲げ加工品の前記基準部位を位置決めした状態で前記曲げ加工品の比較部位の位置ずれを検知する検知部材とが設けられ、この検知部材が前記曲げ加工品の比較部位の位置ずれを検知したときに、警報を発するように制御する共に前記曲げ加工品を前記ロボットアームから外して前記検査台に放置するように制御する制御手段を備えたことを特徴とする。 According to a second aspect of the present invention, there is provided an inspection apparatus for a bent product having an inspection table on which a bent product made of a long metal body made of a conductive material is conveyed by a robot arm. A positioning member for positioning a reference part of the processed product, and a detection member for detecting a positional shift of the comparison part of the bent product with the positioning member positioning the reference part of the bent product, Control means for controlling so as to issue an alarm when the detection member detects a positional shift of the comparison part of the bent product, and for controlling the bent product to be removed from the robot arm and left on the inspection table. It is provided with.

本発明によれば、導電体材料で構成された長尺金属体からなる曲げ加工品の割れの有無を目視によらずに、自動的に、かつ簡単に検出することができる。 ADVANTAGE OF THE INVENTION According to this invention, the presence or absence of the crack of the bending process goods which consist of a long metal body comprised with the conductor material can be detected automatically and easily, without visual observation.

正常時における曲げ加工品の検査装置の平面図である。It is a top view of the inspection apparatus of the bent product in normal time. 正常時における曲げ加工品と検知部材との関係を示す説明図である。It is explanatory drawing which shows the relationship between the bending process goods and detection member at the time of normal. 異常時における曲げ加工品の検査装置の平面図である。It is a top view of the inspection apparatus of the bending process goods at the time of abnormality. 異常時における曲げ加工品と検知部材との関係を示す説明図である。It is explanatory drawing which shows the relationship between the bending process goods and detection member at the time of abnormality.

以下、本発明の実施形態について、図１乃至図４に基づいて説明する。先ず、図１及び図２において、１は適度な剛性と靭性を有して自動車などに使用される中空の筒体であるビームパイプ、中実の棒体であるロッド等の長尺金属体から成る曲げ加工品であり、この曲げ加工品１は電気導電体材料で構成されるとともに磁性体材料で構成され、図示しないベンダー（曲げ加工装置）により４か所に曲げ加工が施されている。従って、曲げ加工により曲げ加工品１に割れが発生しやすい場所はＲ１乃至Ｒ４とｒ１乃至ｒ４であり、従来はこれらの曲げ個所を作業者が目視で全数検査していた。 Hereinafter, embodiments of the present invention will be described with reference to FIGS. 1 to 4. First, in FIGS. 1 and 2, reference numeral 1 denotes a long metal body such as a beam pipe which is a hollow cylindrical body having moderate rigidity and toughness and used for an automobile or the like, or a rod which is a solid rod body. This bent product 1 is made of an electric conductor material and a magnetic material, and is bent at four locations by a bender (bending device) (not shown). Therefore, the places where the bent product 1 is likely to be cracked by bending are R1 to R4 and r1 to r4. Conventionally, the operator visually inspected these bent places.

前記曲げ加工品１はベンダーからロボットアーム（図示せず）の電磁石により吸着されて検査台２に搬送され、吸着されたまま検査台２の所定位置に載置されるが、載置しなくともよい。前記ロボットアームの電磁石接地部３は曲げ加工品１の一端部１Ａの上面にあり、この一端部１Ａが検査台２上に設けられた位置決め部材４により位置が規制されて位置決めされ、前記曲げ加工品１の割れの有無の検査上の基準部位となっている。前記位置決め部材４は、例えば一対の位置規制体間に曲げ加工品１の一端部１Ａを位置させるようにして、位置規制して位置決めさせる。 The bent product 1 is attracted from a bender by an electromagnet of a robot arm (not shown) and transported to the inspection table 2 and is placed at a predetermined position on the inspection table 2 while being attracted. Good. The electromagnet grounding portion 3 of the robot arm is located on the upper surface of one end 1A of the bent product 1, and the one end 1A is positioned and positioned by a positioning member 4 provided on the inspection table 2, and the bending work is performed. This is a reference part for inspection of whether or not the product 1 is cracked. The positioning member 4 is positioned and positioned by, for example, positioning one end portion 1A of the bent product 1 between a pair of position regulating bodies.

なお、前記ロボットアーム（図示せず）は電磁石により前記曲げ加工品１を吸着して保持するようにしたが、このような構造に限らず、一対の爪などで把持するような構造や、その他の保持手段で保持して搬送できるものであればよい。即ち、保持手段を備えた搬送手段である。 The robot arm (not shown) attracts and holds the bent product 1 with an electromagnet. However, the present invention is not limited to such a structure. Any device can be used as long as it can be held and conveyed by the holding means. That is, it is a transport means provided with a holding means.

また、前記検査台２には曲げ加工品１の他端部（比較部位）１Ｂの両側に対峙するように一対の検知部材５、６が設けられている。この検知部材５、６は導電部材からなり、電気絶縁材１で作られた検査台２の対向する両側立上り部２Ａ、２Ｂにそれぞれ取り付けられた端子部材５Ａ、６Ａと、バネ部材５Ｂ、６Ｂと、検知ロッド５Ｃ、６Ｃとを図示のように順次連結したものである。図２に示すように、この検知ロッド５Ｃ、６Ｃの先端と曲げ加工品１の他端部（部位）１Ｂの両側部との間の距離Ｓは曲げ加工で許容される最大公差よりも僅かに大きく設定されている。 The inspection table 2 is provided with a pair of detection members 5 and 6 so as to face both sides of the other end portion (comparison site) 1B of the bent product 1. The detection members 5 and 6 are made of a conductive member, and terminal members 5A and 6A, spring members 5B and 6B, which are respectively attached to opposite side rising portions 2A and 2B of the inspection table 2 made of the electrical insulating material 1, and The detection rods 5C and 6C are sequentially connected as shown in the figure. As shown in FIG. 2, the distance S between the tip ends of the detection rods 5C and 6C and both side portions of the other end (part) 1B of the bent product 1 is slightly smaller than the maximum tolerance allowed for bending. It is set large.

前記検知部材５、６の端子部材５Ａ、６Ａは電気配線７、８、９により制御手段としての制御装置１２に接続されている。また、検査台２には曲げ加工品１の中間部下面と接触して載置する導電部材１０が設けられ、この導電部材１０は電気配線１１を介して前記制御装置１２に接続されている。 The terminal members 5A and 6A of the detection members 5 and 6 are connected to a control device 12 as control means by electric wirings 7, 8 and 9. Further, the inspection table 2 is provided with a conductive member 10 placed in contact with the lower surface of the intermediate part of the bent product 1, and this conductive member 10 is connected to the control device 12 via an electric wiring 11.

検知部材５又は６の検知ロッド５Ｃ又は６Ｃが曲げ加工品１に接触して、直流電源が印加されて電気配線７及び１１を介して電流が流れたときに、この制御装置１２は聴覚又は視覚で作業者に訴えて警報を発する警報手段であるランプやブザー等で警報を発するように制御するとともに、ロボットアームの電磁石への通電を解除してロボットアームを曲げ加工品１から切り離し、曲げ加工品１が検査台２から外部に搬送されないようにして検査台２の導電部材１０上に放置（載置）するように制御する。この場合、導電部材１０上だけでなく、その他の載置部材（図示しない）上にも放置するようにしてもよく、しかも検査台２の底壁２Ｃと空間を存してこの底壁２Ｃと離れた位置において載置するようにしてもよい。 When the detection rod 5C or 6C of the detection member 5 or 6 comes into contact with the bent product 1 and a direct current is applied and current flows through the electrical wirings 7 and 11, the control device 12 is audibly or visually. In addition to controlling the alarm to be issued by a lamp or buzzer, which is an alarm means that issues an alarm to the operator, the energization of the electromagnet of the robot arm is released and the robot arm is separated from the bent product 1 to bend. Control is performed so that the product 1 is not transported to the outside from the inspection table 2 and is left (placed) on the conductive member 10 of the inspection table 2. In this case, it may be left not only on the conductive member 10 but also on other mounting members (not shown). Moreover, the bottom wall 2C and the bottom wall 2C remain in a space with the bottom wall 2C of the inspection table 2. You may make it mount in the distant position.

実験によれば、ベンダーによる曲げが強すぎて曲げ箇所Ｒ１乃至Ｒ４、またはｒ１乃至ｒ４のいずれかに割れが発生している場合には、曲げ加工品１を検査台２上に基準部位となる一端部１Ａで前記位置決め部材４により位置決めして載置したときに曲げ加工品１の比較部位となる他端部１Ｂが最大公差より大きな位置ずれを起こすことが確認された。 According to the experiment, when the bending by the bender is too strong and any of the bending portions R1 to R4 or r1 to r4 is cracked, the bent product 1 becomes the reference portion on the inspection table 2. It was confirmed that the other end 1 B, which is a comparative part of the bent product 1, is displaced by a position larger than the maximum tolerance when positioned and placed by the positioning member 4 at the one end 1 A.

そこで、検知ロッド５Ｃ、６Ｃの先端と曲げ加工品１の他端部（比較部位）１Ｂの両側部との間の距離Ｓを曲げ加工で許容される最大公差より大きくなるようにミリメートル単位で設定しておくことにより、図３に示すようにベンダーによる曲げが強すぎて曲げ加工品１に割れが発生した場合には、曲げ加工品１の比較部位となる他端部１Ｂが公差から外れて検知部材５又は検知部材６（図３の例では、曲げ箇所Ｒ３にて割れ１３が発生して検知部材６）と接触することになる。 Therefore, the distance S between the tip ends of the detection rods 5C and 6C and both sides of the other end portion (comparison site) 1B of the bent product 1 is set in millimeters so as to be larger than the maximum tolerance allowed for bending. In this case, as shown in FIG. 3, when the bending by the bender is too strong and the bending product 1 is cracked, the other end 1 B serving as a comparison portion of the bending processing product 1 is out of tolerance. The detection member 5 or the detection member 6 (in the example of FIG. 3, the crack 13 generate | occur | produces in the bending location R3, and will contact).

このとき、図３及び図４に示すように、曲げ加工品１の他端部１Ｂが検知部材６の検知ロッド６Ｃと接触し、バネ部材６Ｂが圧縮されるため、制御装置１２、電気配線７、電気配線９、端子部材６Ａ、バネ部材６Ｂ、検知ロッド６Ｃ、曲げ加工品１、導電部材１０、電気配線１１及び制御装置１２の経路で電流が流れるため、制御装置１２は警報手段であるランプやブザー等で警報を発して曲げ加工品１に割れがあることを報知するとともに、ロボットアームの電磁石への通電を解除してロボットアームを曲げ加工品１から切り離し、曲げ加工品１を検査台２から外部に搬送せずに検査台２に放置する。 At this time, as shown in FIGS. 3 and 4, the other end 1 B of the bent product 1 comes into contact with the detection rod 6 C of the detection member 6, and the spring member 6 B is compressed. Since the current flows through the electrical wiring 9, the terminal member 6A, the spring member 6B, the detection rod 6C, the bent product 1, the conductive member 10, the electrical wiring 11, and the control device 12, the control device 12 is a lamp that is an alarm means. An alarm is issued by a buzzer or the like to notify that the bent product 1 is cracked, and the robot arm is disconnected from the bent product 1 by de-energizing the robot arm, and the bent product 1 is inspected. 2. Leave the test table 2 on the inspection table 2 without conveying it to the outside.

また、曲げ加工品１に割れがない場合には、検査が済んだ曲げ加工品１はロボットアームで外部へ搬送され、次の曲げ加工品１が検査台２に搬送されてくる。 When the bent product 1 is not cracked, the inspected bent product 1 is conveyed to the outside by the robot arm, and the next bent product 1 is conveyed to the inspection table 2.

なお、以上の実施形態では、前記位置決め部材４により位置決めした状態で、曲げ加工品１の割れの有無を検査するようにしたが、ロボットアームで曲げ加工品１をいつも定位置で保持できるような構造にすれば、必ずしも位置決め部材４が無くとも、割れの有無の検査をすることができる。 In the above-described embodiment, the bent product 1 is inspected for cracks in a state of being positioned by the positioning member 4. However, the robot arm can always hold the bent product 1 in a fixed position. If the structure is adopted, the presence or absence of a crack can be inspected without necessarily having the positioning member 4.

以上のように本実施態様によれば、曲げ加工品１の曲げ箇所Ｒ１乃至Ｒ４またはｒ１乃至ｒ４のいずれかに割れが発生すると、検知部材５または検知部材６の検知ロッド５Ｃまたは検知ロッド６Ｃと曲げ加工品１の他端部１Ｂとが接触し、制御装置１２が警報を発するので、曲げ加工品１の割れの有無を目視によらずに、自動的に、かつ簡単に検出することができる。 As described above, according to this embodiment, when any one of the bent portions R1 to R4 or r1 to r4 of the bent product 1 is cracked, the detection rod 5C or the detection rod 6C of the detection member 5 or the detection member 6 Since the other end 1B of the bent product 1 comes into contact with the controller 12 and an alarm is issued, the presence or absence of cracks in the bent product 1 can be automatically and easily detected without visual inspection. .

また、ロボットアームの電磁石への通電を解除して、曲げ加工品１がロボットアームから切り離されて検査台１にそのまま残されるため、割れのある曲げ加工品１を良品として外部へ搬送しないようにするから、作業者は検査台２上で曲げ加工品１の異常個所を確認することができる。 Also, since the electromagnet of the robot arm is de-energized and the bent product 1 is cut off from the robot arm and left on the inspection table 1, the bent product 1 having cracks is not transferred to the outside as a good product. Therefore, the operator can confirm the abnormal part of the bent product 1 on the inspection table 2.

以上本発明の実施態様について説明したが、上述の説明に基づいて当業者にとって種々の代替例、修正又は変形が可能であり、本発明はその趣旨を逸脱しない範囲で前述の種々の代替例、修正又は変形を包含するものである。 Although the embodiments of the present invention have been described above, various alternatives, modifications, and variations can be made by those skilled in the art based on the above description. It includes modifications or variations.

１曲げ加工品
１Ａ一端部（基準部位）
１Ｂ他端部（比較部位）
２検査台
４位置決め部材
５、６検知部材
１２制御装置（制御手段） 1 Bending product 1A One end (reference part)
1B The other end (comparison site)
2 Inspection table 4 Positioning member 5, 6 Detection member 12 Control device (control means)

Claims

A bent product made of a long metal body made of a conductive material has an inspection table that is transported by a robot arm , and this inspection table has a detection member that detects a displacement of a comparison portion of the bent product. When the detection member detects a positional shift of the comparison part of the bent product, an alarm is controlled and the bent product is removed from the robot arm and left on the inspection table. An inspection apparatus for a bent product, comprising a control means for controlling.

A bent product made of a long metal body made of a conductive material has an inspection table that is transported by a robot arm . The inspection table has a positioning member for positioning a reference portion of the bent product, and this positioning A detection member that detects a displacement of the comparison portion of the bent product in a state where the reference portion of the bent product is positioned by the member, and the detection member detects a displacement of the comparison portion of the bending product. An inspection apparatus for a bent product comprising control means for controlling so as to issue an alarm when detected, and for controlling the bent product to be removed from the robot arm and left on the inspection table. .