JP2001079637A - Automatic riveting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To highly precisely perform the posioning between an opening for hole and an area to be riveted by comparing the position of the area to be riveted whose image is picked up by a camera with the position of a riveting means, thereby detecting the movement of the riveting means. SOLUTION: A position detecting means converts the data picked up by a camera 48 into a two-dimensional binary data, and detects the position of the center of the area of a figure formed by the binary data as the position of an area P to be riveted. The position of the detected area P to be riveted is compared with the position of at least one of a first moving body 27 and a second moving body 47. The movement of at least one of the first moving body 27 and the second moving body 47 is detected to position drilling means 65a and 65b or riveting means 60a and 60b provided on the first moving body 27 and the second moving body 47 to the area P to be riveted detected by the result of comparison, and either of the riveting means 60a and 60b and a work are moved.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic driving device applied to an outer panel (panel, workpiece) of an aircraft or a vehicle.

[0002]

2. Description of the Related Art A conventional automatic driving device will be described with reference to FIGS.

[0005] As shown in FIGS. 5 and 6, an automatic driving device 1 tackes two panels 5 a and 5 b sandwiched between a lower anvil 2 and an upper anvil 3 via a pressure foot bush 4. When joining with the rivet, the position of the rivet is automatically pierced by the drill spindle 6, then the dish is removed, the rivet is inserted, and then swaged.

Here, the operation of matching the hole opening position corresponding to the position directly below the drill spindle 6 with the position to be opened (the area to be driven) set in advance in the panels 5a and 5b is performed by the operator 7. It has been performed by operating the automatic driving device 1 in the following procedure. That is, the panel (5a, 5b) in the D section is moved by the operator (operator) 7 in the E section. At this time, the operator 7 visually recognizes the image projected by the oblique camera 8 on the monitor 9, and the driving point P set on the panel 5 a (the driving target area) coincides with the image center position Q of the monitor 9. Operate manually as you do. Here, the image center position Q of the monitor 9 corresponds to the hole opening position. Therefore, the image center position Q
When the panels 5a and 5b are moved so that the driving target area P coincides with the driving direction, a driving hole can be opened in a desired driving target area P.

[0005]

A conventional automatic driving device 1
In the manual positioning of the driving target area P of the panels 5a and 5b and the hole opening position, only the monitor image captured by the oblique camera 8 is used. In the oblique camera 8, since the image is taken not from the front but from the oblique direction, the positional relationship between the driving target area P appearing in the image on the monitor 9 and the image center position Q and the actual driving target area P and the image An error occurs in the positional relationship with the center position Q. Therefore, in consideration of this error, manual positioning work between the hole opening position and the driving target area P requires skill, and if it is not an expert, it takes a lot of time for positioning, Further, there is a problem that the positional accuracy of the driving fastener is not sufficiently secured.

Therefore, as a solution to the above problem,
The applicant has provided the device 1 shown in FIGS. As shown in FIG. 7, in the positioning portion of the automatic driving device 1, a vertical camera 11 for viewing a driving target area P on the panels 5 a and 5 b from directly above the driving cylinder is provided inside the pressure foot bush 4. 10 is provided so as to be insertable and removable. According to the vertical camera 11, there is an effect that the error is substantially eliminated. However,
In the apparatus of FIG. 6 as well, the captured image is visually observed by the operator 7 through the monitor 9, and the positioning between the hole opening position and the driving target area P is manually performed. Was required.

The conventional automatic driving device 1 shown in FIGS. 5 to 8 is of the C-frame type. That is, as shown in FIG. 7, the C-frame type automatic driving device 1 has an outer head 17 including the upper anvil 3 and the like on an upper portion 16a of an open end of a C-shaped frame 16 when viewed from the side. An inner head 18 including the lower anvil 2 and the like is provided at a lower portion 16 b of the opening end of the frame 16.

In the C-frame type apparatus 1, if the positioning operation is to be performed by NC control instead of the manual operation described above, the C-frame type apparatus 1, especially the frame 16, requires high rigidity. In the case of performing the NC control, since the control amount is determined according to a preset program, unlike the case of the manual operation, if the C frame type device 1 thermally expands and contracts due to a temperature change, it cannot cope with it. This causes a position error.
Therefore, in the case of NC control, it was necessary to manufacture the C frame type device 1 with high rigidity in order to prevent thermal expansion and contraction itself.

In the C-frame type apparatus 1, since the outer head 17 and the inner head 18 are fixed to the frame 16, the concentricity between the outer head 17 and the inner head 18 is ensured with high precision in advance. . That is, as shown by the broken line L in FIG.
At the time of the driving operation of b), the relative positional relationship (concentricity) between the drill spindle 6 on the upper anvil 3 side and the lower anvil 2 is kept constant in advance.

As described above, in the C frame type apparatus 1 to which the NC control is applied, in order to avoid the adverse effects such as thermal expansion and contraction and maintain the concentricity between the upper anvil 3 and the lower anvil 2 with high accuracy. As shown in FIGS. 5 and 7, the C-shaped frame 16 and the frames F1 and F2 themselves are manufactured with high rigidity. Thereby, in the case of NC control, NC
In addition to the complexity and high cost of the system itself, the frame 1
6, F1 and F2 have high rigidity and high cost.

By the way, when driving a fuselage W of an aircraft, for example, formed in a cylindrical shape, the C-frame type device 1 is used.
Then two methods are possible. That is, in the first method, as shown in FIG. 7, the body W is set so that the axis of the body W is orthogonal to the paper surface of FIG. W is relatively rotated in the circumferential direction to drive the body W in the circumferential direction.

In the second method, as shown by reference numeral Wn in FIG. 7, the body Wn is installed so that the axis of the body is oriented in the left-right direction of FIG. And the body Wn is driven in the axial direction of the body Wn, or the body Wn is relatively moved in the circumferential direction and driven in the circumferential direction of the body Wn.

In either case, the C-frame type apparatus 1 has the body W, Wn in the opening of the C-shaped frame 16 (between the inner head 18 and the outer head 17) as shown in FIG. The surrounding surface had to be installed. Therefore, the bodies W and Wn to be driven are large (large diameter).
In such a case, it is necessary to increase the size of the C-shaped frame 16 itself. In this case, in the C-frame type apparatus 1 to which the NC control is applied, since the C-shaped frame 16 is manufactured to have high rigidity as described above, the C-shaped frame 16 has to be rigid and large, resulting in high cost. Therefore, there is a problem that a large work space is required.

Therefore, when mainly a large body is to be driven, a device called a "separate type" is known as an alternative to the "C frame type" device.

FIGS. 9 and 10 show a separate type device. With the separate type device, the inner head and the outer head are provided separately from each other,
Each moves independently and independently.

That is, as shown in FIG.
The outer head 25 moves on an outer frame (outer guide rail) 20 provided on the outer peripheral side of the
The inner head 45 moves on an inner frame (inner guide rail) 40 provided on the inner peripheral side of the inner frame 00. In the state where the outer head 25 and the inner head 45 are arranged on the outer side and the inner side of the position to be processed in the body 100, drilling and driving at the position to be processed are performed. I have.

In this separate type, the inner head 4
5 and the outer head 25 move separately and independently on the rails 20 and 40, so that the concentricity between the inner head 45 and the outer head 25 is ensured each time the processing is performed at the position to be processed. To this end, each head 45, 25 has been positioned on each rail 20, 40. In the positioning work at that time, a normal NC control technique was used.

As described above, in the separate type, the heads 45 and 25 move on the rails 20 and 40, and there is no need to fixedly set their concentricity. Therefore, in the separate type, high rigidity is not required for the frame itself unlike the C frame type, and the rigidity of each of the guide rails 20 and 40 is low in order to suppress costs.

Further, by reducing the rigidity of each guide rail 20, 40, the fuselage 100 of the aircraft to be driven is set.
Slightly bent according to the type (size) of the body 100
It can be adapted to the shape of.

In the separate type automatic driving device, when the inner head 45 and the outer head 25 are aligned by NC control as described above to open a driving hole in the body 100, the NC control device is used. Even if each head 45, 25 is moved according to the control amount determined by the above, due to the low rigidity of the guide rails 20, 40, which are the moving paths of the heads 45, 25, the actual heads In some cases, the amount of movement of 45, 25 was not as set, and the alignment was not performed well.

Further, since the separate type automatic driving device has a low rigidity, it tends to expand and contract due to a temperature change or the like.
In the NC control, a position error sometimes occurred.

The present invention has been made in view of the above circumstances, and is intended to perform a work of aligning a hole opening position by a hole opening means (a hole opening device) such as a drill spindle with a preset driving target area. An object of the present invention is to provide an automatic driving device that can be performed at low cost and with sufficient accuracy.

[0023]

An automatic driving device according to the present invention comprises: a camera (48) capable of picking up an area (P) to be driven which is provided on a processing surface of a workpiece (100); Hole opening means (65a, 65b) for opening a driving hole (H) in the target area (P), and driving means (60a, 60b) for driving the driving hole (H). And first moving means for moving at least one of the camera (48) and the workpiece (100) to a position where the camera (48) can image the area to be driven (P). ,
Position detecting means for detecting a position of the driving target area (P) based on data indicating an image captured by the camera (48); and a position detecting means for detecting the position of the driving target area (P). A position of the hole opening means (65a, 65b) is compared with a position of the hole opening means (65a, 65b), and based on the comparison result, the hole opening means (65a, 65b) is located at the position of the area (P) to be driven.
Hole opening means (65) necessary for adjusting the position of
a, 65b), and at least one of the hole opening means (65a, 65b) and the workpiece (100) is detected by the detected hole opening means (65a, 65b). 65b) a second moving means for moving the moving amount of the driving force, and the moving amount detecting means includes a position of the detected driving target area (P) and a position of the driving force driving means (60a, 60b). And movement of the driving means (60a, 60b) necessary to adjust the position of the driving means (60a, 60b) to the position of the driving target area (P) based on the comparison result. The second moving means detects the amount, and the driving means (60a, 60b)
And at least one of the workpiece (100) is moved by the detected moving amount of the driving means (60a, 60b).

In the automatic driving device of the present invention, a plurality of the driving target areas (P) are provided at predetermined intervals on the processing surface of the workpiece (100), and the driving target area (P) is provided by the first moving means. The moving amount of at least one of the camera (48) and the workpiece (100) is set in accordance with the predetermined interval.

In the automatic driving device of the present invention, the target (100) is provided on one side of the workpiece (100) in which a plurality of driving target areas (P) are set at predetermined intervals in a predetermined direction.
A first anvil (25) movable in a direction along the first anvil (25) provided on the other side opposite to the one side with the workpiece (100) as a center.
A second anvil (45) movable independently of the workpiece (100) in a direction along the workpiece (100) and a two-dimensionally movable relative to the first anvil (25). A first moving body (27) and the second anvil (4
5) a second moving body (47) provided so as to be movable relative to the two-dimensional direction with respect to at least one of the first moving body (27) and the second moving body (47). Hole opening means (65a, 65b) for opening a driving hole (H) in the driving target area (P), the first moving body (27) and the second moving body. (47)
Driving means (60a, 60b) provided in at least one of the holes for driving in the driving hole (H).
A camera (48) provided on at least one of the first moving body (27) and the second moving body (47) and capable of imaging the area to be driven (P); and the camera ( 48), at least one of the first anvil (25) and the second anvil (45) is moved in the predetermined direction by the predetermined interval until the driving target area (P) can be imaged. First moving means for performing the driving, position detecting means for detecting a position of the driving target area (P) based on data indicating an image taken by the camera (48), and the detected driving force The position of the target area (P) is compared with the position of at least one of the first moving body (27) and the second moving body (47), and the detected position is determined based on the comparison result. Driving target area ( The position of) the first moving body (2
7) and the hole opening means (65a, 65) provided on at least one of the second moving body (47).
b) or the amount of movement of at least one of the first moving body (27) and the second moving body (47) necessary for adjusting the position of the driving means (60a, 60b) is detected. A moving amount detecting unit; and a second moving unit configured to move at least one of the first moving body (27) and the second moving body (47) by the moving amount.

In the automatic driving device of the present invention, the driving device (60a, 60b) includes a piston (61, 62).
And coils (63, 64) provided on the back of the pistons (61, 62).

[0027] In the automatic driving device of the present invention, the driving target area (P) is formed by filling the inside of the boundary of the driving target area (P) with a color different from the color outside the boundary, and The detecting means converts the data captured by the camera (48) into two-dimensional binarized data, and determines the area center position of the figure formed by the converted binarized data in the driving target area ( This is detected as the position P).

In the automatic driving device of the present invention, the position detecting means captures the data picked up by the camera (48) as two-dimensional gray image data and performs a thresholding process on the gray image data. By doing 2
Converting the converted data into binary data, extracting a portion corresponding to a contour of the graphic formed by the converted binary data, and calculating an area center of the graphic based on the portion corresponding to the extracted contour of the graphic; The position is detected as the position of the driving target area (P).

[0029]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS Hereinafter, an embodiment of an automatic driving device according to the present invention will be described with reference to the accompanying drawings. The same members as those described above are denoted by the same reference numerals, and redundant description will be omitted.

As shown in FIGS. 9 to 11, the automatic driving device 90 of the present embodiment is a device for connecting the fuselage (a plurality of panels) 100 of an aircraft.

In the present embodiment, the separate type (separated type) automatic driving device described above is applied. In the automatic driving device 90, a pair of processing heads (anvil) 25,
45 can operate independently of each other.

The separate type is, as shown in FIGS. 9 to 11, an outer frame (outer guide rail) 20 provided on the outer peripheral side of a fuselage 100 of a cylindrical aircraft.
And an inner frame (inner guide rail) 40 provided on the inner peripheral side of the body 100 has an independent structure. An outer head (first anvil) 25 that moves on the outer frame 20 and an inner head (second anvil) 4 that moves on the inner frame 40
5 operate independently of each other.

As shown in FIG. 10, the outer frame 2
0 is formed in an arc shape having a larger diameter than the outer peripheral portion of the fuselage 100 of the aircraft when viewed from the side. The center angle of the outer frame 20 is about 200 °.

As shown in FIGS. 9 and 11, the outer frame 20 is mounted on a window penetrating frame 22 which penetrates a window 102 of a fuselage 100 of an aircraft. Between the two window penetrating frames 22, there is provided an interval holding bar 24 for maintaining an interval between the outer frames 20 provided on each window penetrating frame 22.

As shown in FIGS. 9 to 11, the inner frame 40 is formed in an arc shape smaller in diameter than the inner peripheral portion of the fuselage 100 of the aircraft when viewed from the side. The central angle of the inner frame 40 is about 200 °. The inner frame 40 is fixed to an inner head carriage 42.

The inner head carriage 42 (inner frame 40) is conveyed to the vicinity of the body 100 in a state of being placed on the carriage 70. After being lowered from the transport carriage 70, the inner head carriage 42 moves on the seat rail 105 in the fuselage 100 of the aircraft and reaches a target (working) position.

As shown in FIGS. 1 and 9, the outer frame 20 is provided with an outer head 25 which is movable on the outer frame 20 in a circumferential direction of the fuselage 100 of the aircraft (in a direction along the workpiece). Have been. The movement of the outer head 25 on the outer frame 20 is as follows.
This is performed by a constant distance feeding means (first moving means) described later.

Similarly, the inner frame 40 is provided with an inner head (specific anvil) 45 movable on the inner frame 40 in the circumferential direction of the fuselage 100 of the aircraft (in the direction along the workpiece). . The movement of the inner head 45 on the inner frame 40 is performed by the constant distance feeding means. In this case, the outer head 25 performed by the constant distance feeding means is used.
The movement driving of the inner head 45 is performed synchronously.

The outer head 25 is driven by a moving means (a second moving means, not shown), which will be described later, to move the body 100 with respect to the head body 25a of the outer head 25.
A movable body 27 that can relatively move (slide) in the axial direction and the circumferential direction (in the two-dimensional XY direction) is provided.
The moving body 27 is firmly attached to the outer head body 25a, and the relative movement between the moving body 27 and the outer head body 25a is performed with high accuracy.

The moving body 27 is provided with a drill (hole opening means corresponding to one side of the hole opening apparatus) 65b and a rivet driving means (rivet driving means corresponding to one side of the electromagnetic riveter 60 described later) 60b. ing. Outer head 25
The moving body 27 is provided with the rivet driving means 60b and the hole opening means 65b fixed and separated from each other by a predetermined distance.

A hole opening device (drilling device) comprising a pair of hole opening means 65a and 65b is used for opening a driving hole (refer to the symbol H in FIG. 1) in the driving target region P of the body 100. is there. A rivet driving device (electromagnetic riveter) 60 composed of a pair of driving devices 60a and 60b drives a rivet (not shown) into the driving hole H opened by the hole opening device.

As shown in FIG. 10, the outer head 25
The inner rivet 45 is provided with the electromagnetic riveter (rivet driving device) 60. Electromagnetic riveter 6
Reference numeral 0 denotes a pair of pistons 61 and 62 whose tips are formed in a predetermined shape for riveting, as shown in FIG. 3, and a pair of coils provided on the backs of the pair of pistons 61 and 62. 63, 64, and a pair of these coils 63, 6
4 and a pair of capacitors 65 and 66 electrically connected to each other.

Here, the piston 61, the coil 63, and the capacitor 6 on one side of the electromagnetic riveter 60
5 is represented by a driving means indicated by reference numeral 60a, and an electromagnetic riveter 6
The piston part 62, the coil 64, and the capacitor 66 on the other side, which constitute 0, are represented by rivets 60b.

The electromagnetic riveter 60 instantaneously discharges the electric charge stored in the pair of capacitors 65 and 66 at a predetermined timing, and applies an electromagnetic action to the pair of coils 63 and 64.
The pistons 61 and 62 repel the coils 63 and 64 that have been electromagnets, and use the repulsive force to drive the rivets. Therefore, especially in the electromagnetic riveter 60, the alignment (concentricity) between the pair of driving means 60a and 60b is important.

In the automatic driving device 90, the driving by the electromagnetic riveter 60 using the electromagnetic force is performed by the conventional caulking method. The rigidity of the outer frame 20 and the inner frame 40 is smaller than that of the C-shaped frame. Because it is low, it cannot withstand the reaction force when caulking force is applied,
This is because the cling becomes worse.

As shown in FIG. 1, a moving body 47 is provided on the inner head body 45a of the inner head 45. The moving body 47 is driven by the moving means to move the main body 45a of the inner head 45 in the right and left directions in FIG. 1 and in the directions orthogonal to the plane of FIG. Direction) relative movement (slide). The moving body 47 is firmly attached to the inner head body 45a.
The relative movement between the head 7 and the inner head body 45a is performed with high precision.

The moving body 47 of the inner head 45 includes a camera 48, the driving means 60a, and the hole opening means 6.
5a are fixedly provided in a state separated from each other by a predetermined distance.

The camera 48 and the moving means are connected to a pattern matching means (not shown, position detecting means, moving amount detecting means, image processing means). The amount of movement of each of the moving bodies 27 and 47 by the moving means is controlled by the pattern matching means.

Further, the constant distance feeding means is connected to the pattern matching means. Data indicating the positions of the inner / outer heads 45 and 25 after being moved by the constant distance feeding means are output to the pattern matching means. In this case, the moving amount and the drive timing of the constant distance feeding means are not controlled by the pattern matching means but are arbitrarily set as variable values.

In FIG. 1, reference numeral L1 indicates the center line of the driving means 60a provided on the inner head 45, reference numeral L2 indicates the center line of the camera 48, and reference numeral L3 indicates the driving hole H (for the driving target). The center line of the region P) is shown, reference numeral L4 indicates the center line of the driving means 60b provided on the outer head 25, reference numeral L5 indicates the center line of the hole opening means 65a, and reference numeral L6 indicates the center line of the hole opening means 65b. The center line is shown (FIG. 1
Shows a state in which the center line L1 of the driving means 60a, the center line L4 of the driving means 60b, and the center line L3 of the driving hole H coincide.

On the back (working surface) side of the body 100 facing the camera 48, there are a plurality of tacking target areas P, where the holes H are to be formed, at predetermined pitches in the circumferential direction of the body 100. Is set in advance. These driving target areas P
Is formed by directly applying black ink in a circularly filled state on the processing surface. The movement amount of the constant distance feeding means arbitrarily set as the variable value is set in accordance with the pitch of the driving target area P.

The operation of this embodiment will be described with reference to FIGS. First, an operation of opening the driving hole H for the driving target area P will be described.

As shown in step S1 of FIG. 2, the constant distance feeding means (not shown) controls the inner head 45 and the outer head 25 to move the inner head 4 and the inner frame 4 respectively.
0 and the outer frame 20 are moved in the circumferential direction of the fuselage 100 by the pitch (constant distance) of the driving target area P. As a result, the inner head 45 and the outer head 25 respectively
Roughly aligned with

Further, the positioning of the moving bodies 47 and 27 with higher accuracy is performed by using the camera 48, the pattern matching means and the moving means (see step S2 and subsequent steps). After the positioning of the moving bodies 47 and 27 by the pattern matching unit and the moving unit is performed, the hole opening units 65a and 65
The driving hole 5H is opened in the driving target area P.

In step S1, the amount of movement of the inner / outer heads 45, 25 by the constant distance feeding means is set as follows. That is, the inner / outer heads 45, 2 by the constant distance feeding means.
The movement amount of the moving object 5 is determined by the camera 48 of the moving body 47 disposed at a predetermined standby (reference) position on the inner head 45 at the time when the movement by the constant distance feeding means is completed.
The driving target area P to be opened next by the hole opening means 65a and 65b is set so as to be located at a position where an image can be taken from almost immediately below.

That is, the constant distance feeding means includes the center line L2 of the camera 48 of the moving body 47 arranged at a predetermined standby (reference) position on the inner head 45,
The inner head 45 is moved to a position where the center line L3 of the driving target region P matches or is adjacent to the center line L3.
Note that, in this case, the constant distance feeding means also synchronizes the moving body 27 with the movement of the moving body 47,
The moving body 47 is moved by the same moving amount.

As shown in step 2 and step S3, at the position where the center lines L2 and L3 coincide or are adjacent to each other, the data indicating the image taken by the camera 48 of the peripheral portion including the area P to be driven is as follows. Output to the pattern matching means.

As shown in step S4, the pattern matching means detects the position of the driving target area P by analyzing the input data representing the image taken by the camera 48 as follows.

Data indicating an image picked up by the camera 48 is input to the pattern matching means as two-dimensional data. In this pattern matching means, the image picked up by the camera 48 is recognized as a gray-scale image, and is subjected to threshold processing to be converted into binary image data. Then, in the pattern matching means, features relating to the shape of the figure corresponding to the obtained binarized image data are extracted. Driving target area P
The extraction of the shape as the figure is performed by extracting a portion corresponding to the outline of the figure recognized as the binary image data based on the binary image data.

As described above, the pattern matching means detects a portion corresponding to the driving tack target area P from the image picked up by the camera 48. Thereafter, the pattern matching means calculates an area center position Pc of a portion corresponding to the driving target area P based on the binarized image data. The area center position Pc is regarded as the position where the driving target area P exists, and accordingly, the driving target area P
Are detected as coordinate values in two-dimensional XY coordinates.

The pattern matching means outputs data indicating the positions of the inner / outer heads 25 and 45 after being moved by the moving amount by the constant distance feeding means. Further, when the moving bodies 27 and 4 are moved by the fixed distance feeding means,
7 is arranged at a predetermined standby (reference) position in the inner / outer heads 25 and 45, the pattern matching means is in a state after being moved by the moving amount by the constant distance feeding means. Each moving body 2
Data indicating the positions of the holes 7 and 47 (the positions of the hole opening means 65a and 65b) are provided.

The pattern matching means includes reference position data indicating the standby positions (reference positions) of the hole opening means 65a and 65b, data indicating the position of the detected driving target area P, and the reference position data. And the difference between the positions of the hole opening means 65a and 65b and the area P to be driven is detected.

Next, as shown in step S5, the pattern matching means, based on the result of the comparison,
Each moving body 47, 27 necessary for the position of each hole opening means 65a, 65b to coincide with the position of the driving target area P
Is determined with respect to the inner / outer head bodies 45a and 25a.

The data indicating the movement amount is stored in each mobile unit 4
Output to the moving means for moving 7, 27;
The moving means moves each of the moving bodies 47 and 27 according to the data indicating the moving amount. Thereby, the hole opening means 65 is positioned with respect to the center line L3 of the driving target area P.
The moving bodies 47 and 27 move relative to the inner / outer head main bodies 45a and 25a until the center line L5 of a and the hole opening means 65b coincide with L6. Thereby, the hole opening means 6 with respect to the driving target area P
The alignment of 5a and 65b is completed.

Thereafter, the respective hole opening means 65a and 65b are driven to form a driving hole H in the desired driving target area P. Note that the pattern matching unit is configured to move each moving object 4 (after being moved by the moving unit) at this time.
It has data indicating the positions of 7, 27.

When the moving body 47 is moved by the moving means, the inner head 45 is moved by the inner rail 4.
In a state where it is fixed at 0, it moves relatively to the inner head main body 45a. Similarly, the moving body 27 relatively moves with respect to the outer head main body 25a in a state where the outer head 25 is fixed on the outer rail 20.
Therefore, the movement of the moving bodies 47 and 27 is not adversely affected by the low rigidity of the inner / outer rails 20 and 40.

Next, a description will be given of the operation of driving a rivet into the rivet hole H opened as described above.

In order to drive the driving hole H into the driving hole H,
The moving members 47 and 27 are moved relative to the inner / outer head main bodies 45a and 25a by the moving means. Also in this case, in the relative movement by the moving means, the movement of the inner / outer heads 45 and 25 on the inner / outer frames 40 and 20 is stopped, and the inner / outer head 45 on the inner / outer frames 40 and 20 is stopped. , 25 are fixed.

In this case, the data indicating the position of the detected driving target region P stored in the pattern matching means is used as it is as the data indicating the position of the opened driving hole H. . As described above, since the hole H for driving is opened by the hole opening means 65a, 65b accurately positioned in the detected area P for driving, the detected area P for driving is detected. This is because the position and the position of the opened driving hole H can be identified.

As shown in step S6, the pattern matching means stores the data indicating the position of the detected driving target area P stored in the pattern matching means (the data indicating the position of the driving hole H). Data) and data indicating the positions of the moving bodies 47 and 27 at this time (after being moved by the moving means) are compared.

As shown in step S7, the pattern matching means determines the positions of the driving means 60a, 60b (the center lines L1, L4) on the moving bodies 47, 27 based on the result of the comparison. The amount of movement of each of the moving bodies 47 and 27 until the position of the riveting hole H (the center line L3) matches is determined, and data indicating the determined amount of movement is output to the moving means.

The moving means moves each of the moving bodies 47 and 27 with respect to the inner / outer head main bodies 45a and 25a based on the data indicating the determined moving amount output from the pattern matching means.

In this state, the pair of driving means 60a,
By driving 60b, the rivet is successfully driven into the driving hole H. Thus, the driving of the driving target area P is completed.

Next, the constant distance feeding means moves the inner head 45 and the outer head 25 respectively.
The body 100 is moved on the inner frame 40 and the outer frame 20 in the circumferential direction of the body 100 by the pitch (constant distance) of the driving target area P. As a result, the inner head 45 and the outer head 25 are roughly aligned with respect to the next driving target area P (see steps S8 and S1). further,
Positioning of the moving bodies 47 and 27 with higher accuracy is performed using the camera 48, the pattern matching unit, and the moving unit as described above.

After the alignment by the pattern matching means and the moving means is performed, the opening of the driving hole H into the driving target area P by the hole opening means 65a and 65b, and Driving means 60a,
The rivet is driven by 60b. By repeating this cycle, the rivets are sequentially driven on the plurality of driving target regions P provided in the circumferential direction of the body 100.

As described above, according to the present embodiment, the following effects can be obtained.

In this embodiment, by combining the constant distance feeding means and the pattern matching means (image processing means), the working time and the positioning accuracy are almost the same as those of the NC control without using the NC control technology. Thus, the positioning operation can be performed. According to the above configuration of the present embodiment, the system configuration is simpler than the NC control system, and the cost can be reduced.

Since the pattern matching means is used, the inner / outer frames 20, 40 are originally used.
Even in the case of the separate type automatic driving device having low rigidity, the accuracy of positioning does not decrease due to the low rigidity or thermal expansion and contraction.

Further, since the configuration is such that not only the pattern matching means but also the constant distance feeding means having a rough positioning effect are combined with the pattern matching means, the capability of the pattern matching means is correspondingly reduced. Load), which contributes to shortening of the alignment work time and cost reduction of the pattern matching means.

In this embodiment, the inner head body 45a
In contrast, the moving body 47 to which the camera 48 is fixed is firmly attached, and the moving body 47 can move relative to the inner head main body 45a with high accuracy. Similarly, the moving body 27 is firmly attached to the inner head main body 25a, and the moving body 27 can be relatively moved with respect to the inner head main body 25a with high accuracy.

According to these configurations, even if the rigidity of the inner frame 40 or the outer frame 20 is low, the movement of the inner head 45 and the outer head 25 with respect to the inner frame 40 or the outer frame 20 is stopped, and the inner head 45 is stopped. , Outer head 2
When the relative movement of the movable body 47 with respect to the inner head main body 45a or the relative movement of the movable body 27 with respect to the inner head main body 25a is started in a state in which the inner frame 40 or the outer frame 25 is fixed, the rigidity of the inner frame 40 or the outer frame 25 is reduced. The hole opening means 65a and 65b can be accurately positioned with respect to the driving target region P without being adversely affected.

Further, unlike the above-described conventional example, in the present embodiment, the camera 48 can be freely arranged at the front position of the driving target area P, and the data processing of the image captured by the camera 48 can be performed. It can be performed with high accuracy by the above-described pattern matching technology without manual operation.

In the above embodiment, a separate type automatic driving device has been described as an example. However, the present invention is not limited to this. The present invention can also be applied to an automatic driving device.

As shown in FIG. 4, in the C frame type apparatus shown in FIG.
(C) and the pattern matching means (FIG. 4)
(B), image processing apparatus)
Compared with an apparatus using the C control system, the system configuration is simple and the cost can be reduced.

On the front surface (working surface) side of the workpiece, a target area P corresponding to a position where the hole H for driving is formed.
Are set in advance at a predetermined pitch. In the C-frame type apparatus, unlike the separate type, since the anvil is fixed to the frame, the constant distance feeding means moves the workpiece (work) not by the anvil but by the constant distance. You may move it.
As a result, the camera (not shown) provided on the frame moves the driving target area P from almost directly above the driving target area P.
It becomes possible to capture an image of a peripheral portion including the image.

[0086] The pattern matching means analyzes the data representing the image taken by the camera about the peripheral area including the area P to be driven, as follows, and analyzes the data of the area P to be driven on the work surface of the workpiece. Detect the position.

Data indicating an image taken by the camera is input to the pattern matching means as two-dimensional data. In the pattern matching means, the image picked up by the camera is recognized as a grayscale image, and is subjected to threshold processing to be converted into binary image data. Then, in the pattern matching means, features relating to the shape of the figure corresponding to the obtained binarized image data are extracted. The shape of the driving target area P as a graphic is performed by extracting a portion corresponding to the outline of the figure recognized as the binary image data based on the binary image data.

As described above, the pattern matching means selects one of the images captured by the camera
A part corresponding to the driving target area P is detected. Then, the pattern matching means calculates the area center position of the portion corresponding to the driving target area P based on the binarized image data. The center position of the area is regarded as the position where the driving target area P exists, whereby the position of the driving target area P is detected as a point (coordinate value) in the two-dimensional XY coordinates.

The pattern matching means has a standby position (reference position) of the drill spindle (hole opening means).
Is stored. The pattern matching unit compares data indicating the position of the detected driving target area P with the reference position data,
A difference in position between the drill spindle and the driving target area P on the two-dimensional XY coordinates is detected. Next, the pattern matching means determines a position correction amount of the drill spindle necessary for the position of the drill spindle to coincide with the position of the driving target area P on the coordinates based on the comparison result. I do.

The data indicating the position correction amount is output to a moving unit, and the moving unit corrects the position of the drill spindle according to the data indicating the position correction amount. Thereafter, the drill spindle is driven to form the driving hole in the desired driving target area P.

Similarly, the pattern matching means comprises:
The position data of the driving hole (the driving target area P) is compared with the data indicating the reference position of the driving means (for example, caulking means), and the driving means is determined based on the comparison result. The position correction amount of the driving means required to make the position of the driving force coincide with the position of the driving hole in the coordinates is determined.
The data indicating the position correction amount is output to a moving unit, and the moving unit corrects the position of the driving device in accordance with the data indicating the position correction amount. Thereafter, the driving means is driven to drive the desired driving hole.

According to the present embodiment, the following effects can be obtained.

In the C-frame type apparatus using the NC control technique, the rigidity of the frame was required in order to prevent the frame from being affected by an error when moved according to the NC control amount. In the embodiment, since the pattern matching means (image processing apparatus) is used, the rigidity of the frames F1 and F2 can be suppressed lower than that of the C frame type apparatus 1 using the NC control technology (see FIGS. 5 and 7). it can. In this case, since the pattern matching means is used, the accuracy of positioning does not decrease due to low rigidity or thermal expansion and contraction.

Furthermore, since the configuration is such that the constant distance feeding means having a rough positioning effect is combined with the pattern matching means in addition to the pattern matching means, the capability of the pattern matching means is correspondingly increased. Load), which contributes to shortening of the alignment work time and cost reduction of the pattern matching means.

According to the C-frame type automatic driving device shown in FIG. 4, unlike the conventional example described above, the camera can be freely arranged at the front position of the driving target region P by the constant distance feeding means. In addition, data processing of an image captured by a camera can be performed with high accuracy by the above-described pattern matching technique without manual operation.

[0096]

According to the automatic driving device of the present invention, a camera capable of capturing an image of a driving target area provided on a processing surface of a workpiece and an opening for driving the driving hole in the driving target area. Hole opening means for driving, a driving means for driving the driving hole, and at least one of the camera and the workpiece at a position where the camera can image the driving target area. First moving means for moving, a position detecting means for detecting a position of the driving target area based on data indicating an image captured by the camera, and a position of the detected driving target area. A movement amount for comparing the position of the hole opening means and detecting a movement amount of the hole opening means necessary for adjusting the position of the hole opening means to the position of the driving target area based on the comparison result. Detecting means, the hole opening means, and A second moving means for moving at least one of the workpieces by the detected moving amount of the hole opening means, wherein the moving amount detecting means comprises: Comparing the position of the rivet means, detecting the amount of movement of the rivet means necessary for adjusting the position of the rivet means to the position of the rivet target area based on the comparison result; The second moving means moves at least one of the driving means and the workpiece by the detected moving amount of the driving means, so that the positioning is performed using a conventional NC control technique. In comparison, the high rigidity of the device frame and the like, which was required to avoid the influence of the error when moving according to the NC control amount, is not required, so that the cost can be reduced and the position detection can be performed. In stage and the moving amount detecting means, for example by applying a pattern matching means, the rigidity of the low or due to precision alignment to the thermal expansion and contraction, such as the device frame will not fall. In addition, the position is not adjusted only by the position detection means and the movement amount detection means, but the position detection means and the movement amount detection means are combined with the first movement means having a rough positioning effect. With such a configuration, the capacity (load) of the position detection means and the movement amount detection means can be compensated for, thereby shortening the alignment work time and reducing the position detection means and the movement amount detection means. This can contribute to cost reduction.

[Brief description of the drawings]

FIG. 1 is a side view showing a main part of an embodiment of an automatic driving device according to the present invention.

FIG. 2 is a flowchart showing the operation of the present embodiment.

FIG. 3 is a side sectional view schematically showing a driving device used in the present embodiment.

FIG. 4A is a perspective view showing a modification of the present embodiment, FIG. 4B is a diagram for explaining a pattern matching unit of the modification, and FIG. It is a figure for explaining fixed distance feed means of a modification.

FIG. 5 is a perspective view schematically showing a conventional general C-frame type automatic driving device.

FIG. 6 is a detailed view showing a part of FIG. 5;
5A is a detailed view of a portion D in FIG. 5, and FIG.
It is a detailed view of a part.

FIG. 7 is a side view schematically showing another conventional general C-frame type automatic driving device.

FIG. 8 is a diagram showing an R part and an S part of FIG. 7 in detail;

FIG. 9 is a perspective view showing a conventional general type separate automatic driving device.

FIG. 10 is a front sectional view of FIG. 9;

FIG. 11 is a side view of FIG. 9;

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Automatic driving device 2 Lower anvil 3 Upper anvil 4 Pressure foot bush 5a Panel 5b Panel 6 Drill spindle 7 Worker 8 Oblique camera 9 Monitor 10 Drive cylinder 11 Vertical camera 12 XY tracker (pattern matching means) 13 Sequencer 16 Frame 16a Upper part of the open end of the frame 16b Lower part of the open end of the frame 17 Outer head 18 Inner head 20 Outer frame (outer rail, guide rail) 22 Window penetrating frame 24 Space holding bar 25 Outer head 25a Outer head main body 27 Moving body 40 inner frame (inner rail, guide rail) 42 inner head carriage 45 inner head 45a inner head body 47 moving body 48 camera 60 electromagnetic Attaching device 60a Driving device 60b Driving device 61 Piston portion 62 Piston portion 63 Coil 64 Coil 65 Capacitor 65a Hole opening device 65b Hole opening device 66 Capacitor 70 Carriage carrier 90 Automatic driving device 100 Body 102 Window 105 Seat rail F1 Frame F2 Frame H Driving hole L1 Center line of inner head driving means L2 Center line of camera L3 Center line of driving hole L4 Center line of driving means of outer head L5 Hole opening of inner head Center line of means L6 Center line of hole opening means of outer head P Target area for tacking Q Image center position (hole opening position) W Body Wn Body

Claims (6)

[Claims] 1. A camera capable of capturing an image of an area to be driven which is provided on a processing surface of a workpiece, a hole opening means for opening a hole for driving and driving the area to be driven, and Riveting means for driving a hole into a hole, first moving means for moving at least one of the camera and the workpiece to a position where the camera can image the area to be driven, and the camera Position detecting means for detecting the position of the driving target area, based on the data indicating the image captured by, and comparing the detected position of the driving target area with the position of the hole opening means. Moving amount detecting means for detecting a moving amount of the hole opening means necessary for adjusting the position of the hole opening means to the position of the driving target area based on the comparison result; At least one of the workpieces A second moving means for moving one of the detected moving amounts of the hole opening means, wherein the moving amount detecting means is configured to detect a position of the detected driving target area and a position of the driving means. Comparing the amount of movement of the driving means required to adjust the position of the driving means to the position of the driving target area based on the comparison result, the second moving means, An automatic driving device for moving at least one of the driving device and the workpiece by the detected moving amount of the driving device. 2. The automatic driving device according to claim 1, wherein a plurality of the driving target areas are provided at predetermined intervals on the processing surface of the workpiece, and the camera and the camera by the first moving unit are provided. An automatic driving device in which at least one of the moving amounts of the workpiece is set in accordance with the predetermined interval. 3. A first anvil which is provided on one side of a workpiece in which a plurality of driving target areas are set in a predetermined direction at predetermined intervals and is movable in a direction along the workpiece, and the workpiece. A second anvil provided on the other side opposite to the one side with respect to the one side and movable in a direction along the workpiece independently of the first anvil; A first moving body provided so as to be relatively movable in a two-dimensional direction, a second moving body provided so as to be relatively movable in a two-dimensional direction with respect to the second anvil, and the first movement A hole opening means provided on at least one of the body and the second moving body for opening a hole for driving in the driving object area; and the first moving body and the second moving body. Attach the rivet to at least one of the holes. For driving, a camera provided on at least one of the first moving body and the second moving body and capable of imaging the area to be driven, and an image of the area to be driven to be driven by the camera First moving means for moving at least one of the first anvil and the second anvil in the predetermined direction at a predetermined interval to a position where the first anvil and the second anvil can be moved; and data indicating an image captured by the camera. Position detecting means for detecting a position of the driving target area based on the driving force, a position of the detected driving target area, and at least one of the first moving body and the second moving body. A position is provided on at least one of the first moving body and the second moving body at a position of the driving target area detected based on the comparison result. Moving amount detecting means for detecting a moving amount of at least one of the first moving body and the second moving body necessary for adjusting the position of the hole opening means or the driving means; An automatic driving device comprising: a second moving unit configured to move at least one of the first moving body and the second moving body by the moving amount. 4. The automatic driving device according to claim 1, wherein the driving device includes a piston portion and a coil provided on a back portion of the piston portion. apparatus. 5. The automatic driving device according to claim 1, wherein an area inside the perimeter of the perforated area is filled with a color different from that outside the perimeter. The position detecting means converts the data captured by the camera into two-dimensional binary data,
An automatic driving device for detecting the center position of the area of a figure formed by the digitized data as the position of the driving target region. 6. The automatic driving device according to claim 5, wherein the position detecting means captures data captured by the camera as two-dimensional gray image data, and performs threshold processing on the gray image data. By doing
Converting the converted data into binary data, extracting a portion corresponding to a contour of the graphic formed by the converted binary data, and calculating an area center of the graphic based on the portion corresponding to the extracted contour of the graphic; An automatic driving device for detecting a position as the position of the driving target area.