POSITIONAL DEVIATION INSPECTION DEVICE AND POSITIONAL DEVIATION INSPECTION METHOD

摘要

To provide an automatic inspection device which can inspect relative positional relationship of components by an inspection gauge in a prescribed time without resorting to the sense of an operator.SOLUTION: There is provided a positional deviation inspection device according to which an inspection gause is inserted in an inspection hole of inspection object components which are overlapped on one another, whereby whether or not mutual relative positions fall within a reference range is determined. In this positional deviation inspection device, the followings are provided: a manipulator; a vision sensor 5 which is mounted on the manipulator so as to be capable of recognizing a position of the inspection hole; an end effector which is provided at a tip of the manipulator via a force sensor 7, and onto which a pin gauge 8 and block gauges 9, 10, which are used for inspection of positional deviation, are so mounted as to be selectively usable; and attitude correction means which, when detecting a reaction force by the force sensor 7, calculates an attitude change for continuing an insertion operation between the pin gauge 8 and the block gauges 9, 10, and the inspection object component from a direction and a magnitude of said reaction force, and changes an attitude by a minute amount.SELECTED DRAWING: Figure 3