JP2007144546A - Gripping device for visual inspection - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a gripping device for visual inspection having a small size and no interference with the surrounding, in the gripping device used in an automatic visual inspection device for inspecting cracks etc. of a workpiece. <P>SOLUTION: This gripping device has a gripping device for clamping a workpiece by a claw by a driving source such as air, a light for illuminating the workpiece and a camera for photographing the shape of the workpiece. In the gripping device, the center of the gripping device, the center of a lens of the camera and the center of the light are arranged on the same line. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to a gripping device used in an automatic visual inspection apparatus that inspects a work for scratches and the like.

  In the processing line, etc., it is necessary to inspect the workpiece processed by the processing machine for scratches and burrs, and the inspection method is when the operator looks with a magnifying glass or images taken with the camera. A method of discriminating by a processing device is performed.

The method of discriminating images taken with a camera with an image processing device is suitable for inspecting a single mass-produced part, and is more proactive in reducing labor costs compared to the method of visual inspection by workers. It is advanced to.

As a method for this, a work that has been transported from a processing machine by a conveyor or the like is transported on a conveyor or from a conveyor onto a temporary table, and an image photographed with a camera by applying light to the work with a light is captured by an image processing apparatus. Analyze and sort into good and defective products and transport to the next process.

For conveyors, it is common to install a dispensing device on the conveyor to pay out defective products. Attaches a gripping device to a transport robot or the like to grip the workpiece and transfer it.

There is a method in which a light and a camera are fixed and a workpiece conveyed by a gripping device is moved to the focal position of the camera and image processing is performed. As shown in FIG. There is a method in which a camera is fixed, an appearance inspection is performed in a process in which a robot moves for gripping, and a workpiece is gripped and transported by a gripping device.

However, the method of FIG. 4 cannot be used when there is a device that interferes with the surroundings because the camera and the light jump out to the side of the gripping device.
Japanese Patent Laid-Open No. 11-248422 JP 2002-202264 A JP-A-9-160622

  An object of the present invention is to provide a gripping device for appearance inspection that is small in size and has no interference with the surroundings in a gripping device that is used in an automatic appearance inspection device that inspects scratches or the like of a workpiece.

  The present invention provides a gripping device having a gripping device in which a claw clamps a work by a driving source such as air, a light for illuminating the work, and a light for photographing the shape of the work as means for solving the above-described problem. , The center of the lens of the camera, and the center of the light are arranged on the same line.

A light is formed in a ring shape so as to surround the lens of the camera.

Furthermore, the light formed in a ring shape is composed of a plurality of LEDs.

  In a gripping device in which a claw clamps a workpiece by a driving source such as air, a light that illuminates the workpiece, and a light that images the shape of the workpiece, the center of the gripping device, the center of the camera lens, By configuring the gripping device for appearance inspection characterized in that the centers are arranged on the same line, there is no protrusion from the gripping device and there is no interference with surrounding devices.

In addition, since the clamping operation of the gripping device and the image capturing operation of the image processing device can be performed in the same manner, the cycle time is shortened compared to the conventional separate operations.

Further, by forming the light in a ring shape so as to surround the lens of the camera, the camera and the light can overlap, so that the length can be shortened.

Furthermore, by configuring the light formed in a ring shape with a plurality of LEDs, the light of the light can be controlled to an illuminance suitable for image processing, so that fine adjustment of the image is easy.

Hereinafter, embodiments of the present invention will be described with reference to the drawings.

As shown in FIG. 1, the gripping device for appearance inspection according to the present embodiment arranges the center of the gripping device 1 attached to the robot 5, the center of the light 3, and the center of the camera 4 on the same line.

The camera 4 is arranged in the center of the light 3, and since the lengths of the camera 4 and the light 3 overlap each other, the total length is short and a plurality of LEDs 8 are arranged in a ring shape. When an image is taken from, uniform light can be emitted.

The light 3 and the camera 4 are fixed to the center of the gripping device 1, and the claw 2 is formed so as not to interfere with the light 3 and the camera 4.

Next, the operation will be described.

Conventionally, in order to inspect and transport the workpiece 6 placed on the temporary table 7, the robot 5 moves it to the focal length of the camera 4 and the light 3 and captures an image, and then holds it at a standby position above the workpiece. Although the device has been moved downward for clamping after moving the device, the configuration of the present invention makes it possible to reduce the robot movement because the image capturing location and the standby position for clamping are the same. Can do.

The visual inspection gripping device is intended for a visual inspection device gripping device, but is also effective for a manipulator that performs remote operation, for example.

Overall view of this example Explanatory drawing of the camera and light of this example Front view of the gripping device for appearance inspection of the present embodiment Illustration of conventional example

Explanation of symbols

1 Gripping Device 2 Claw 3 Light 4 Camera 5 Robot 6 Work 7 Temporary Place 8 LED
9 Base 10 Shading plate

Claims (3)

  The present invention relates to a gripping device in which a claw clamps a workpiece by a driving source such as air, a light that illuminates the workpiece, and a light that captures the shape of the workpiece, the center of the gripping device, and the center of the lens of the camera And a gripping device for appearance inspection, wherein the centers of the lights are arranged on the same line. 2. The visual inspection gripping apparatus according to claim 1, wherein the light is formed in a ring shape, and the lens of the camera is disposed at the center of the light. The visual inspection gripping device according to claim 1 or 2, wherein the light formed in a ring shape includes a plurality of LEDs.

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