JP2013238517A - O-ring inspection apparatus and inspection method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an o-ring inspection apparatus capable of efficiently and highly accurately inspecting both front and rear surfaces of an o-ring.SOLUTION: The o-ring inspection apparatus includes: an index table 9 allowed to be intermittently rotated/stopped around a vertical shaft center La at each predetermined pitch angle θ; a pedestal member 91 installed on the index table 9 to place an o-ring S; a plurality of image inspection means 2, 3 and 6 for inspecting the o-ring S; and turnover means 5 for picking up the o-ring S from the pedestal member 91, turning over the o-ring S, and replacing the turned-over o-ring S on the pedestal member 91 which is advanced by the predetermined pitch angle θ from a position from which the o-ring is picked up so that center positions coincide with each other before and after picking up the o-ring. During one rotation of the index table 9, both the front and rear surfaces of the o-ring S can be inspected.

Description

  The present invention relates to an O-ring inspection apparatus and inspection method.

Conventionally, for inspection of O-ring burrs, chips, etc., the surface side of the O-ring conveyed by the inspection conveyor is photographed from above with a CCD camera and inspected by image processing. Is transferred from the inspection conveyor to the next inspection conveyor along the arcuate U-turn type shooter member in a side view, so that the O-ring that has been turned upside down is The inspection was performed by image processing by photographing with a CCD camera.
At the time of this image inspection, centering processing is performed on the image data so that the center of the double circular reference figure pre-stored in the image processing means matches the center of the actual O-ring in plan view. Inspects for cracks (see, for example, Patent Document 1).

JP-A-8-240538

  In conventional vertical shooting, it is possible to inspect the burrs and chips of the parting line, but it is difficult to perform high-accuracy image inspection of the R curved surface portion. Therefore, it has been considered to shoot the R curved surface portion from obliquely above, but it is difficult to perform centering processing on the image data in the case of photographing from obliquely upward, and a high-accuracy image inspection of the R curved surface portion can be performed. There was no problem. Further, in the conventional inspection apparatus, since the O-ring is placed on the next inspection conveyor in a natural drop state, the position of the O-ring is not determined and physical centering is difficult.

  Therefore, an object of the present invention is to provide an O-ring inspection apparatus and inspection method that can efficiently and accurately inspect both the front and back surfaces of an O-ring.

  In order to achieve the above object, an inspection apparatus for an O-ring according to the present invention includes an index table that intermittently rotates and stops at a predetermined pitch angle around a vertical axis, and an O-ring provided on the index table. And a plurality of image inspection means for inspecting the O-ring. Further, the O-ring is picked up from the pedestal member and turned upside down, and the O-ring is picked up from the position where the O-ring is picked up. The pedestal member having advanced the predetermined pitch angle is provided with front / back reversing means for re-mounting the O-ring reversed so that the center position coincides with that before picking up, while the index table rotates once. The front and back surfaces of the O-ring can be inspected.

  The front and back reversing means includes a first head having a first suction portion at the lower end for sucking the O-ring, and a second head having a second suction portion at the lower end for sucking the O-ring, The first head is swung about the first horizontal axis and the second head is swung about the second horizontal axis so that the first suction portion and the second suction portion face each other. An O-ring mounted on the pedestal member, including posture changing means, and reciprocating means for moving the first suction part and the second suction part in a face-to-face manner toward and away from each other Is adsorbed by the first adsorbing part, and the first adsorbing part and the second adsorbing part are brought close to each other by the posture changing means and the reciprocating means to bring the O-ring into the second adsorbing part. The O-ring is moved and adsorbed by the second head and the second head Serial those configured to re-mounted on the base member.

Further, the O-ring inspection method of the present invention intermittently circulates and stops the O-ring around the vertical axis at predetermined pitch angles, and performs image inspection on the surface side of the O-ring. The O-ring after the side inspection is picked up and turned upside down, and the O-ring turned upside down is returned to the original position advanced from the picked position so that the center position matches that before picking up. In this method, the back side of the O-ring is image-inspected, and both the front and back surfaces of the O-ring are inspected while the O-ring makes one round around the vertical axis.
Also, the surface side of the O-ring after the surface-side inspection is sucked, the O-ring is lifted, the back side of the O-ring is sucked, and the surface-side suction is released. In this method, the O-ring is re-mounted with the back side attracted upward.

  According to the present invention, the centering of the O-ring is physically performed, and more accurate image inspection can be performed. Since the center position of the O-ring is disposed at a fixed position in the index table, the R-curved surface portion of the O-ring can be photographed from a position (angle) where centering by image processing is difficult, and high-precision inspection can be realized. The inspection time of the entire apparatus can be improved (can be inspected without being lowered) by effectively using the time for which the index table rotates by a predetermined pitch angle without waste. In addition, the entire surface of the device can be inspected while allowing inspection of both the front and back surfaces of the O-ring, and the operator can check by moving a wide range such as upstream or downstream of a long inspection conveyor or turning point. It is not necessary to check whether the equipment is operating normally.

It is a top view which shows one Embodiment of the O-ring test | inspection apparatus which concerns on this invention. It is a front view which shows an example of a front-back inversion means. It is a principal part expanded sectional view of FIG. It is a principal part cross-sectional side view of a front-back inversion means. It is AA sectional drawing of FIG. It is a principal part front view for demonstrating the inversion start state of a front-back inversion means. It is a principal part front view for demonstrating the head attitude | position change state of a front-back inversion means. It is a principal part front view for demonstrating the transfer adsorption state of a front-back inversion means. It is a principal part front view for demonstrating the remounting state of the front-back inversion means. It is a front view which shows the other example of a front-back inversion means. It is a cross-sectional side view which shows an example of a base member. It is a simplified top view for demonstrating the positional relationship of an O-ring and a camera. It is a partially broken simplified side view for explaining the positional relationship between the O-ring and the camera. It is an operation explanatory view. It is action explanatory drawing of a prior art example.

Hereinafter, the present invention will be described in detail based on illustrated embodiments.
As shown in FIG. 1, the O-ring inspection apparatus of the present invention includes an index table 9 that intermittently rotates and stops at a predetermined pitch angle θ around a vertical axis La, and an O-ring S provided on the index table 9. And a plurality of pedestal members 91.
More specifically, the index table 9 (hereinafter sometimes referred to as the table 9) is set to a predetermined pitch angle θ of 45 degrees, stops every 45 degrees, and makes one round with eight intermittent feeds. Provided.
Further, the pedestal member 91 is equally distributed around the vertical axis La with the predetermined pitch angle θ. That is, eight are provided every 45 degrees around the vertical axis La.

  Further, the supply means 1 for placing one O-ring S to be inspected on one base member 91, a plurality of image inspection means 2, 3, 6 for inspecting the O-ring, and the O-ring S are reversed. And a discharge means 8 for picking up the O-ring S after the inspection from the pedestal member 91 and distributing it into a non-defective product and a defective product.

  For ease of explanation, the position at which the pedestal member 91 on which the O-ring S is placed by the supply means 1 is called the first index position T1, and the position from the first index position T1 is vertical. The positions advanced by a predetermined pitch angle θ around the center axis La, the second index position T2, the third index position T3, the fourth index position T4, the fifth index position T5, the sixth index Sometimes referred to as position T6, seventh index position T7, and eighth index position T8.

  The plurality of image inspection means 2, 3, and 6 are for inspecting the parting line inspection means 2 for inspecting the O-ring S at the second index position T2 and the O-ring S at the third index position T3. The surface side inner / outer peripheral surface inspection means 3 and the rear surface side inner / outer peripheral surface inspection means 6 for inspecting the O-ring S that is reversed upside down at the sixth indexing position T6.

The front / back reversing means 5 is provided corresponding to the base member 91 at the fourth index position T4 and the base member 91 at the fifth index position T5.
As shown in FIG. 2, the first head 51 having a first suction portion 51a at the lower end that can suck and suck the O-ring S by vacuuming (negative pressure) and the O-ring S by vacuuming (negative pressure) A second head 52 having a second adsorbing portion 52a that can be adsorbed at the lower end;
The first head 51 is disposed so as to correspond to the base member 91 at the fourth index position (upstream position in the inspection process) T4. The second head 52 is disposed so as to correspond to the base member 91 at the fifth index position (downstream position in the inspection process) T5.

  In FIG. 3, the first and second adsorbing portions 51a and 52a are configured such that an O-ring S is hermetically sealed by an internal air passage connected to an air pump (not shown) via an air hose, and vacuuming (suction) of the air pump. It has annular adsorbing grooves 51d and 52d that adsorb, and vent holes 51b and 52b that connect the internal ventilation path and the outside via the adsorbing grooves 51d and 52d.

As shown in FIGS. 2 and 3, the postures of the first and second heads 51 and 52 in which the openings on the outside of the suction grooves 51d and 52d and the vent holes 51b and 52b are in the downwardly opened state are defined as the reference postures. Call it.
The axis of the suction groove 51d of the first head 51 (vertical axis in the reference posture) is referred to as a first head reference axis E1 that serves as a positioning reference.
The shaft center (vertical shaft center in the reference posture) of the suction groove 52d of the second head 52 is referred to as a second head reference shaft center E2 serving as a positioning reference.

  The pedestal member 91 has an annular placement groove 91d on which the O-ring S is placed at the top. The vertical index reference axis for positioning the pedestal member 91 and the vertical axis of the mounting groove 91d coincide. This coincident axis is referred to as a pedestal reference axis Ea that serves as a reference for positioning the pedestal member 91.

In the reference posture, the first head 51 is provided so that the first head reference axis E1 coincides with the base reference axis Ea of the base member 91 at the fourth index position T4. Further, the first head reference axis E1 and the O-ring S are aligned so as to be attracted.
The second head 52 is provided in the reference posture such that the second head reference axis E2 coincides with the pedestal reference axis Ea of the pedestal member 91 at the fifth index position T5. Further, the second head reference axis E2 and the O-ring S are aligned so as to be attracted.

2 to 5, the front / back reversing means 5 includes elevating means 40 for reciprocating the first head 51 and the second head 52 in the vertical direction.
The elevating means 40 includes an elevating actuator 49 such as an air cylinder which has an elevating rod 49a which is fixed to a horizontal upper wall portion 50a of the base member 50 fixed in the vicinity of the table 9 and expands and contracts in the vertical direction. The first elevating rail member 41 disposed along the first elevating rail member 41, the first mounting base member 47 to which the first elevating rail member 41 is fixed, and the first elevating rail member 41 are slidable in the vertical direction. A first elevating slide member 43 on which a first head 51 is pivotably mounted around a first horizontal axis Lb; a second elevating rail member 42 disposed in the vertical direction; 2 The second mounting base member 48 to which the lifting / lowering rail member 42 is fixed, and the second lifting / lowering rail member 42 are provided so as to be slidable in the vertical direction, and the second head 52 swings around the second horizontal axis Lc. A second lifting / lowering slide member 44 pivotally mounted freely, A lifting member 49 is attached to the lifting rod 49 a and connects the first lifting slide 43 and the second lifting slide 44.

  The front / back reversing means 5 swings the first head 51 about the first horizontal axis Lb and swings the second head 52 about the second horizontal axis Lc, Posture changing means 58 is provided to make the second suction part 52a face-to-face.

  The posture changing means 58 is fixed to the first mounting base member 47, and gradually arcs to the left and right (in the direction away from the second head 52) in the front view from the lower side to the upper side. The first guide plate 81 for the cam having 81a and the first guide plate 81 for the cam and the follower first attached to the top of the first head 51 (above the first horizontal axis Lb) and inserted into the first cam groove 81a. A first cam receiving member (first cam follower) 83 and an arc-shaped first member that is fixed to the second mounting base member 48 and gradually bends to the left and right outward (in the direction away from the first head 51) as viewed from the front in the front view. A second guide plate 82 for cam having two cam grooves (holes) 82a and an upper portion of the second head 52 (above the second horizontal axis Lc) and attached to the second cam groove 82a A driven second cam receiving member (cam follower) 84 to be inserted; And a means 40 (lift actuator 49). The first and second guide plates 81 and 82 are fixed to the first and second mounting base members 47 and 48 and fixed so as not to interlock with the first and second lifting slide members 43 and 44.

As the first and second heads 51 and 52 are raised by the elevating means 40, the posture changing means 58 follows the first and second cam grooves 81a and 82a by the cam receiving members 83 and 84 so that the upper part of the head is When pulled left and right, the first and second heads 51 and 52 swing 90 degrees around the first and second horizontal axes Lb and Lc (the adsorbing portions 51a and 52a are arcuate trajectories). The first suction part 51a and the second suction part 52a are configured so as to face each other.
As shown in FIG. 7, the first and second heads 51 and 52 swing 90 degrees around the first and second horizontal axes Lb and Lc (outside the vent holes 51a and 52b and the suction grooves 51d and 52d). The state in which the side opening is opened to the left and right inward sides is called a sideways posture. In this sideways posture, the first head reference axis E1 and the second head reference axis E2 are configured to be horizontal and coincide with each other.

As shown in FIGS. 4 and 5, the front / back reversing means 5 is a reciprocating means for horizontally moving the first suction part 51a and the second suction part 52a facing each other in a direction (lateral direction) to approach and separate from each other. 59.
The reciprocating means 59 includes a first mounting base member 47 fixed to the vertical surface-like back wall portion 50b of the base member 50 and a pair of upper and lower reciprocating members fixed to the back wall portion 50b along the left-right direction. The rail members 53, 53, the second mounting base member 48 to which the second head 52 is attached, and the reciprocating rail member 53 are slidably attached in the left-right direction, and the second mounting base member 48 is fixedly attached thereto. A pair of upper and lower reciprocating slide members 54, 54, a reciprocating rod 55a extending and contracting in the left-right direction, and a reciprocating actuator 55 such as an air cylinder fixed to the back wall 50b, a reciprocating rod 55a and a second mounting base. And a reciprocating connecting member 56 for connecting the member 48. The second lifting / lowering slide member 44 is attached to the lifting / lowering connecting member 45 so as to be slidable in the left-right direction.

Here, the operation (action) of the front / back reversing means 5 and the index table 9 and the front / back reversing method of the O-ring S will be described. 6 to 9, the first and second guide plates 81 and 82 are shown in a perspective view by a two-dot chain line.
As shown in FIG. 6, when the base member 91 on which the first O-ring S to be reversed is placed at the fourth indexing position T4 by the rotation of the table 9, the first and second heads are transported. 51 and 52 are moved down by the elevating means 40, and the first suction portion 51a is brought into contact with the upper surface (representing surface) side of the O-ring S to be sucked.
After the O-ring S is attracted to the first head 51, the first and second heads 51 and 52 are pulled up by the lifting means 40, and the O-ring S is taken up from the base member 91 (91Y) at the fourth index position T4. .

As the first and second heads 51 and 52 are raised, the upper part is pulled outwardly by the posture changing means 58. The first suction portion 51a swings upward and laterally inward about the first horizontal axis Lb and assumes a sideways posture, and the second suction portion 52a faces left and right inward about the second horizontal axis Lc. Ascend and swing to a sideways posture.
And as shown in FIG. 7, the 1st adsorption | suction part 51a which adsorb | sucks the O-ring S, and the 2nd adsorption | suction part 52b which has not adsorb | sucked nothing are facing.

Next, the reciprocating means 59 (see FIGS. 4 and 5) causes the second suction portion 52a to approach the first suction portion 51a as shown in FIG. The suction part 52a is brought into contact. The O-ring S is held between the second suction part 52a and the first suction part 51a. And it is transferred and adsorbed. In the transfer adsorption, the second adsorption portion 52a is evacuated to adsorb (adhere) the back side of the O-ring S to the second adsorption portion 52a, and the O-ring S surface of the first adsorption portion 51a is exposed. The air suction is released and air is slightly discharged from the vent hole 51b to separate the O-ring S, and the O-ring S is delivered from the first suction portion 51a to the second suction portion 52a.
Further, the second suction part 52a is moved closer to the first suction part 51a, the table 9 is rotated, and the pedestal member 91 (91Y) at the fourth index position T4 (the O-ring S is taken up) This is sent to the fifth index position T5. Further, at the fourth index position T4, the next base member 91 (91Z) on which the next O-ring S ′ to be reversed is placed is disposed.

  After the suction transfer, the second head 52 and the first head 51 are separated by the reciprocating means 59. Then, the first and second heads 51 and 52 are lowered by the elevating means 40, and the first and second suction portions 51a and 52a are lowered and swung by the attitude changing means 58 to return to the original reference attitude.

As shown in FIG. 9, the O-ring S was picked up by lowering the first head 51 and the second head 52 so that the O-ring S adsorbed by the second adsorbing portion 52a faces the adsorbed back side upward. The base member 91 (91Y) advanced from the position by a predetermined pitch angle θ (the base member 91Y moved from the fourth index position T4 to the fifth index position T5) is remounted. That is, the front and back are reversed and rearranged on the original pedestal member 91.
The first suction portion 51a sucks the next O-ring S ′ to be reversed placed on the next base member 91 (91Z).

  Then, the front / back reversing means 5 repeats the procedure shown in FIGS. 9, 7, and 8 so that the O-rings S sequentially sent by the table 9 are sequentially reversed and placed again.

Here, in FIG. 6, when the O-ring S is picked up from the pedestal member 91 by the first head 51, the axis of the O-ring S placed on the pedestal member 91 (before being inverted), The base reference axis Ea and the first head reference axis E1 are made to coincide.
In FIGS. 7 and 8, the first head reference axis E1, the axis of the O-ring S, and the second head reference axis E2 are made coincident when transferring and attracting.
In FIG. 9, the second head reference axis E2, the axis of the O-ring S, and the pedestal reference axis Ea coincide with each other when remounting.
Therefore, the O-ring S that has been turned upside down on the pedestal member 91 is remounted on the original pedestal member 91 (91Y) so that the center position thereof coincides with that before picking up in plan view.

  In addition, as described above, after the O-ring S is picked up from the pedestal member 91, the pedestal member 91 is sent to the next indexing position T, and the time during which the pedestal member 91 advances the predetermined pitch angle θ (the table 9 has a predetermined pitch). For example, the O-ring S is picked up from the pedestal member 91 and the pedestal member 91 is not advanced to the next indexing position T by transferring and adsorbing the O-ring S using the angle θ rotation time). (With the table 9 stopped), the O-ring S is turned upside down and the O-ring S is placed on the pedestal member 91 that has not moved. It is not necessary to add the time to the primary stop time of the table 9 (the table 9 need not be stopped for a long time), and the inspection time (equipment tact) per O-ring of the inspection device can be improved ( Does not reduce equipment tact) .

  In addition, after the O-ring S is picked up from the pedestal member 91, before the pedestal member 91 advances the predetermined pitch angle θ (the table 9 rotates by the predetermined pitch angle θ) and starts moving again (within the operation time of one pitch), By reversing the O-ring S and re-mounting it on the original pedestal member 91, both the front and back sides can be inspected while the table 9 rotates once.

As another example of the front / back reversing means 5, in FIG. 4, the reciprocating actuator 55 and the connecting member 56 are omitted, and the first mounting base 47 and the second mounting base member 48 are slidable in the vertical direction. A second mounting base member 48 is slidable in the left-right direction. As shown in FIG. 10, a receiving roller 99 is provided on the upper portion of the second mounting base 48. A reciprocating means 59 may be provided by providing a guide member 98 having an inclined guide surface 98a that rises inward. In other words, after the second head 52 has fallen to the side by the posture changing means 58, the first and second mounting base members 47 and 48 are moved upward by further shortening the lifting rod 49a of the lifting actuator 49. The second mounting base member 48 is moved horizontally by moving the receiving roller 99 of the second mounting base member 48 along the guide member 98, and the second head 52 in the sideways posture is moved to the first head in the sideways posture. You may provide so that it may approach 51.
By providing such a lateral slide cam mechanism, the first and second heads 51 and 52 can be moved up and down, approached / separated, and changed in posture simply by extending / contracting the lifting / lowering actuator 49. Can be reduced. In addition, the operation can be simplified and the inspection time can be shortened.

Further, in the reciprocating means 59 of the front / back reversing means 5, the second head 52 (second suction part 52a) may be a fixed side and the first head 51 (first suction part 51a) may be provided so as to be able to reciprocate. good. Alternatively, both (the first head 51 and the second head 52 (the first suction part 51a and the second suction part 52a) may be provided so as to be able to reciprocate in the left-right direction.
That is, the first suction part 51a and the second suction part 52a are moved in the direction in which the first suction part 51a approaches and separates from each other when the second suction part 52a is moved closer to and away from the first suction part 51a. It is the case where the 1st adsorption | suction part 51a is approached and separated, and the case where both are mutually approached and separated.

  Next, in FIG. 1, the parting line image inspection means 2 has a hanging shape for a parting line such as a CCD camera for photographing the O-ring S from above the pedestal member 91 at the second index position T2. Image data captured by the camera 20, the illumination, and the hanging camera 20 is processed (binarized), and the parting line of the O-ring S is inspected for burrs, chips, etc., to determine whether it is a non-defective product. Determination means such as a computer (not shown).

  In FIG. 1, the front-side inner / outer peripheral surface image inspection means 3 and the rear-side inner / outer peripheral surface image inspection means 6 are provided on the O-ring S from obliquely above the illuminations 30 and 60 and the O-ring S. Inclined inner peripheral inclined cameras 31, 61 (see FIG. 12) such as a CCD camera for photographing the inner peripheral surface of the half, and the outer peripheral surface of the upper half of the O-ring S from an obliquely upper position of the O-ring S Inclined outer peripheral cameras 32 and 62 (see Fig. 12) such as CCD cameras that take pictures of images, and processing the image data taken by the camera to inspect and detect scratches and dents, etc. Determination means such as a computer (not shown) for determination.

Further, as shown in FIG. 11, the front-side inner and outer peripheral surface image inspection means 3 and the back-side inner and outer peripheral surface image inspection means 6 hold a cylindrical pedestal member 91 rotatably around the pedestal reference axis Ea. A supporting member 95, a driven magnet member 92 fixed to the lower portion of the pedestal member 91 in an outer fitting manner, and a driving motor 94 having a driving magnet member 93 fixed to the rotating shaft in an outer fitting manner. Yes.
That is, the base member 91 is rotated by the magnetic force when the drive motor 94 rotates at each of the third index position T3 and the sixth index position T6.
The drive motor 94 is disposed below the index table 9 at the third index position T3 and the sixth index position T6.

Here, as shown in FIG. 15, when the image is taken vertically, a predetermined upper edge vicinity range Na from the upper edge Sa of the O-ring S toward the inner peripheral edge and the outer peripheral edge, and a predetermined vicinity of the inner peripheral parting line. In the inner peripheral parting vicinity range Nb and the predetermined outer peripheral parting vicinity area Nc in the vicinity of the outer peripheral parting line, scratches, dent burrs, and chips can be detected with high accuracy.
However, the inner peripheral side R curved surface range N1 between the upper edge vicinity range Na and the inner peripheral parting vicinity range Nb and the outer peripheral side R curved surface range N2 between the upper edge vicinity range Na and the outer peripheral parting vicinity range Nc are: It was very difficult to inspect the scratches and dents with high accuracy.

Therefore, in the present invention, as shown in FIG. 14, the optical axes of the inner peripheral inclined cameras 31 and 61 are arranged in an inclined manner, and the upper part of the O-ring S from the upper edge Sa to the inner peripheral parting line is arranged. The inner peripheral range Q1 on the half side can be inspected.
In the present invention, the optical axes of the outer peripheral inclined cameras 32 and 62 are arranged in an inclined manner, and the outer peripheral range Q2 on the upper half side of the O-ring S from the upper edge Sa to the outer peripheral parting line is Inspection is possible.
Further, by rotating the pedestal member 91, the entire inner circumferential surface and the entire outer circumferential surface of the upper half of the O-ring S can be photographed and inspected.

  As shown in FIG. 13, in a side view, the inclination angle α between the horizontal plane and the optical axis (line of sight) of the camera is 15 degrees or more and 45 degrees or less, and more preferably 20 degrees or more and 40 degrees or less. If it is less than the lower limit value, it becomes difficult to perform inspection near the upper edge Sa with high accuracy. In addition, it is difficult to photograph the inner circumference. If the upper limit value is exceeded, high-precision inspection of the inner peripheral R curved surface range N1 and the outer peripheral R curved surface range N2 becomes difficult, as in the case of shooting from above.

In addition, when the inspection of the O-ring S is taken from above, and the image is inspected, the centering (positioning) of the O-ring S and the figure as a reference for image processing determination is important. Therefore, centering by image processing has been very difficult.
Therefore, the center position of the O-ring S before being turned upside down and the center position of the O-ring S after being turned upside down are arranged at the same position on the same pedestal member 91 by the front and back turning means 5 described above. For this reason, even if centering by image processing is difficult, since physical alignment (centering) is performed, it is possible to photograph from obliquely above.

  In FIG. 1, the supply means 1 includes an O-ring supply parts feeder 12, a conveyor 11 that separates the O-rings S from each other, and conveys the O-ring S from the conveyor 11 by an air cylinder or the like. A suction-type pick and place device 10 for suction is provided, which is placed so that the axis of the O-ring S coincides with the base reference axis Ea of the base member 91 at the first index position T1. .

  Further, the discharge means 8 determines the adsorption-type discharge pick / place device 88 that picks up the O-ring S from the base member 91 at the eighth index position T8 and the O-ring S from the discharge pick / place device 88. And a sorting device 89 that slides and switches the conveyance path (pipe) based on the determination of the means and sends it to the non-defective product storage unit or the defective product storage unit.

  Further, as shown in FIG. 11, the pedestal member 91 has a plurality of air holes 91e communicating with the mounting groove 91d in the upper part. When the O-ring S is picked up by the front / back reversing means 5, air is discharged so that the O-ring S is easily separated from the base member 91. Air is supplied to the lower end surface of the base member 91 via a fluid rotary joint such as a swivel joint or a rotary joint.

Next, the usage method (action) and the O-ring inspection method of the O-ring inspection apparatus according to the present invention will be described.
In FIG. 1, the supply means 1 performs a supply process in which the axis of the O-ring S is placed so as to coincide with the base reference axis Ea of the base member 91 at the first index position T1.
The table 9 rotates by a predetermined pitch angle θ, and the base member 91 on which the O-ring S is placed moves to the second index position T2.

At the second index position T2, the parting line image inspection means 2 performs a parting line inspection process for inspecting burrs and chips of the O-ring S on the base member 91.
After the parting line inspection, the table 9 rotates by a predetermined pitch angle θ, and the base member 91 on which the O-ring S is placed moves to the third index position T3.

At the third index position T3, the upper half of the O-ring S, that is, the entire peripheral surface (inner peripheral surface and outer peripheral surface) of the O-ring S is inspected by the outer surface side outer peripheral surface image inspection means 3. The surface side inner and outer peripheral surface inspection process is performed.
After the surface side inspection, the table 9 rotates by a predetermined pitch angle θ, and the base member 91 on which the O-ring S is placed moves to the fourth index position T4.

  At the fourth index position T4 and the fifth index position T5, the O-ring S at the fourth index position T4 is picked up by the front / back reversing means 5. When the first head 51 and the second head 52 are moved sideways and sucked, the table 9 rotates by a predetermined pitch angle θ, and the base member 91 (91Y) on which the O-ring S is taken up is fifth indexed. Move to position T5. Further, at the fourth index position T4, the next base member 91 (91Z) on which the next O-ring S ′ that has finished the surface-side inspection is placed is disposed. The O-ring S that has been turned upside down is remounted on the original pedestal member 91 (91Y) (in the original position) with the back side facing upward and the center position aligned with that before picking up.

That is, the front / back reversing process is performed at the fourth index position T4 and the fifth index position T5.
After the O-ring S is placed on the base member 91 (91Y) at the fifth indexing position T5, the table 9 is rotated by a predetermined pitch angle θ, and the base member 91 on which the inverted O-ring S is placed is Move to 6 index position T6.

At the sixth index position T6, the back side inner and outer peripheral surface image inspection means 6 inspects the upper half of the O-ring S, that is, the entire peripheral surface (inner peripheral surface and outer peripheral surface) on the back side. Peripheral inspection process is performed.
After the back side inspection, the table 9 rotates by a predetermined pitch angle θ, and the pedestal member 91 on which the O-ring S is placed moves to the seventh index position T7.

The seventh index position T7 is a standby process for waiting for a predetermined time until the operation at each of the other index positions T is completed.
After a predetermined time has elapsed, the table 9 rotates by a predetermined pitch angle θ, and the base member 91 on which the O-ring S is placed moves to the eighth index position T8.

At the eighth index position T8, the O-ring S is picked up from the pedestal member 91 by the discharge means 8, and based on the inspection results (determination of the determination means) of each image inspection means 2, 3, 6 A discharging process is performed.
After the O-ring S is picked up from the base member 91, the table 9 rotates by a predetermined pitch angle θ, and the base member 91 from which the O-ring S is picked up moves to the first index position T1.

In this way, the front and back surfaces of the O-ring S are inspected while the table 9 rotates once.
The above-described operation is performed at each index position T, and the O-ring S is sequentially and continuously inspected.

  In the present invention, the design can be changed, and the order of the surface side inner / outer periphery inspection process may be interchanged as a parting line inspection process. Although the seventh index position T7 is set as the standby process, other index positions may be set as the standby process. The predetermined pitch angle θ may be set to 36 degrees or 30 degrees, and the number of the pedestal members 91 may be set to 10 or 12, and may be eight or more equally distributed around the vertical axis La.

  As described above, the O-ring inspection apparatus according to the present invention includes the index table 9 that intermittently rotates and stops around the vertical axis La every predetermined pitch angle θ, and the O-ring S provided on the index table 9. And a plurality of image inspection means 2, 3 and 6 for inspecting the O-ring S. Further, the O-ring S is picked up from the pedestal member 91 and turned upside down, and the O-ring S The index table is provided with a front / back reversing means 5 for re-mounting the O-ring S, which has been turned upside down, on the pedestal member 91 that has advanced a predetermined pitch angle θ from the position where it is picked up so that the center position coincides with that before picking up. Since the front and back surfaces of the O-ring S can be inspected while the 9 rotates once, the centering of the O-ring S is physically performed, and a more accurate image inspection can be performed. Since the center position of the O-ring S is disposed at a predetermined position, the O-ring S can be photographed from a position (angle) where centering by image processing is difficult, and high-precision inspection can be realized. The inspection time of the entire apparatus can be improved (inspection can be performed without lowering) by effectively using the time during which the index table 9 rotates by the predetermined pitch angle θ without waste. In addition, while the O-ring S can be inspected on both the front and back surfaces, the entire system is compact and the operator is in charge of moving over a wide range, such as the upstream or downstream side of the inspection conveyor, the turning point, etc. It is not necessary to check whether the equipment is operating normally. This index table type inspection device is suitable for placing cameras at various positions and angles when it is difficult with conventional conveyor type inspection devices or when inspection standards are strict for scratches and dents on the curved surface of the O-ring. . By providing the pedestal member 91 on the index table 9, the pedestal member 91 can be configured to be rotatable around the pedestal reference axis Ea, so that various images can be taken and high-precision inspection can be performed.

  Further, the front / back reversing means 5 has a first head 51 having a first suction portion 51a for sucking the O-ring S at the lower end and a second head 52a for sucking the O-ring S at the second end. The head 52 and the first head 51 are swung around the first horizontal axis Lb, and the second head 52 is swung around the second horizontal axis Lc so that the first suction part 51a and the second suction part are swung. A pedestal member 91 is provided with posture changing means 58 for making 52a face-to-face, and reciprocating means 59 for moving the first suction part 51a and the second suction part 52a that face each other in a direction to approach and separate from each other. The O-ring S placed on the first suction portion 51a is sucked by the first suction portion 51a, and the first suction portion 51a and the second suction portion 52a are brought close to each other by the attitude changing means 58 and the reciprocating movement means 59. The O-ring S is transferred and attracted to the second suction part 52a, and the O-ring S is moved to the base member 91 by the second head 52. And then, it is re-placed, the front and rear can be reversed without damaging smoothly and reliably O-ring S. The O-ring S can be quickly reversed so that inspection time can be reduced. The O-ring S can be reversed without reducing the time (speed) required for one turn of the index table 9.

  Further, the O-ring inspection method of the present invention intermittently rotates and stops the O-ring S around the vertical axis La at every predetermined pitch angle θ, and performs image inspection on the surface side of the O-ring S. Then, the O-ring S after the surface side inspection is picked up and turned upside down, and the center position of the O-ring S turned upside down is returned to the original position advanced by a predetermined pitch angle θ from the picked up position. The O-ring S is inspected on both sides of the O-ring S while the O-ring S makes one round around the vertical axis La. Centering is physically performed, so that a more accurate image inspection can be performed. Since the center position of the O-ring S is disposed at a predetermined position, the O-ring S can be photographed from a position (angle) where centering by image processing is difficult, and high-precision inspection can be realized. The inspection time of the entire apparatus can be improved (inspection can be performed without lowering) by effectively using the time during which the index table 9 rotates by the predetermined pitch angle θ without waste. In addition, the entire apparatus can be made compact while making it possible to inspect both the front and back surfaces of the O-ring S.

  Also, the surface side of the O-ring S after the surface side inspection is finished is adsorbed, the O-ring S is lifted, the back side of the O-ring S is adsorbed, and the surface-side adsorption is released. Since the O-ring S is remounted with the adsorbed back side facing upward, the O-ring S can be easily reversed, and can be re-mounted on the base member 91 easily and accurately.

2 Image inspection means 3 Image inspection means 5 Front / back reversing means 6 Image inspection means 9 Index table
51 1st head
51a 1st adsorption part
52 2nd head
52a Second adsorption part
58 Posture change means
59 Reciprocating means
91 Base member La Vertical axis Lb First horizontal axis Lc Second horizontal axis S O-ring θ Predetermined pitch angle

Claims (4)

An index table (9) that intermittently rotates and stops at a predetermined pitch angle (θ) around a vertical axis (La), and an O-ring (S) provided on the index table (9) are placed. A pedestal member (91), and a plurality of image inspection means (2) (3) (6) for inspecting the O-ring (S),
Further, the O-ring (S) is picked up from the pedestal member (91) and turned upside down, and the pedestal member (91) advanced by the predetermined pitch angle (θ) from the position where the O-ring (S) was picked up. And reversing means (5) for re-mounting the O-ring (S) that has been reversed so that the center position matches that before picking up,
An O-ring inspection apparatus configured to be able to inspect both the front and back surfaces of the O-ring (S) while the index table (9) rotates once. The front and back reversing means (5) includes a first head (51) having a first suction part (51a) at the lower end for sucking the O-ring (S), and a sucker for sucking the O-ring (S). A second head (52) having a second suction portion (52a) at the lower end, and the first head (51) is swung around a first horizontal axis (Lb) and the second head (52) is moved. The posture changing means (58) which swings around the second horizontal axis (Lc) to make the first suction portion (51a) and the second suction portion (52a) face each other, is face-to-face. Reciprocating means (59) for moving the first adsorbing part (51a) and the second adsorbing part (52a) toward and away from each other;
The O-ring (S) placed on the pedestal member (91) is adsorbed to the first adsorbing portion (51a), and the first changing portion (58) and the reciprocating means (59) are used to adsorb the first ring. The adsorbing part (51a) and the second adsorbing part (52a) are brought close to each other in a face-to-face manner, the O-ring (S) is transferred and adsorbed to the second adsorbing part (52a), and the second head ( The O-ring inspection apparatus according to claim 1, wherein the O-ring (S) is remounted on the pedestal member (91) in 52).   Around the vertical axis (La), the O-ring (S) is intermittently rotated and stopped every predetermined pitch angle (θ), and the surface side of the O-ring (S) is image-inspected, and the surface is exposed. The O-ring (S) after the side inspection is picked up and turned upside down, and the O-ring (S) turned upside down is returned to the original position where the predetermined pitch angle (θ) is advanced from the picked up position. Is mounted so that it coincides with that before picking up, the back side of the O-ring (S) is image-inspected, and the O-ring (S) makes one turn around the vertical axis (La). And inspecting both the front and back surfaces of the O-ring (S).   The front surface side of the O-ring (S) after the front surface side inspection is sucked, the O-ring (S) is lifted, and the rear surface side of the O-ring (S) is sucked and displayed. The O-ring inspection method according to claim 3, wherein the O-ring (S) is remounted by releasing the suction on the side and placing the sucked back side upward.

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