JP2015102466A - Curved plate shape inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a curved plate shape inspection device capable of inspecting a shape of a curved plate with a small interval.SOLUTION: An inspection device 20 includes: an inspection mold 30 having an edge part 33 curved in accordance with the position and shape of an edge part 3 of glass 1; a spacer which supports the glass 1 so that a gap 32a exists between the edge part 3 of the glass 1 and the edge part 33 of the inspection mold 30; a shape acquisition unit 50 which is disposed so as to face a side surface 32 of the inspection mold 30 and is moved on a trajectory outward of the edge part 33 of the inspection mold 30 to acquire shape information in a plurality of inspection positions of an inspection side surface 40, in a plurality of shape acquisition positions on the trajectory: a shape calculation unit 72a which calculates the gap 32a in the shape acquisition positions on the basis of the gap 32a acquired by the shape acquisition unit 50; and a determination unit 72c which determines whether the glass 1 is acceptable or not on the basis of the gap 32a calculated by the shape acquisition unit 50.

Description

  The present invention relates to a curved plate shape inspection apparatus for inspecting the shape of a curved plate.

Conventionally, in order to inspect the shape of curved glass, there has been an inspection device that presses a plurality of differential gauges from the back side while supporting the glass (for example, Patent Document 1).
However, in the conventional inspection apparatus, the interval between the gauges is increased, and thus the inspection interval is increased.
On the other hand, the periphery of the curved glass may have small defects. For example, when a flat glass is bent to bend, defects such as wrinkles (so-called kink) may be locally generated around the glass.
The conventional inspection apparatus cannot detect this small defect when it is arranged between the gauges.

JP-A-4-242103

  The subject of this invention is providing the curved plate shape inspection apparatus which can test | inspect the shape of a curved plate at a small space | interval.

  The present invention solves the problems by the following means. In addition, in order to make an understanding easy, although the code | symbol corresponding to embodiment of this invention is attached | subjected and demonstrated, it is not limited to this. In addition, the configuration described with reference numerals may be improved as appropriate, or at least a part thereof may be replaced with another configuration.

-1st invention is the inspection type | mold (30) provided with the curved edge part (33) curved according to the position and shape of the outer-periphery edge part (3) of a curved board (1), and the said outer side of the said curved board. The spacer (35) that supports the curved plate and the side surface (32) of the inspection mold are arranged so as to have a gap (32a) between a peripheral edge and the curved edge of the inspection mold, and the inspection A surface that moves on an outer track (51) than the curved edge of the mold and includes a side surface of the curved plate, a side surface of the inspection mold, and the gap at a plurality of shape acquisition positions (P50) on the track. Based on the gap acquired by the shape acquisition unit (50) that acquires shape information at a plurality of inspection positions on the inspection side surface (40) and the gap acquired by the shape acquisition unit, the gap at the inspection position is calculated. The shape calculation unit (72a) and the shape acquisition unit Based on the calculated gap, to a judging unit (73c) for the acceptance judgment of the curved plate, a curved plate shape inspection apparatus according to claim.
-2nd invention is the curved plate shape inspection apparatus of 1st invention, The said shape acquisition part (50) is provided with a two-dimensional laser shape measurement sensor, It is a curved plate shape inspection apparatus characterized by the above-mentioned.
The third invention is the curved plate shape inspection apparatus according to the first or second invention, wherein the curved plate (1) is used by being attached to an attachment with an inclined attachment angle, and the spacer (35) is a curved plate shape inspection apparatus characterized by supporting the curved plate at the inclined mounting angle.
The fourth invention is the curved plate shape inspection apparatus according to any one of the first to third inventions, provided on the side surface (32) of the inspection mold (30), and sandwiching at least one inspection position therebetween. The shape acquisition unit (50) includes the shape information of the inspection position (P40) including the shape of the marker at any of the shape acquisition positions (P50). The inspection position of the inspection side surface (40) existing between the markers is acquired based on the inspection position where the shape information including the marker is acquired and the information on the acquisition time of the shape information. A curved plate shape inspection apparatus including an inspection position calculation unit (72b) for calculating.
The fifth invention is the curved plate shape inspection apparatus according to any one of the first to third inventions, wherein the shape acquisition unit (50) is moved on the track (51), and a plurality of teachings on the track are provided. A robot arm (60) in which a point and a teaching point passage time passing through the teaching point are predetermined, and a shape information acquisition time when the shape acquisition unit acquires the shape information; and the teaching point passage time; , And using the shape information of the shape information acquisition time closest to the teaching point passage time as the shape information at the teaching point, the inspection position (P40) existing between the teaching points is calculated. It is a curved plate shape inspection apparatus characterized by including a position calculation part (72b).
The sixth invention is the curved plate shape inspection apparatus according to the fifth invention, wherein a marker (M) provided on a side surface (32) of the inspection mold (30) and disposed at a position corresponding to the teaching point is provided. The robot arm (60) has a preset time for the shape acquisition unit (50) to pass over the marker (M), and the inspection position calculation unit (72b) The curved plate shape inspection apparatus is characterized in that the teaching point passage time of the shape acquisition unit is corrected based on the correction time.
-7th invention is the curved-plate shape test | inspection apparatus of 4th or 6th invention, The length (L1) of the said marker (M) is more than the space | interval (L2) between the said test | inspection positions (P40). It is a curved plate shape inspection apparatus characterized by being large.
-8th invention is the curved plate shape inspection apparatus of 4th, 6th, or 7th invention, The said test | inspection side surface (40) is different from the determination criteria of the pass / fail of another range (S1-S4). Provided with a base range (R1 to R4), the marker (M) is disposed at a position corresponding to a start point and an end point of the range of the different determination criteria, and the determination unit (73c) calculates the inspection position. In the curved plate shape inspection apparatus, the pass / fail determination is performed using the different determination criteria at the inspection position (P40) between the markers calculated by the unit (72b).
The ninth invention is the curved plate shape inspection apparatus according to any one of the fourth, sixth to eighth inventions, wherein the marker (M) is provided on a side surface (32) of the inspection mold (30). It is a curved plate shape inspection apparatus characterized by being a protrusion or a depression.
The tenth invention is the curved plate shape inspection apparatus according to any one of the first to ninth inventions, wherein the shape calculation unit (72b) includes the shape acquisition unit (50) in addition to the gap (32a). Is the distance from the side surface of the inspection mold to the side surface (2) of the outer periphery of the curved plate (1) in the normal direction of the side surface (32) of the inspection mold (30) based on the acquired shape information. A normal distance (L32) is calculated, and the determination unit (72) performs pass / fail determination of the curved plate based on the normal distance calculated by the shape acquisition unit in addition to the gap. Is a curved plate shape inspection apparatus.

  ADVANTAGE OF THE INVENTION According to this invention, the curved plate shape inspection apparatus which can test | inspect the shape of a curved plate with a small space | interval can be provided.

It is a figure showing glass 1 and inspection device 20 of a 1st embodiment. It is the figure of glass 1 of a 1st embodiment, a sectional view of inspection device 20, and a figure explaining shape information. It is a figure explaining the state which developed glass 1 and inspection type 30 of a 1st embodiment. It is a flowchart explaining operation | movement of the test | inspection apparatus 20 of 1st Embodiment. It is a figure explaining the acquisition operation of shape information in straight line range S1 of a 1st embodiment. It is a figure explaining the acquisition operation of shape information in straight line range S1 of a 2nd embodiment. It is a figure explaining the acquisition operation | movement of the shape information in linear range S1 and corner range R1 of 3rd Embodiment. It is the figure of glass 1 of a 4th embodiment, a sectional view of inspection device 420, and a figure explaining shape information.

Embodiments of the present invention will be described below with reference to the drawings.
(First embodiment)
FIG. 1 is a diagram illustrating a glass 1 and an inspection apparatus 20 according to the first embodiment.
FIG. 1A is a perspective view of the glass 1 and the inspection device 20.
FIG. 1B is a cross-sectional view of the glass 1 and the inspection device 20 cut along a cross-section B in FIG.
In FIG. 1, a direction Z is a vertical direction, and an XY plane is a horizontal plane.
FIG. 2 is a view for explaining the glass 1 and the sectional view of the inspection apparatus 20 and the shape information of the first embodiment.
FIG. 2A is a cross-sectional view of the glass 1 and the inspection device 20.
FIG. 2B is a diagram illustrating shape information.
FIG. 2A illustrates the inclination of the inspection mold 30 so that the direction B of the side surface 32 of the cross section at the inspection position P40 is the vertical direction. FIG. 2B illustrates an actual shape information analysis screen, and shows the direction B in the horizontal direction.
FIG. 3 is a diagram illustrating a state where the glass 1 and the inspection mold 30 of the first embodiment are developed.
FIG. 3A is a diagram illustrating the positional relationship between the glass 1, the inspection mold 30, and the shape acquisition unit 50 in a planar state.
FIG. 3B is a view for explaining the positional relationship among the glass 1, the inspection mold 30, and the shape acquisition unit 50 in a state where the edge 33 of the inspection mold 30 is linearly developed.
Note that, in a state where the edge portion 33 of the inspection die 30 is linearly developed, a direction parallel to the straight line is referred to as an edge length direction A. That is, the edge length direction A is a direction along the edge 33 of the inspection mold 30.

As shown in FIGS. 1 and 2, the glass 1 (curved plate) is a window glass (rear window or the like) of an automobile, and is a plate material attached to a vehicle body (attachment). The attachment angle of the glass 1 to the vehicle body is inclined. That is, the glass 1 is used by being fixed to the flange portion of the vehicle body at an inclined mounting angle.
As shown in FIG. 3, in the pass / fail determination of the glass 1, the determination criteria 71c-1 for the linear ranges S1 to S4 and the determination criteria 71c-2 for the corner ranges R1 to R are different. The criterion 71c-2 is stricter than the criterion 71c-1, that is, the numerical value of the allowable error is small. This is because the corner ranges R1 to R4 have a large shape change, so that high accuracy is required to attach the glass 1 to the flange portion of the vehicle body.

As shown in FIGS. 1 and 2, the inspection device 20 (curved plate shape inspection device) is a device that inspects the shape of the periphery of the glass 1 before the glass 1 is mounted on the vehicle body.
The inspection apparatus 20 includes an inspection mold 30, a shape acquisition unit 50, a robot arm 60, and markers M (M1 to M8).

The inspection mold 30 is a member on which the glass 1 is placed. The inspection mold 30 is a hollow member.
The edge 33 (curved edge) of the inspection mold 30 is curved corresponding to the position and shape of the edge 3 on the outer periphery of the glass 1. That is, the shape of the edge portion 33 of the inspection mold 30 and the shape of the edge portion 3 of the glass 1 are the same.
The inspection mold 30 is installed at an inclination corresponding to the state in which the glass 1 is mounted on the vehicle body.

As shown in FIG. 2A, the inspection mold 30 includes a spacer 35.
The spacer 35 is a member that supports the glass 1. It protrudes from the inspection mold 30 to the glass 1 side. Although illustration is omitted, a plurality of spacers 35 are provided. Since the inspection mold 30 is inclined as described above, the spacer 35 supports the glass 1 in an inclined state. The spacer 35 supports the glass 1 so that the size of the gap 32 a between the edge 33 of the inspection mold 30 and the outer peripheral edge 3 of the glass 1 is constant over the entire circumference of the inspection mold 30.
For this reason, the attachment angle at which the spacer 35 supports the glass 1 is the same as the inclination angle at which the glass 1 is mounted on the vehicle body.

Therefore, the same bending as the state in which the glass 1 was actually mounted on the vehicle body is reproduced. Thereby, the glass 1 which passed the inspection can be reliably mounted on the vehicle body.
That is, for example, the state of bending when the glass 1 is horizontal is different from the state of bending when the glass 1 is attached to the vehicle body at an inclination. For this reason, unlike the embodiment, when the glass 1 is inspected in a horizontal state, there is a problem that the glass 1 cannot be mounted on the vehicle body even though the inspection is acceptable. In the embodiment, such a problem can be solved.

As shown in FIGS. 1 and 3, the shape acquisition unit 50 is driven by the robot arm 60 and moves on the track 51. The shape acquisition unit 50 acquires shape information that is information on the shape of the inspection side surface 40 as a two-dimensional cross-sectional shape. The inspection side surface 40 includes the side surface 2 of the glass 1, the side surface 32 of the inspection mold 30, and the gap 32a.
The shape acquisition unit 50 is disposed to face the side surface 32 of the inspection mold 30. The shape acquisition unit 50 includes a secondary laser shape measurement sensor. As the two-dimensional laser shape measurement sensor, “two-dimensional shape measurement sensor ZG2 series manufactured by OMRON Corporation” or the like is used.
As shown in FIG. 2A, the plane 52 along which the laser light emitted from the shape acquisition unit 50 travels, and the side surface 32 and the edge length direction A (see FIG. 3B, etc.) of the inspection mold 30 are orthogonal. To do. The shape acquisition unit 50 acquires, as the shape information, information on the surface shape (two-dimensional shape) that can be irradiated by the laser among the cross-sectional shapes of the inspection position P40 of the inspection side surface 40.

As shown in FIG. 3, the shape acquisition unit 50 moves on the track 51 outside the edge 33 of the inspection die 30 without stopping clockwise. The shape acquisition unit 50 is arranged at the reference position P50-0 before the start of measurement. The reference position P50-0 is a position slightly counterclockwise from the marker M1 (described later).
On the track 51, there are a plurality of shape acquisition positions P50. The shape acquisition unit 50 acquires the shape information of the inspection side surface 40 in a state of being arranged at the shape acquisition position P50.
For example, in the case of the inspection position P40 in FIG. 2A, the shape acquisition unit 50 acquires shape information as shown in FIG. Since the marker M is disposed at the inspection position P40, the shape acquisition unit 50 acquires shape information including the shape of the marker M.
With the above configuration, the shape acquisition unit 50 has the cross-sectional shape of the inspection side surface 40 (the side surface 2 of the glass 1, the side surface 32 of the inspection mold 30, and the gap 32a) at each inspection position P40 as each shape information from each shape acquisition position P50. To get.

The robot arm 60 is a device that moves the shape acquisition unit 50 on the track 51. The robot arm 60 includes an arm, indirect, and the like.
Thus, since the inspection apparatus 20 moves the shape acquisition part 50 with the robot arm 60, it can test | inspect easily even if the glass 1 is inclined and arrange | positioned. Unlike the embodiment, in an embodiment in which the operator measures the size of the gap 32a using a gap gauge or the like, the work burden increases.

The markers M (M1 to M8) are protrusions provided on the side surface 32 of the inspection mold 30.
As shown in FIG. 3B, in the edge length direction A, the length L1 of the marker M is larger than the interval L2 between the inspection positions P40. A plurality of inspection positions P40 (described later) are arranged between the markers M.
The marker M is arranged at a position (indicated by a black circle in FIG. 3) corresponding to the start point and end point of the range of different determination criteria 71c-1 and 71c-2. That is, the start points of the markers M are arranged so as to coincide with the start points of the linear ranges S1 to S4 and the corner ranges R1 to R4.

As shown in FIG. 1, the storage unit 71 is a storage device such as a hard disk or a semiconductor memory element for storing information necessary for the operation of the inspection apparatus 20, a program, and the like. The storage unit 71 stores, for example, the distance between the markers M (that is, the length of each inspection range) and the like.
The storage unit 71 includes a robot arm program storage unit 71a, a shape information storage unit 71b, and a determination reference storage unit 71c.
The robot arm program storage unit 71a is a storage area for storing a robot arm program. The robot arm program is a program necessary for the operation of the robot arm 60. The robot arm program includes information related to the track 51, and includes, for example, information related to the teaching position on the track 51 and its passing setting time (passing time).
The shape information storage unit 71 b is a storage area that stores information related to the shape information acquired by the shape acquisition unit 50.

  The determination criterion storage unit 71c is a storage area for storing determination criteria 71c-1 and 71c-2. As described above, the determination criteria 71 c-1 and 71 c-2 differ depending on the inspection range of the glass 1. For this reason, the determination criterion storage unit 71c stores each inspection range (linear ranges S1 to S4, corner ranges R1 to R4) and the determination criteria 71c-1 and 71c-2 in association with each other. That is, the determination criterion storage unit 71c stores that the straight line ranges S1 to S4 are the determination criterion 71c-1 and the corner ranges R1 to R4 are the determination criterion 71c-2.

The control unit 72 is a device for performing arithmetic processing necessary for the operation of the inspection device 20 and for overall control of the inspection device 20. The control unit 72 is composed of, for example, a CPU (Central Processing Unit).
The control unit 72 implements various functions of the embodiment by appropriately reading and executing various programs stored in the storage unit 71. The control unit 72 performs, for example, drive control of the robot arm 60, control of the shape acquisition unit 50, information processing regarding shape information, and the like.

The control unit 72 includes a shape calculation unit 72a, an inspection position calculation unit 72b, and a determination unit 72c.
The shape calculation unit 72a is a control unit that obtains the shape and the like of the inspection side surface 40 at each inspection position P40 based on information in the shape information storage unit 71b. The shape calculation unit 72a actually obtains a shape as shown in FIG. 2B based on the shape information.
The inspection position calculation unit 72b is a control unit that calculates the inspection position P40 based on information in the shape information storage unit 71b.
The determination unit 72c is a control unit that determines pass / fail of the glass 1 based on the shape information stored in the shape information storage unit 71b and the determination criteria 71c-1 and 71c-2. That is, the determination unit 72c determines whether or not the glass 1 is manufactured within an allowable error.
Details of the processing of the control unit 72 will be described later.

FIG. 4 is a flowchart for explaining the operation of the inspection apparatus 20 according to the first embodiment.
FIG. 5 is a diagram illustrating the shape information acquisition operation in the linear range S1 of the first embodiment.
In S10, when a start button (not shown) is operated by the operator, the control unit 72 starts processing.
In S <b> 20, the control unit 72 controls the robot arm 60 so that the shape acquisition unit 50 moves on the track 51. The control unit 72 continues this process until the shape acquisition operation ends (S50).
The control unit 72 controls the robot arm 60 so that the shape acquisition unit 50 passes the teaching point on the track 51 for a preset passage set time.
In the embodiment, the movement of the robot arm 60 is defined by a plurality of teaching points on the trajectory 51 and the required time between the teaching points. The teaching point is a shape acquisition position P50 (such as P50-10 shown in FIG. 5A) corresponding to the boundary between the linear ranges S1 to S4 and the corner ranges R1 to R4.

In S30, when the shape acquisition unit 50 is arranged at each shape acquisition position P50, the shape calculation unit 72a controls the shape acquisition unit 50 to acquire the shape information of the inspection side surface 40 at each shape acquisition position P50.
The shape calculation unit 72a determines the shape acquisition position P50 based on the time from the start of measurement. That is, the shape calculation unit 72a acquires the shape information of each inspection position P40 at every fixed time interval, assuming that the shape acquisition unit 50 is arranged at the shape acquisition position P50 at every fixed time interval.

Thus, since the inspection apparatus 20 acquires shape information at a constant time interval, the interval between the inspection positions P40 can be shortened by setting this time interval to a short time. In order to reduce the interval between the inspection positions P40, the time interval for acquiring the shape information may be shortened or the moving speed of the robot arm 60 may be decreased.
The shape calculation unit 72a stores each shape information in association with the acquisition time of each shape information in the shape information storage unit 71b.

In S40, the control unit 72 determines whether or not the shape acquisition unit 50 has returned to the reference position P50-0. For example, the control unit 72 may confirm whether or not the shape acquisition unit 50 has passed the teaching position corresponding to the reference position P50-0 based on the driving time of the robot arm 60.
When it is determined that the shape acquisition unit 50 has returned to the reference position P50-0 (S40: YES), the control unit 72 proceeds to S50, and when it is determined that the shape acquisition unit 50 has not returned (S40: NO), The processing from S20 is repeated.
In S50, the control of the robot arm 60 and the detection of the shape acquisition unit 50 are stopped. After the stop, a moving device (not shown) or the like takes out the inspected glass 1 from the inspection mold 30 and places a new glass 1 on the inspection mold 30 to prepare for the next measurement. Do.

(Shape calculation process)
In S60, the inspection position calculation unit 72b performs shape calculation processing.
In the shape calculation process, the inspection position calculation unit 72b obtains the cross-sectional shape of the inspection side surface 40 by performing image processing on the shape information in the shape information storage unit 71b. The inspection position calculation unit 72b further analyzes the cross-sectional shape, calculates the size of the gap 32a at each inspection position P40, and determines the inspection position P40 where the marker M is included.
Since the interval L2 between the inspection positions P40 is shorter than the length L1 of the marker M, the shape acquisition unit 50 can always detect the marker M at any inspection position P40.
Thus, the inspection apparatus 20 can obtain the relationship between the glass 1 and the inspection mold 30 as a cross-sectional shape. For this reason, the inspection apparatus 20 can specify the edge of the glass 1 and the edge of the inspection mold 30 more accurately than the form of image analysis of a captured image of a CCD camera or the like. Thereby, the inspection apparatus 20 can obtain | require the magnitude | size of the clearance gap 32a more correctly.

(Inspection position calculation process)
In S70, the inspection position calculation unit 72b performs an inspection position calculation process.
The inspection position calculation unit 72b exists between each marker M and another marker M based on the inspection position P40 determined to include the marker M in S60 and the information on the acquisition time of the shape information of the inspection position P40. The position information of the inspection position P40 is calculated.

With reference to FIG. 5, the inspection position calculation process in the straight line range S1 will be described.
In FIG. 5A, the robot arm 60 is set so as to pass the teaching position of the start point of the straight line range S1 at time t = t1, and so that the end point of the straight line range S1 passes at time t = t10. This is a set example. Note that the number of inspection positions P40 in the straight line range S1 will be described in a simplified manner by reducing it compared to FIG.
FIG. 5A shows an example in which the inspection apparatus 20 can inspect at the start point of the marker M1. However, in actual measurement, the inspection apparatus 20 cannot always inspect at the start point of the marker M1 due to a measurement time shift or the like. Moreover, since the inspection apparatus 20 acquires shape information at regular time intervals, the start point and the end point of the linear range S1 do not always coincide with the inspection position P40.
For this reason, as shown in FIG. 5B, the inspection positions P40 (P40-1 to P40-10) and the shape acquisition positions P50 (P50-1 to P50-10) set in advance, and the actual inspection position P40. Deviation occurs between (P40-1a to P40-10a) and the shape acquisition positions (P50-1a to P50-10a).

Therefore, the inspection position calculation unit 72b calculates the position information of the inspection position P40 of the inspection side surface 40 existing between the markers M by performing inspection position calculation processing in the following order.
This will be described with reference to FIG.
(1) The time t1 when the marker M1 is first acquired at the inspection position P40-1a and the time t10 when the marker M2 is acquired at the inspection position P40-10a are read from the shape information storage unit 71b. Then, a required time t10-t1 required for actually passing through the range S1a between the inspection positions P40-1a and P40-10a is obtained.
(2) The length of the straight line range S1 stored in the storage unit 71 (the length between the markers M1 and M2) is divided by the actual required time, that is, “the length of the straight line range S1 / (required Time t10-t1) "is calculated. Thereby, the space | interval between each test position P40-1a can be calculated | required.
Then, inspection positions P40 (P40-1a to P40-10a) between the ranges S1a are obtained, and these are regarded as inspection positions P40 (P40-1 to P40-10) between the linear ranges S1.
That is, the inspection apparatus 20 determines the inspection position P40 by regarding the straight line range S1a as the straight line range S1 and assuming that the shape acquisition unit 50 has moved through the straight line range S1 at a constant speed.
(3) The inspection position calculation unit 72b similarly determines the inspection position P40 for the other inspection ranges (linear ranges S2 to S4, corner ranges R1 to R4).

As a result, the inspection position calculation unit 72b can determine which inspection range each piece of shape information belongs to, and which inspection position P40 in which each piece of shape information is acquired.
The deviation of the inspection position P40 may occur at a portion where the operation of the robot arm 60 changes, such as a boundary between the linear range S1 and the corner range R2 (shape acquisition position P50-10, inspection position P40-1). The nature is great. The inspection apparatus 20 can effectively correct the position information by arranging the marker M at the boundary.

(Pass / fail judgment processing)
In S80, the determination unit 72c performs a pass / fail determination process.
The determination unit 72c compares the size of the gap 32a at each inspection position P40 obtained in S60 with the determination criteria 71c-1 and 71c-2 of the determination criterion storage unit 71c to determine whether or not the glass 1 is acceptable.
That is, the determination unit 72c determines that the size of the gap 32a at each inspection position P40 in the linear range S1 to S4 is equal to or smaller than the determination reference 71c-1 and the size of the gap 32a at each inspection position P40 in the corner range R1 to R4. If it is below the criterion 71c-2, the glass 1 is considered acceptable.

On the other hand, when the size of the gap 32a at each inspection position P40 in the linear range S1 to S4 is larger than the determination reference 71c-1, the determination unit 72c and the gap at each inspection position P40 in the corner range R1 to R4. If any of the cases where the size of 32a is one place larger than the criterion 71c-2 at any location, the glass 1 is rejected.
Thereby, the determination part 72c can determine with different determination criteria 71c-1 and 71c-2 for every test | inspection range.

The determination unit 72c notifies the pass / fail determination by controlling a notification unit (not shown) such as a light emitting device or a sound output device. Moreover, the determination part 72c outputs the information, such as the test | inspection position P40 and the clearance gap 32a which did not satisfy | fill the determination criteria 71c-1, 71c-2, to a display apparatus etc., when it determines with the glass 1 failing. . Thereby, the operator can specify the part which did not satisfy the criteria 71c-1 and 71c-2, and can confirm visually.
Thereafter, in S90, the control unit 72 ends the process for one glass 1.

  As described above, the inspection apparatus 20 according to the present embodiment can provide the inspection positions P40 at a small interval, and therefore can detect even a small defect such as a kink. Moreover, the inspection apparatus 20 can perform pass / fail determination of the glass 1 using different determination criteria for each inspection range.

(Second Embodiment)
Next, a second embodiment to which the present invention is applied will be described.
Note that, in the following description and drawings, parts having the same functions as those of the first embodiment described above are given the same reference numerals or the same reference numerals at the end as appropriate, and redundant descriptions are omitted as appropriate.
FIG. 6 is a diagram for explaining the shape information acquisition operation in the straight line range S1 of the second embodiment.
In the robot arm 60, a plurality of teaching positions on the track 51 and a teaching position passing time for passing the teaching position are determined in advance. The teaching position is set at the boundary between each linear range S and corner range R.
The robot arm program storage unit 71a includes such setting information in the robot arm program.
In the example of FIG. 6, the robot arm program includes information on the teaching position passage time tC1 of the teaching position C1 and the teaching position passage time tC2 of the teaching position C2 for the straight line range S1.

The inspection apparatus of the second embodiment differs from the first embodiment in the processing of the inspection position calculation process (S70).
(Inspection position calculation process)
With reference to FIG. 6, the inspection position calculation process of the inspection position calculation unit 72b will be described.
The inspection position calculation process is performed in the following order.
(1) The preset teaching position passage time tC included in the robot arm program is compared with the shape information acquisition time (see S30 shown in FIG. 4) stored in the shape information storage unit 71b. Then, the shape information acquisition time closest to the teaching position passage time tC is determined from the shape information acquisition times stored in the shape information storage unit 71b, and the shape acquisition position P50 and the inspection position P40 are read out.

  In the example of FIG. 6, the shape information acquisition time closest to the teaching position passage time tC1 is determined as the acquisition time t = 1 from the shape information storage unit 71b, and the shape acquisition position P50-1a and the inspection position P40 are determined. Read -1a. Further, it is determined that the shape information acquisition time closest to the teaching position passage time tC2 is the acquisition time t = 10, and the shape acquisition position P50-1a and the inspection position P40-1a are read out.

(2) The inspection position D1 corresponding to the teaching position C1 is regarded as the inspection position P40-1a corresponding to the shape acquisition position P50-1a closest to the teaching position passage time tC1. Further, the inspection position D2 corresponding to the teaching position C2 is regarded as the inspection position P40-10a corresponding to the shape acquisition position P50-10a closest to the teaching position passage time tC2.
(3) As in the first embodiment, “length of straight line range S1 / (required time t10−t1)” is calculated to obtain inspection positions P40 (P40-1a to P40-10a).
Subsequent processing is the same as in the first embodiment.

  Thus, the inspection apparatus of the first embodiment can calculate the inspection position P40 without using a marker. For this reason, an inspection type can be made into a simple structure. Further, since the marker M is a protruding object, it may drop off carelessly. However, the inspection mold of the second embodiment does not require the marker M, so that such a problem does not occur.

(Third embodiment)
Next, a third embodiment to which the present invention is applied will be described.
In the third embodiment, a new process is added to the inspection position calculation process of the second embodiment.
Note that, in the following description and drawings, parts having the same functions as those of the above-described second embodiment are appropriately given the same reference numerals or the same reference numerals at the end, and redundant descriptions are omitted as appropriate.
FIG. 7 is a diagram for explaining the shape information acquisition operation in the straight line range S1 and the corner range R1 of the third embodiment.
In the second embodiment, the shape information acquisition time closest to the teaching position passage time tC is determined by comparing the preset teaching position passage time tC with the shape information acquisition time stored in the shape information storage unit 71b. Was. That is, in the second embodiment, the shape information acquisition time that is closest to the teaching position passage time tC is determined only by the time.
However, the robot arm 60 may have a slip or the like at the sliding portion. For this reason, the shape acquisition unit 50 may not be able to move within a preset required time. In this case, an error occurs in correspondence between the shape information acquisition time and the inspection position of the shape information acquired thereafter.
For example, in FIG. 7, in the inspection position calculation process, the inspection position calculation unit 72b accurately determines that the acquisition time t = 12 even though the acquisition time t = 11 is closest to the teaching position C2. However, it may be determined that the teaching position is closest to the teaching position C2.

Therefore, the inspection position calculation unit 72b adds the following processing to the inspection position calculation processing of the second embodiment.
(1) Similar to the second embodiment, the shape information acquisition time stored in the shape information storage unit 71b is compared, the shape information acquisition time closest to the teaching position passage time tC2 is determined, and the shape acquisition is performed. The position P50-12 and the inspection position P40-12a are read out. In FIG. 7, due to the above error, the positional relationship between the actual position of the inspection side surface 40 and the inspection position P40-12a grasped by the inspection position calculation unit 72b does not match.
(2) With reference to the shape information stored in the shape information storage unit 71b, the inspection positions P40-11a and P40-P12a that are inspection positions including the marker M2 are determined. Among them, it is determined that the inspection position P40-11a where the marker M2 is first detected is the shape information acquisition time closest to the teaching position passage time tC2. It is determined whether or not the inspection position P40-11a matches the inspection position P40-12a determined in (1) above.

(3) In the example of FIG. 7, the two do not match. Therefore, the inspection position P40-12a determined in the above (1) is replaced with the inspection position P40-11a determined in the above (2) and applied. Then, for the subsequent inspection positions P40-13a and thereafter, only “difference Δt = t12a−t11a” is subtracted to replace the information in the shape information storage unit 71b.

(4) In the subsequent processing after the inspection range R1, in each inspection range based on the replaced information in the shape information storage unit 71b, “length of inspection range / (Required time) "is calculated to obtain the inspection position P40.
In (2), if the two match, the process may be advanced without replacing the shape information storage unit 71b.

  As described above, the inspection apparatus according to the present embodiment corrects the inspection position P40 with the marker M. For this reason, by arranging the marker M at the boundary between the straight line range S and the corner range R, the inspection position P40 can be accurately calculated. Further, even when the determination criteria are different according to the straight line range S and the corner range R, the determination can be made accurately.

(Fourth embodiment)
Next, a fourth embodiment to which the present invention is applied will be described.
FIG. 8 is a diagram for explaining the cross-sectional view and shape information of the glass 1 and the inspection apparatus 420 according to the fourth embodiment.
The inspection device 420 calculates a distance L32 (normal distance) from the side surface 32 of the inspection mold 30 to the side surface 2 of the outer periphery of the glass 1 in the normal direction of the side surface 32 of the inspection mold 30 in addition to the gap S32a. Can do.

The inspection apparatus 420 is obtained by adding a process related to the distance L32 to the shape calculation process (see S60 in FIG. 3) and the pass / fail determination process (see S80 in FIG. 3).
(Shape calculation process)
The inspection position calculation unit 72b adds the following processing to the first embodiment.
The shape information acquired by the shape acquisition unit 50 is subjected to image processing to calculate the distance L32 at each inspection position.

(Pass / fail judgment processing)
The determination unit 72c performs pass / fail determination of the glass 1 based on the distance L32 of each inspection position P40 obtained by the shape calculation process and the determination criterion of the distance L32. The determination criterion for the distance L32 may be stored in the determination criterion storage unit 71c.
The determination unit 72c determines that the glass 1 is acceptable if the distance L32 of each inspection position P40 is equal to or less than the determination criterion, and rejects the glass 1 if it is greater than the determination criterion.

  As described above, the inspection apparatus 420 according to the present embodiment measures the distance L32 and determines whether or not the glass 1 is acceptable, so that the outer shape of the glass 1 can be inspected.

  As mentioned above, although embodiment of this invention was described, this invention is not limited to embodiment mentioned above, For example, various deformation | transformation and a change are possible like the deformation | transformation form etc. which are mentioned later, These are also It is within the technical scope of the present invention. In addition, the effects described in the embodiments are merely a list of the most preferable effects resulting from the present invention, and the effects of the present invention are not limited to those described in the embodiments. It should be noted that the above-described embodiment and modifications described later can be used in appropriate combination, but detailed description thereof is omitted.

(Deformation)
(1) In this embodiment, although the marker showed the example which is the shape which protruded from the side surface of the test | inspection type | mold, it is not limited to this. For example, the marker may be a depression provided on the side surface of the inspection mold. In this case, the marker does not fall off from the inspection mold.

(2) In this embodiment, although the glass showed the example provided with a linear range and a corner range, it is not limited to this. For example, the glass may have a corner range with a large radius and a corner range with a small radius. In this case as well, determination criteria can be provided for each corner range, and pass / fail determination can be made based on different determination criteria for each corner range.

(3) In this embodiment, although the shape acquisition part showed the example provided with a secondary laser shape measurement sensor, it is not limited to this. For example, you may provide the imaging device (CCD etc.) which images a test | inspection side surface. In this case, the control unit may perform image processing on the imaging information acquired by the imaging unit and determine whether or not the glass is acceptable.

(4) In this embodiment, although the example which the shape acquisition part considered as having moved each inspection range at constant speed was shown, it is not limited to this.
For example, the robot arm may be set in advance so that the shape acquisition unit moves in each inspection range at a constant speed. In this case, the inspection apparatus can measure the intervals between the inspection positions at equal intervals. Furthermore, the robot arm may move at a constant speed over the entire circumference of the trajectory. In this case, since the interval of the inspection position is shorter in the corner range than in the linear range, the inspection apparatus can inspect the corner ranges R1 to R4 more precisely.

  DESCRIPTION OF SYMBOLS 1 ... Glass 2 ... Side surface 3 ... Edge part 20,420 ... Inspection apparatus 30 ... Inspection type 32 ... Side surface 32a ... Gap 33 ... Edge part 35 ... Spacer 40 ... Inspection side surface 50 ... Shape acquisition part 51 ... Track 60 ... Robot arm 71 ... storage unit 71a ... robot arm program storage unit 71b ... shape information storage unit 71c ... determination reference storage unit 72 ... control unit 72a ... shape calculation unit 72b ... inspection position calculation unit 72c ... determination unit

Claims (10)

An inspection mold comprising a curved edge portion corresponding to the position and shape of the outer peripheral edge portion of the curved plate;
A spacer that supports the curved plate so as to have a gap between the outer peripheral edge of the curved plate and the curved edge of the inspection mold;
The side surface of the inspection plate is disposed opposite to the side surface of the inspection mold, moves on the outer periphery of the curved surface of the inspection mold, and at a plurality of shape acquisition positions on the track, the side surface of the curved plate and the side surface of the inspection mold And a shape acquisition unit that acquires shape information at a plurality of inspection positions on the inspection side surface that is a surface including the gap, and
A shape calculating unit that calculates the gap at the inspection position based on the gap acquired by the shape acquiring unit;
A determination unit configured to perform pass / fail determination of the curved plate based on the gap calculated by the shape acquisition unit;
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to claim 1,
The shape acquisition unit includes a two-dimensional laser shape measurement sensor;
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to claim 1 or 2,
The curved plate is used by being attached to an attachment at an inclined attachment angle,
The spacer supports the curved plate at the inclined mounting angle;
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to any one of claims 1 to 3,
A plurality of markers provided on a side surface of the inspection mold and arranged to sandwich at least one of the inspection positions;
The shape acquisition unit acquires the shape information of the inspection position including the shape of the marker at any shape acquisition position,
An inspection position calculation unit that calculates the inspection position of the inspection side surface existing between the markers based on the inspection position where the shape information including the marker is acquired and the information on the acquisition time of the shape information. Preparing,
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to any one of claims 1 to 3,
A robot arm in which the shape acquisition unit is moved on the trajectory, and a plurality of teaching points on the trajectory and teaching point passage times passing through the teaching points are determined in advance;
The shape information acquisition time at which the shape acquisition unit has acquired the shape information is compared with the teaching point passage time, and the shape information of the shape information acquisition time closest to the teaching point passage time is determined at the teaching point. An inspection position calculation unit that calculates the inspection position existing between the teaching points as the shape information;
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to claim 5,
A marker provided on a side surface of the inspection mold and disposed at a position corresponding to the teaching point;
The robot arm has a preset time for the shape acquisition unit to pass over the marker,
The inspection position calculation unit corrects the teaching point passage time of the shape acquisition unit based on the detection position of the marker;
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to claim 4 or 6,
The length of the marker is greater than the interval between the inspection positions;
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to claim 4, claim 6, or claim 7,
The inspection aspect includes a range of criteria that is different from the criteria for accepting other ranges,
The marker is arranged at a position corresponding to a start point and an end point of the range of the different determination criteria,
The determination unit performs the pass / fail determination using the different determination criteria at the inspection position between the markers calculated by the inspection position calculation unit,
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to any one of claims 4 and 6 to 8,
The marker is a protrusion or depression provided on a side surface of the inspection mold;
Curved plate shape inspection apparatus characterized by the above. In the curved plate shape inspection apparatus according to any one of claims 1 to 9,
In addition to the gap, the shape calculation unit, based on the shape information acquired by the shape acquisition unit, from the side surface of the inspection mold to the outer peripheral side surface of the curved plate in the normal direction of the side surface of the inspection mold The normal distance, which is the distance of
The determination unit performs pass / fail determination of the curved plate based on the normal distance calculated by the shape acquisition unit in addition to the gap.
Curved plate shape inspection apparatus characterized by the above.

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