JP2016049515A - Object inspection device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an inspection device which can inspect quickly and accurately.SOLUTION: An inspection object sent from a conveyance guide 2 is held by a recessed part 8 of a disc 6. A camera 24 is arranged so as to photograph the inspection object held by the recessed part 8 from an upper side of the disc 6. A camera 26 is arranged so as to photograph the inspection object held by the recessed part 8 through a transparent member 10 from a lower side of the disc 6. Determination means 42 determines whether a dimension of the inspection object is within a standard or not and presence or absence of a flaw or the like based on the photographed image. When the determination means 42 determines as a non-defective product, control means 40 drives a discharge nozzle 48 when the inspection object comes to a position of a non-defective product discharge guide 44. Thereby, the inspection object determined as the non-defective product is housed in a non-defective product collecting container through the non-defective product discharge guide 44.SELECTED DRAWING: Figure 1

Description

  The present invention relates to an apparatus for imaging an inspection object and inspecting whether it is a non-defective product or a defective product.

  There exists a thing of patent document 1 as an apparatus for test | inspecting the shaft body which has heads, such as a volt | bolt. In this inspection apparatus, a notch is provided around a rotating disk, the head of the shaft body is held in the notch, and the shaft body is imaged by a camera for inspection. According to this inspection apparatus, the shaft body can be inspected efficiently and accurately.

JP2012-166933

  However, in the above prior art, the shaft body is supported by the head and the inspection is performed while moving. For this reason, the thing without a head like a pin has a problem that it cannot inspect.

  An object of the present invention is to solve the above-mentioned problems and to provide an inspection apparatus capable of efficiently and accurately inspecting an object that has no head and is difficult to suspend and hold. And

(1) An object inspection apparatus according to the present invention is a holding and moving means for holding an inspection object on a holding unit and moving it in a predetermined direction, and at least the bottom surface of the holding unit is made of a transparent member. Holding and moving means, first imaging means for imaging the inspection object held by the holding part, and second for imaging the inspection object held by the holding part via the transparent member Imaging means, and judgment means for judging the presence / absence of a defect in the inspection object based on the captured image captured by the first imaging means and the second imaging means.

  Therefore, it is possible to inspect both surfaces of any shape (especially a shape without a head).

(2) The object inspection apparatus according to the present invention is characterized in that the holding and moving means is a disk that has a plurality of holding portions on the upper surface and is rotationally driven.

  Accordingly, the inspection can be performed while rotating the object.

(3) The object inspection apparatus according to the present invention includes: a detection unit that directly or indirectly detects the plurality of holding units; and the first imaging unit and the second unit based on an output of the detection unit. And control means for determining the imaging timing of the imaging means.

  Therefore, imaging can be performed at an appropriate timing.

(4) The object inspection apparatus according to the present invention is determined to be a non-defective product by the non-defective product discharging means for discharging the inspection target object determined to be defective by the determining means to the defective product discharge passage, and the determining means. A non-defective product discharging means for discharging the inspection object to the non-defective product discharge passage, and the control means determines the discharge timing of the defective product discharging means and the non-defective product discharging means based on the output of the detecting means. Yes.

  Therefore, it is possible to appropriately classify and discharge good products and defective products.

(5) The object inspection apparatus according to the present invention is further characterized by further comprising a conveying means for conveying the inspection object toward the holding portion of the holding and moving means.

  Accordingly, the inspection object can be automatically supplied.

(6) In the object inspection apparatus according to the present invention, the transport means includes temporary stop means for temporarily stopping the inspection object, and sending the inspection object toward the holding unit by releasing the stop. The control means determines the timing of releasing the stop of the temporary stop means based on the output of the detection means.

  Accordingly, the inspection objects can be appropriately sent to the holding unit one by one.

(7) In the object inspection apparatus according to the present invention, the transport means includes gate means that can be opened and closed on the moving direction side of the holding portion, and the control means is the inspection object that has been temporarily stopped. When sending out, the gate means is opened.

  Therefore, there is no possibility that the apparatus is damaged by the inspection object that is not properly stored in the holding unit.

(8) The inspection method according to the present invention is an inspection method for inspecting an inspection object while holding the inspection object on a holding part and moving it in a predetermined direction, wherein the holding part is made of a transparent member. The inspection object is configured to be imaged from the upper surface and the lower surface and inspected.

  Therefore, it is possible to inspect both surfaces of any shape (especially a shape without a head).

  In the present invention, the “holding movement means” corresponds to the disk 6 in the embodiment.

  In the embodiment, the “first imaging unit” corresponds to the upper camera 24.

  In the embodiment, the “second imaging unit” corresponds to the lower camera 26.

  In the embodiment, “determination means” corresponds to the CPU 80 and the control program 88.

It is a figure which shows the outline | summary of the test | inspection apparatus by one Embodiment of this invention. It is a figure which shows the detail of the disk 6. FIG. It is a figure which shows a hardware configuration. It is a figure which shows the detail of a conveyance part. It is a figure which shows the detail of a conveyance part. It is a figure which shows the split pin which is a test object. It is a flowchart of the part of the sending control of the control program 88. It is a flowchart of the part of the sending control of the control program 88. It is a figure for demonstrating the state at the time of sending out. It is a figure which shows the structure of a sensor. FIG. 6 is a diagram for explaining the function of a gate 69. It is a figure for demonstrating control by the index sensor. It is a figure which shows the non-defective product collection box 45 and the work-in-progress collection box 49.

1. Overall Configuration of Object Inspection Apparatus FIG. 1 shows an overall configuration of an object inspection apparatus according to an embodiment of the present invention. An inspection object such as a shaft body is conveyed while sliding in the direction of the arrow 4 by the conveyance guide 2. The conveyed inspection object is fed into a recess 8 that is a holding portion provided on a disk 6 that is a holding means.

  FIG. 2 shows details of the disk 6. 2A is a plan view and FIG. 2B is a cross-sectional view. The disk 6 is provided with a holding part forming plate 12 such as metal on a transparent member 10 such as glass. Through holes 14 and 16 are provided in the central part of the transparent member 10 and the holding part forming plate 12. A rotation shaft (not shown) is inserted into the through holes 14 and 16, and the transparent member 10 and the holding portion forming plate 12 are fixed to the rotation shaft by a nut 18. The rotating shaft is rotated by a motor or the like.

  The transparent member 10 needs to have transparency to the extent that it can be imaged by a camera through the transparent member 10. Moreover, it is preferable that a refractive index is small. The holding portion forming plate 12 is provided with a plurality of recesses 20 at an equal interval pitch (or a known different pitch) on the outer periphery thereof. In this embodiment, the recessed portion 8 is formed by the recessed portion 20 and the transparent member 10 on the bottom surface thereof.

  Returning to FIG. 1, the inspection object sent from the transport guide 2 is held in the recess 8 of the disk 6. As the disk 6 rotates, the inspection object held in the recess 8 also moves in the rotation direction 22.

  A camera 24 is provided so as to image the inspection object held in the recess 8 from the upper side of the disk 6. In addition, a camera 26 is provided so as to capture an image of the inspection object held in the recess 8 from below the disk 6 through the transparent member 10. The control means 40 determines the imaging timing of the camera 24 and the camera 26 based on the output of the photoelectric sensor 30 that detects the recess 8 (recess 20). Since the upper side and the lower side of the inspection object are imaged as described above, both the upper and lower sides can be inspected. In particular, in the case of a cylindrical shape, it is possible to perform inspection over almost the entire circumference.

  Based on the captured image, the determination unit 42 determines whether the size of the inspection object is within the standard, the presence or absence of scratches, and the like. When the determination unit 42 determines that the product is “non-defective”, the control unit 40 drives the discharge nozzle 48 when the inspection object reaches the position of the non-defective product discharge guide 44. Thus, the inspection object determined to be non-defective is stored in a non-defective product collection container (not shown) through the non-defective product discharge guide 44.

  When the determination unit 42 determines that the product is “defective”, the control unit 40 drives the discharge nozzle 50 when the inspection object reaches the position of the defective product discharge guide 46. Thereby, the inspection object determined to be defective is collected in a defective product collection container (not shown) through the defective product discharge guide 46.

As described above, the inspection of the inspection object can be performed quickly and accurately.

2. Hardware Configuration of Control Unit 40 and Determination Unit 42 FIG. 3 shows a hardware configuration when the control unit 40 and determination unit 42 are realized using a CPU. Connected to the CPU 80 are a touch panel 82, a nonvolatile memory 84, sensors 30 to 38, a defective product nozzle 48, a non-defective product nozzle 50, an upper camera 24, a lower camera 26, and the like.

In the nonvolatile memory 84, an operating system 86 and a determination / control program 88 are recorded. The determination / control program 88 performs its function in cooperation with the operating system 86.

3. Details of Transport Guide 2 FIG. 4 shows details of the transport guide 2. 4A is a plan view and FIG. 4B is a cross-sectional view. In this embodiment, the transport guide 2 is provided with two guide standing plates 62 on the guide bottom plate 60 at a slightly larger interval than the width of the inspection object. In this embodiment, a case where a split pin 100 as shown in FIG. 6 is used as an inspection object will be described. The split pin 100 supplied from the parts feeder is sent so as to be in a state as shown in FIG. 6A when viewed from above (the head is on the left but the head may be on the right in the figure). come. The side view at this time is as shown in FIG. 6B.

  When the split pin 100 as described above is targeted, it is preferable that the distance between the two guide standing plates 62 is slightly larger than the width W of the head of the split pin 100. A split pin 100 from a parts feeder (not shown) is supplied to the left end of the guide stand 62.

  In FIG. 4B, the supplied split pin 100 hits the stopper 70 and stops and aligns. The stopper 70 is moved up and down by the stopper cylinder 66. By raising the stopper 70, the split pin 100 is sent from the tip 63 to the recess 8 of the disk 6.

The second split pins 100 aligned are pressed by the separator 68 and stopped. The separator 68 is moved up and down by the separator cylinder 64. Further, a gate 69 is provided at the tip end portion on one side of the guide upright plate 62. The gate 69 moves up and down by a gate cylinder 65. Even when the split pin 100 which is not stored in the recess 8 and is held in a state of protruding from the recess 8 is rotated, the split pin is caught by raising the gate 69 at that timing. Is to prevent.

4). The control program CPU 80 controls the vertical movement of the separator cylinder 68, the stopper cylinder 66, and the gate cylinder 65, and sends out the split pins 100 one by one to the holding portion 8 of the disk 6. FIGS. 7a and 7b show flowcharts of the sending control portion of the judgment / control program 88. FIG. The CPU 80 performs initial setting at the start (step S1). In the initial setting, the stopper 70 is lowered by the stopper cylinder 66 and the separator 68 is raised by the separator cylinder 64. In this state, the split pin 100 is supplied from a parts feeder (not shown). As a result, the leading split pin 100 is stopped by the stopper 70 and the split pins are lined up behind it. Further, the CPU 80 lowers the separator 68. In this way, the initial setting is completed as shown in FIG. 4B. At this time, the CPU 80 lowers the gate 69.

  Next, the CPU 80 determines whether the stopper raising sensor 38 has detected the recess 8 (step S2). If detected, the stopper cylinder 66 is controlled to raise the stopper 70 (step S3).

  In this embodiment, as shown in FIG. 9A, the stopper raising sensor 38 is constituted by the light emitting element 200 and the light receiving element 202 opposed thereto. Therefore, with the rotation of the disk 6, the light receiving element 20 does not receive light in the portion where the recess 8 is not present, and the light receiving element 20 receives light in the portion where the recess 8 is present, so that the recess 8 can be detected. In this embodiment, as shown in FIG. 1, a stopper raising sensor 38 is provided at a position where a detection signal is output at a timing slightly earlier than the position where the tip 63 of the transport guide 2 matches the recess 8. ing.

  When the stopper 70 is lifted, as shown in FIG. 8A, the conveying guide 2 in which the split pin 100a is inclined slides in the direction of the arrow, and is further held in the recess 8 of the disk 6. At this time, since the gate 69 (see FIG. 4) is lowered, the split pin 100 is guided in the correct direction.

  Next, the CPU 80 determines whether the stopper lowering sensor 34 has detected the recess 8 (step S4). The configuration is the same as that of the stopper raising sensor 38. When detected, the stopper cylinder 66 is controlled to lower the stopper 70 (step S5). The state at this time is shown in FIG. 8B.

  At this time, the CPU 80 controls the gate cylinder 65 to raise the gate 69 (step S6). This is to prevent the device from being damaged or broken by the split pins 100 not properly stored in the recess 8. For example, as shown in FIG. 10A, even when the split pin 100 is not fully housed in the recess 8 and protrudes out, if the gate 69 is raised, the gate 69 and the split pin 100 interfere with each other to cause a failure. Because it can be avoided.

  Next, the CPU 80 determines whether the separator ascending sensor 36 has detected the recess 8 (step S7). The configuration is the same as that of the stopper raising sensor 38. When detected, the separator cylinder 64 is controlled to raise the separator 68 (step S8). Thereby, as shown in FIG. 8C, the split pin 100 b moves so as to contact the stopper 70. At this time, the CPU 80 controls the gate cylinder 65 to lower the gate 69 (step S9).

  Subsequently, the CPU 80 determines whether the separator lowering sensor 32 has detected the recess 8 (step S10). The configuration is the same as that of the stopper raising sensor 38. When detected, the separator cylinder 64 is controlled to lower the separator 68 (step S11). Thereby, it will be in the same state as FIG. 4B.

  Thereafter, step S2 and the subsequent steps are repeatedly executed, and the split pins 100 are sequentially supplied to the recess 8.

  The CPU 80 performs an inspection process in parallel with the delivery control described above. When the index sensor 30 (which has the same configuration as the stopper raising sensor 38) detects the depressions 8, the CPU 80 assigns an ID to each depression 8 to determine the position of each depression 8. recognize.

  For example, as shown in FIG. 11, the CPU 80 attaches index IDs 1 to 18 to each recess 8 in response to detection of the recess 8 of the index sensor 30. Since the positional relationship among the index sensor 30, the conveyance guide 2, the upper camera 24, the lower camera 26, the non-defective nozzle 48, and the non-defective nozzle 50 is determined, the CPU 80 determines which of the split pins 100 supplied from the conveyance guide 2 is currently present. It can be specified whether it is in a position.

  First, in response to detection by the index sensor 30, the CPU 80 instructs imaging by the upper camera 24 and the lower camera 26. Note that illumination means (not shown) is provided for positions captured by the upper camera 24 and the lower camera 26. The CPU 80 instructs the illumination by the illumination means as well as the imaging instruction.

  The dimensions and the like of the split pin 100 captured by the upper camera 24 are calculated by image processing of the CPU 80. For example, as shown in FIGS. 6A and 6B, dimensions such as the full length L1, the short length L2, the inner diameter φ, and the pin outer shape D are calculated. The CPU 80 determines whether these dimensions are within a predetermined standard. If all are within the standard, “good” is recorded in the corresponding index ID in the inspection table shown in FIG. 11B. If there is even one out of the standard, “bad” is recorded in the corresponding index ID.

  A determination is similarly made for an image captured by the lower camera 26. In this embodiment, since the bottom surface of the recess 8 of the disk 6 is made of a transparent member, the lower camera 26 can capture an image from the lower side.

  In response to the detection of the index sensor 30, the CPU 80 performs spraying when the split pin 100, which is “good” for both the upper camera 24 and the lower camera 26, comes to the position of the good nozzle 48. Thereby, the split pins 100 determined to be non-defective are blown and discharged to the non-defective product discharge guide 44. As shown in FIG. 12, a non-defective product collection box 45 is placed at the tip of the non-defective product discharge guide 44, and non-defective products are collected.

  Further, the CPU 80 performs spraying when the split pin 100 determined to be “defective” by at least one of the cameras comes to the position of the defective nozzle 50. Thereby, the split pins 100 determined to be defective are blown and discharged to the defective product discharge guide 46. A defective product collection box (not shown) is placed at the tip of the defective product discharge guide 46, and the defective products are collected.

  In this embodiment, as shown in FIG. 1, a defective product blow-off sensor 33 is provided. The configuration of the defective product blow-off sensor 33 is shown in FIG. 9B. A light receiving element 202 is provided to face the light emitting element 200. The light emitting element 200 and the light receiving element 202 are provided on the outermost peripheral portion 9 of only the transparent member 10. Therefore, normally, the light of the light emitting element 200 is received by the light receiving element 202. However, if there is a blow failure, the split pin 100 is positioned on the outermost peripheral portion 9. Therefore, when light reception by the light receiving element 202 is interrupted by the split pin 100, it can be determined that a defective product has been blown away.

  In this embodiment, when the CPU 80 detects that the defective product is blown out, the CPU 80 performs error processing on all the split pins 100 held on the disk 6 at that time. Specifically, the CPU 80 sprays all the held split pins 100 including the split pins 100 that have failed to blow by the non-defective nozzle 48 and discharges them to the non-defective product discharge guide 44. At this time, the CPU 80 opens the bottom plate 47 of the non-defective product discharge guide 44 as shown by a two-dot chain line in FIG. As a result, the split pin 100 subjected to error processing is collected in the work-in-process collection box 49. In addition, although the “non-defective product” is included in the cotter pins 100 subjected to the error processing, all are collected as work-in-process items here. In this way, “defective product” is prevented from being mixed into “good product”.

Similarly to the above, the CPU 80 performs error processing in the same manner as described above even when the insertion failure sensor 31 (which has the same configuration as the defective product blow-off sensor 33) shown in FIG. 10A detects the split pin 100. I have to.

5). Other embodiments
(1) In the above-described embodiment, the split pin has been described as an example of the inspection target. However, the same applies to shafts, screws, nuts and the like.

(2) In the above embodiment, the concave portion 8 is formed by the concave portion 20 by overlapping the holding portion forming plate 12 having the concave portion 20 on the transparent member 10 such as glass, and this is used as the holding portion. . In this way, the holding portion is formed by providing a physical wall. However, the object may be held at a predetermined position by a magnet or the like.

(3) In the above-described embodiment, the inspection is performed using the image captured by the normal camera. However, an infrared camera, a camera that outputs a distance image, or the like may be used. Further, another inspection (inspection by a dimension measuring instrument or the like) may be performed.

(4) In the above embodiment, the rotating disk 6 is used as the holding and moving means. However, a holding and moving means that moves linearly (for example, a linear endless track) may be used.

(5) In the above embodiment, the non-defective product and the defective product are collected in the collection box. However, the defective product may be dropped and the good product may be transferred to the manufacturing process and used as it is.

(6) In the above embodiment, the position of the recess 8 is detected by the photoelectric sensor. However, other sensors such as a magnetic sensor may be used. Further, since the recesses 8 are provided at equal intervals (or known different intervals), the timing is determined by detecting the positions of the different recesses 8. For example, the timing of raising the stopper 70 is detected not on the input position of the object but on the opposite side. That is, the position of the desired recess 8 is indirectly detected. However, a sensor may be provided at a position where the desired recess 8 is directly detected.

Claims (8)

Holding and moving means for holding the inspection object on the holding portion and moving it in a predetermined direction, wherein at least the bottom surface of the holding portion is formed of a transparent member; and
First imaging means for imaging the inspection object held by the holding unit;
A second imaging means for imaging the inspection object held by the holding unit via the transparent member;
A determination unit that determines the presence or absence of a defect in the inspection object based on the captured image captured by the first imaging unit and the second imaging unit;
An object inspection apparatus comprising: The object inspection apparatus according to claim 1,
2. The object inspection apparatus according to claim 1, wherein the holding and moving means is a disk that has a plurality of holding portions on an upper surface and is driven to rotate. The object inspection apparatus according to claim 2,
Detecting means for directly or indirectly detecting each of the plurality of holding units;
An object inspection apparatus, further comprising: a control unit that determines an imaging timing of the first imaging unit and the second imaging unit based on an output of the detection unit. The object inspection apparatus according to claim 3,
Defective product discharge means for discharging the inspection object determined to be defective by the determination means to the defective product discharge passage;
Non-defective product discharging means for discharging the inspection object determined to be non-defective by the determining means into the non-defective product discharge passage;
Further comprising
The control means determines the discharge timing of the defective product discharge means and the non-defective product discharge means based on the output of the detection means. In the target object inspection apparatus in any one of Claims 1-4,
2. The object inspection apparatus according to claim 1, further comprising conveying means for conveying the inspection object toward the holding portion of the holding and moving means. The object inspection apparatus according to claim 5,
The transport means includes a temporary stop means for temporarily stopping the inspection object and sending the inspection object toward the holding unit by releasing the stop.
The object inspection apparatus according to claim 1, wherein the control unit determines a timing for releasing the stop of the temporary stop unit based on an output of the detection unit. The object inspection apparatus according to claim 6,
The conveying means includes a gate means that can be opened and closed on the moving direction side of the holding portion,
The control means opens the gate means when the inspection object once stopped is sent out. An inspection method for inspecting an inspection object while moving the inspection object in a predetermined direction while holding the inspection object,
The holding part is composed of a transparent member,
An inspection method in which an inspection object held by a holding unit is imaged from an upper surface and a lower surface for inspection.

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