JP2018059878A - Flaw detection system for rolled material - Google Patents

Abstract

PROBLEM TO BE SOLVED: To enable efficient and reliable surface flaw detection of a rolled material having projections.SOLUTION: A flaw detection system includes a conveyer 12 that transports a track plate 50 placed thereon with its lug 52 oriented upward, sensor heads 22 to 27, and flaw determination means. The sensor heads 26 and 27 each have a light emitting part that emits strip-like light beams perpendicular to the longitudinal direction of the track plate 50 onto the track plate 50 and an image pickup part that picks up a contour image of the surface of the track plate 50 drawn by the strip-like light beams. The sensor heads 22 and 23 acquire contour information of the upper surface of a plate part 51 of the track plate 50. The sensor heads 26 and 27 acquire contour information of the lower surface of the plate part 51. The sensor heads 24 and 25 acquire contour information of the two sides of the lug 52 of the track plate 50. The flaw determination means receives the contour information from the sensor heads 22 to 27 successively as the track plate 50 is transported and determines whether or not a flaw is present on the surface of the track plate 50 on the basis of the contour information.SELECTED DRAWING: Figure 2

Description

  The present invention relates to a system for detecting wrinkles formed on the surface of a rolled material such as a shoe plate.

A crawler belt such as a construction machine is configured by connecting a large number of crawler plates. Each track plate is obtained by cutting a rolled material into a predetermined length and drilling it.
On the surface of the shoe plate, wrinkles generated during rolling or processing may remain. Before installing it in the crawler belt, it is necessary to eliminate the crawler plate as a defective product, but because it relied on visual inspection by an inspector, workability was poor. In addition, rust, scale and surface wrinkles could not be identified visually, and wrinkles could not be found reliably.

  Patent Document 1 discloses a detection system that uses a light cutting method to detect defects in a weld bead that extends in a straight line. The detection system includes a sensor head that scans along the weld bead. The sensor head includes a light emitting unit that irradiates the surface of the workpiece with a band-shaped incident light orthogonal to the extending direction of the bead, and an imaging unit that captures an outline of the surface of the workpiece drawn by the band-shaped incident light from a position away from the scanning direction. Have. The detection system further includes image processing means. The image processing means can recognize the three-dimensional shape of the bead from the image information of the contour of the surface sequentially input from the sensor head in association with the scanning, and detect the defect.

  Patent Document 2 discloses a detection system that uses a light cutting method similar to that of Patent Document 1 in order to detect wrinkles on the lower surface of a work conveyed by a roller conveyor.

JP 2013-213733 A JP 2009-244162 A

  In order to eliminate the above-mentioned inconvenience caused by visual observation by an operator, it is also conceivable to apply the detection systems disclosed in Patent Documents 1 and 2 to detect wrinkles on the surface of the shoeboard. According to this detection system, the workability of flaw detection is improved, and rust, scale, and surface flaws can be distinguished, and reliable surface flaw detection can be expected. However, the shoeboard has lugs (protrusions) protruding from the plate portion and has a complicated cross-sectional shape, so that it is difficult to detect wrinkles on the entire surface. The reason will be briefly explained. When the band-shaped incident light obtained by spreading the laser beam with a cylindrical lens is irradiated from directly above, wrinkles on the entire upper surface of the plate portion and the top surface of the lug can be detected, but wrinkles on both sides of the lug cannot be detected. When the band-shaped incident light is irradiated obliquely from the upper side of the crawler plate, it is possible to detect wrinkles on one side of the lug, but cannot detect wrinkles on the other side, and the plate portion where the band-shaped incident light is blocked by the lug It is not possible to detect wrinkles in the upper surface area.

The present invention was made to solve the above problems, and in the wrinkle detection system for detecting wrinkles on the surface of a rolled material having a plate portion and a protrusion formed on the plate portion,
A conveyor that carries the rolled material with the ridges facing up and conveys it in the longitudinal direction of the rolled material, first, second, and third contour information acquisition means disposed above the conveyor, and wrinkle determination Means and
The first, second, and third contour information acquisition means include a light emitting unit that irradiates the surface of the rolled material with a strip-shaped incident light that intersects the longitudinal direction of the rolled material, and the above-described band-shaped incident light. Each has an imaging unit that images the contour of the surface of the rolled material,
The first contour information acquisition means irradiates the band-shaped incident light downward to obtain contour information of the upper surface of the plate portion and the top of the ridge among the surfaces of the rolled material,
The second contour information acquisition means obtains contour information of one side surface of the ridge of the rolled material by irradiating the band-shaped incident light obliquely downward from one side in a direction orthogonal to the transport direction,
The third contour information acquisition means irradiates the band-shaped incident light obliquely downward from the opposite side of the second contour information acquisition means, thereby obtaining contour information of the other side surface of the ridge of the rolled material,
The wrinkle determination means sequentially receives the contour information from the first, second and third contour information acquisition means as the rolled material is conveyed by the conveyor, and based on the contour information, the surface of the rolled material is received. It is characterized by determining the presence or absence of wrinkles.
According to the above configuration, the surface flaw of the rolled material is determined from the surface contour information obtained from the band-like incident light, so that the surface flaw can be detected efficiently and reliably. Further, the first contour information acquiring means acquires the contour information of the upper surface of the plate portion of the rolled material, and the second and third contour information acquiring means acquire the contour information of both side surfaces of the ridge, so that the ridge is provided. Even a rolled material having a complicated cross-sectional shape can detect surface defects.

Preferably, each of the second and third contour information acquisition means has one sensor head, each of the sensor heads has the light emitting part and the imaging part, and the moving means applies the rolling material to the rolled material. It is supported so that the position can be adjusted in the direction of approaching and separating.
According to the above configuration, the surface flaws of the rolled material having different widths can be detected by adjusting the position of the sensor head of the second and third contour information acquisition means.

The moving means for at least one of the sensor heads of the second and third contour information acquiring means includes an angle adjusting mechanism for adjusting the angle of the sensor head in the vertical direction on a plane orthogonal to the longitudinal direction of the rolled material. I have.
According to the above configuration, even when the rolled material has a plurality of protrusions, one protrusion does not block the irradiation of the band-shaped incident light to the other protrusions by adjusting the angle of the sensor head. The wrinkles in the entire area of the upper surface of the rolled material can be detected.

Preferably, the conveyor is a roller conveyor, and further includes a fourth contour information acquisition unit, and the fourth contour information acquisition unit is located below the rolled material, and the rolling is performed between adjacent rollers of the roller conveyor. A light emitting unit that irradiates the lower surface of the material with a band-shaped incident light that intersects the longitudinal direction thereof, and an imaging unit that captures an outline of the lower surface of the plate portion of the rolled material drawn by the band-shaped incident light. The means determines the presence or absence of wrinkles on the surface of the rolled material in consideration of the contour information of the lower surface of the plate portion of the rolled material.
According to the said structure, the wrinkle of the whole upper and lower surfaces of a rolling material is detectable.

Preferably, a positioning plate extending along the conveying direction of the roller conveyor is disposed on one side in the width direction of the roller conveyor, and a surface of the positioning plate facing the roller conveyor is provided as a reference surface. Then, one side edge portion of the rolled material in a transported state is brought into contact with the reference surface by the positioning means.
According to the above-described configuration, the rolled material can be positioned, and more reliable wrinkle detection can be performed. The positioning plate is preferably provided with a notch in the vicinity of the target measurement site so as not to hinder the detection of the wrinkle of the target.

Preferably, the rolled material is a shoe plate, the shoe plate has at least one lug as the protrusion, and the one side edge portion of the plate portion is bent to the opposite side to the protrusion. A gap is formed between one end surface of the roller and the positioning plate, and one side edge of the plate portion enters the gap and comes into contact with the reference surface of the positioning plate.
According to the above configuration, the surface wrinkles of the shoe plate can be detected, and the bent one side edge portion can be disposed in the gap between the one end surface of the roller and the positioning plate, so that the shoe plate can be transported stably. Can do.

Preferably, the rolled material is a shoe plate, the shoe plate has at least one lug as the protrusion, and the second and third contour information acquisition units each have one sensor head, The first and fourth contour information acquisition means each have two sensor heads spaced apart from each other in the width direction of the roller conveyor, each of the sensor heads having the light emitting unit and the imaging unit, The sensor head on the positioning plate side of the fourth contour information acquisition means is in a fixed position, and the sensor head on the opposite side of the positioning plate of the first and fourth contour information acquisition means is moved up and down by the moving means. The sensor head of the second contour information acquisition means is arranged on the positioning plate side and is supported by the movement means so as to be movable in the vertical direction. The third wheel The sensor head of the information acquisition means is disposed on the opposite side of the positioning plate, and is inclined by the moving means so as to move away from the positioning plate as it goes upward on a plane perpendicular to the longitudinal direction of the shoe plate. It is supported so as to be movable along the movement trajectory.
According to the above configuration, it is possible to detect the surface wrinkles of the shoeboard having different widths and the shoeboard having different lug heights.

  Preferably, the moving means for supporting the sensor head on the opposite side of the positioning plate of the first contour information acquisition means moves away from the positioning plate as it goes upward on a plane perpendicular to the longitudinal direction of the crawler plate. In this way, the sensor is moved in the up-down direction along the inclined movement locus.

  Preferably, the moving means for supporting the sensor head of the third contour information acquisition means includes an angle adjusting mechanism for adjusting the angle of the sensor head in the vertical direction on a surface orthogonal to the longitudinal direction of the rolled material. .

  According to the present invention, wrinkles on the surface can be detected efficiently and reliably even with a rolled material having protrusions.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a side view of a shoeboard surface wrinkle detection system according to a first embodiment of the present invention, in which three sensor heads out of six sensor heads are omitted. It is AA arrow sectional drawing in FIG. It is a top view which shows only the principal part structure of the cohabitation detection system. It is an enlarged plan view which shows the state which is transporting a track board with the roller conveyor of the cohabitation detection system, and shows the inclination of a roller exaggeratingly. It is a block diagram which shows the flow of the information in a cohabitation detection system. It is a figure which shows typically the position of a sensor head and the strip | belt-shaped incident light irradiated from these sensor heads in the case of detecting the surface wrinkles of a large sized single shoe (shoe board) in the same wrinkle detection system. It is a figure which shows typically the position of a sensor head and the strip | belt-shaped incident light irradiated from these sensor heads in the case of detecting the surface wrinkles of a small sized single shoe (shoe board) in the same wrinkle detection system. In the same wrinkle detection system, it is a diagram schematically showing the position of the sensor head and the band-like incident light emitted from these sensor heads when detecting a surface wrinkle of a triple shoe (shoe board).

  Hereinafter, a wrinkle detection system for rolled plates (rolled material) according to an embodiment of the present invention will be described with reference to the drawings. As shown in FIGS. 1 and 2, the heel detection system includes a transport device 10 that transports the crawler plate 50 in the longitudinal direction, and a heel detection device 20.

  The transport device 10 is supported on a linearly extending support frame 11, a linear roller conveyor 12 (conveyor) horizontally supported on the support frame 11, and one side in the width direction of the roller conveyor 12. It has a positioning plate 13 supported on the upper part of the frame 11, a motor 14 (see FIG. 1), and a timing belt mechanism 15 (see FIG. 2) that transmits the driving force of the motor 14 to the roller conveyor 12. Yes.

  As shown in FIGS. 1 and 3, the positioning plate 13 extends linearly in the longitudinal direction (conveying direction) of the roller conveyor 12 on one side in the width direction of the roller conveyor 12, and is fixed to the support frame 11. It is supported by a plurality of brackets 19. A surface of the positioning plate 13 facing the roller conveyor 12 is provided as a reference surface 13a.

As shown in FIGS. 1 and 3, the roller conveyor 12 has a large number of rollers 12 a arranged at intervals in the transport direction. As shown in FIG. 2, each roller 12a is rotatably supported by a pair of bearings 12c fixed to the support frame 11 via the rotating shaft 12b.
As shown in FIGS. 2 and 3, the positioning plate 13 is separated from one end surface of the roller 12 a via a gap 16.

  As shown exaggeratedly in FIG. 4, the rotation axis L <b> 1 of the roller 12 a is slightly inclined in the transport direction with respect to the normal L <b> 2 of the reference surface 13 of the positioning plate 13. This inclination angle Θ is 1 °, for example. For this reason, since the transported plate 50 receives a force toward the positioning plate 13, one side edge thereof always hits the reference surface 13 a of the positioning plate 13 as shown in FIGS. 2 and 4, and the width of the roller conveyor 12. Positioned in the direction. Positioning means is constituted by the arrangement of the roller 12a.

  The wrinkle detecting device 20 is disposed in the middle of the roller conveyor 12, and includes a support frame 21 and four sensor heads 22, 23, 24 supported on the support frame 21 and disposed above the roller conveyor 12. , 25, two sensor heads 26, 27 supported by the support frame 21 and disposed below the roller conveyor 12, and wrinkle determination means 28 (see FIG. 5).

  The support frame 11 of the transport device 10 and the support frame 21 of the wrinkle detection device 20 are independent from each other, and the leg portions of the support frames 11 and 21 are made of rubber damping that blocks vibration transmission from the outside. It is installed on the floor or base via the materials 11a and 21a. Although not clearly shown in FIG. 1, the motor 14 is installed on a support frame independent of the support frames 11 and 21.

  Each of the sensor heads 22 to 27 includes a light emitting portion 22a to 27a that emits a band-like incident light made of a laser beam orthogonal to the conveying direction (longitudinal direction of the crawler plate 50), and a rolling material 50 drawn from the band-like incident light. It has imaging parts 22b-27b which picturize the outline of the surface. The imaging units 22b to 27b are separated from the light emitting units 22a to 27a in the transport direction. In the figure, the band-like incident light from the light emitting units 22a to 27a is denoted by a symbol S, and the imaging range of the imaging units 22b to 27b is denoted by a symbol R.

  The sensor heads 22 and 23 (first contour information acquisition means) are arranged directly above the roller conveyor 12 and spaced apart in the width direction of the roller conveyor 12, and the respective light emitting portions 22 a and 23 a are worn downward. The plate 50 is irradiated with band-like incident light.

As shown in FIG. 2, the sensor head 22 closer to the positioning plate 13 is fixed by a bracket 32.
The sensor head 23 far from the positioning plate 13 is fixed to a rod of a uniaxial robot 33 (moving means) fixed to the support frame 21 via a bracket 33 a and can be moved in the vertical direction by driving the uniaxial robot 33. It is. The movement trajectory of the sensor head 23 by the uniaxial robot 33 is inclined at a relatively small angle so as to move away from the positioning plate 13 as it goes upward on a plane orthogonal to the transport direction (longitudinal direction of the crawler plate 50). . Accordingly, the sensor 23 approaches the positioning plate 13 when in the lower position, and moves away from the positioning plate 13 when in the upper position.

  The sensor head 24 (second contour information acquisition means) is disposed closer to the positioning plate 13 than the sensor heads 22 and 23, and the light emitting unit 24a irradiates the belt-shaped incident light toward the shoe plate 50 from obliquely above. . The sensor head 24 is fixed to a rod of a uniaxial robot 34 (moving means) fixed to the support frame 21 via a bracket 34 a and can be moved in the vertical direction by the uniaxial robot 34.

  The sensor head 25 (third contour information acquisition means) is disposed on the opposite side of the sensor head 24 when viewed from the sensor heads 22 and 23, and irradiates the belt-shaped incident light toward the shoe plate 50 from obliquely above. The sensor head 25 is supported on the support frame 21 via the moving means 35. More specifically, the moving means 35 includes a single-axis robot 35a, a moving table 35b moved by the single-axis robot 35a, and a turning robot 35d connected to the moving table 35b via an angle adjusting mechanism 35c. Have. The sensor head 25 is fixed to the turning robot 35d.

  The uniaxial robot 35a moves the moving base 35b along a moving locus inclined so as to move away from the positioning plate as it goes upward on a plane orthogonal to the transport direction (longitudinal direction of the crawler plate 50). The sensor head 25 can be moved toward and away from the track 50 and can be adjusted in position along a moving locus inclined. The angle adjustment mechanism 35 c can adjust the angle of the sensor head 25 in the vertical direction on a plane orthogonal to the longitudinal direction of the shoe plate 50.

  The sensor head 26 and the sensor head 27 (fourth contour information acquisition means) are arranged in the width direction of the roller conveyor 12 directly below the roller conveyor 12, and the respective light emitting portions 26a and 27a face upward. Then, the belt-like incident light is irradiated onto the shoe plate 50.

The sensor head 26 closer to the positioning plate 13 is fixed to the support frame 21 by a bracket 36.
The sensor head 27 far from the positioning plate 13 is fixed to a rod of a uniaxial robot 37 (moving means) fixed to the support frame 21 via a bracket 37a, and can be moved in the vertical direction by the uniaxial robot 37. .

In the wrinkle detection system configured as described above, wrinkles on the surface of various footwear can be detected.
First, referring to FIG. 6, the inspection of the shoeboard 50 called a large size single shoe will be described. The crawler plate 50 has a plate portion 51 and a single lug 52 (projection). One side edge portion 51 a of the plate portion 51 is bent to the opposite side of the lug 52. The lug 52 is formed in the vicinity of the bent side edge portion 51a.

  As described above, the side plate 51a is in contact with the reference surface 13a of the positioning plate 13 in the transport state of the above-described plate 50, so that the plate 50 is positioned in the width direction. The side edge portion 51a enters the gap 16 between the one end surface of the roller 12a and the positioning plate 13, whereby the shoe plate 50 is stably supported by the roller conveyor 12. The same applies to other footwear described later.

  As shown in FIG. 6, the sensor heads 22 and 23 apply the band-shaped incident light S to the upper surface of the plate portion 51 to obtain an image of the contour of the upper surface. The sensor heads 26 and 27 apply the band-shaped incident light S to the lower surface of the plate portion 51 to obtain an image of the contour of the lower surface. The sensor head 24 applies the band-shaped incident light S to one side surface of the lug 52 and acquires an image of the contour of the one side surface. The sensor head 25 applies the band-shaped incident light S to the other side surface of the lug 52 to acquire an image of the contour of the other side surface. An image of the contour of the top surface of the lug 52 can be acquired by the sensor head 22.

Since the footwear plate 50 is wide, the sensor head 23 is set at the upper position and the sensor head 27 is set at the lower position, so that the irradiation range of the band-like incident light S from the sensor heads 23 and 27 is expanded. The entire upper surface and lower surface of the plate 50 can be scanned.
Further, since the lug 52 is high, the sensor head 24 is set at an upper position so that a wide area on one side surface of the lug 52 can be irradiated with the band-shaped incident light. Since the sensor head 25 has an inclination angle larger than that of the sensor head 24, the band-shaped incident light S can be irradiated to the entire other side surface of the lug 52 even at the approach position.

  As shown in FIG. 5, the wrinkle determination means 28 sequentially receives contour image information from the sensor heads 22 to 27 along with the transport of the footwear 50 by the roller conveyor 12, and the surface of the footwear 50 is detected based on the contour image information. A three-dimensional image is calculated and displayed on the monitor display 41, and the presence or absence of wrinkles is determined based on the three-dimensional image. When it is determined that the product is free of wrinkles, the crawler plate 50 is allowed to be transported along the transport line of the conveyor connected to the downstream side of the roller conveyor 12. Is operated to remove the crawler plate 50 from the conveying line.

  Next, as shown in FIG. 7, an inspection of a shoe plate 60 called a small shoe of a single size will be described. Similar to the shoe plate 50, the shoe plate 60 includes a plate portion 61 in which one side edge portion 61a is bent, and a lug 62 (projection) formed in the vicinity of the side edge portion 61a. Yes. The width of the plate portion 61 is narrower than the plate portion 51 of the shoe plate 50, and the lug 62 is lower than the lug 52 of the shoe plate 50.

When the crawler plate 60 is inspected, the positions of the sensor heads 22 and 26 are fixed as compared to FIG. 6, so that the position of the sensor head 25 does not change. For comparison, the positions of the sensor heads 23, 24, and 27 when inspecting the crawler plate 50 of FIG. Since the width of the plate portion 61 is narrow, the sensor head 23 is set at the lower position, the sensor head 27 is set at the upper position, and the irradiation range of the slits S of the sensor heads 23 and 27 is narrowed. The sensor head 23 is also approaching the horizontal direction with respect to the shoe plate 60. Corresponding to the low lug 62, the sensor head 24 is in the lower position.
In this way, a contour image of the entire surface of the shoe plate 60, which is a single shoe of a small size, can be obtained. The operation of the eyelid determining means 28 is the same as described above.

  Next, as shown in FIG. 8, a description will be given of an inspection of a shoe plate 70 called a relatively large size triple shoe. The crawler plate 70 includes a plate portion 71 having a side edge portion 71a bent, and three lugs 72, 73, 74 (projections) arranged at intervals in the width direction of the plate portion 71. ing. These lugs 72, 73, 74 are lower than the lugs 52 of the footwear plate 50.

  As shown in FIG. 8, when inspecting the crawler plate 70, the positions of the sensor heads 22, 24, and 26 are not changed compared to FIG. 6, but the positions of the sensor heads 23, 25, and 27 are changed. For comparison, the position of the sensor head 25 when inspecting the crawler plate 50 of FIG. 6 is indicated by an imaginary line.

  Since the sensor head 24 is at a high position, the band-shaped incident light S can be irradiated over a wide range, that is, all one side surfaces of the three lugs 72, 73, 74. The band-shaped incident light S of the sensor head 24 can be irradiated to one side surface of the lug 73 without being blocked by the lug 72, and can be irradiated to one side surface of the lug 74 without being blocked by the lug 73.

  Since the sensor head 25 is also at a high position and the height and angle can be adjusted, the band-shaped incident light S can be irradiated over a wide range, that is, all the other side surfaces of the three lugs 72, 73, 74. Further, since the sensor head 25 is adjusted so that the inclination angle can be reduced, the band-shaped incident light S of the sensor head 25 can be applied to the other side surface of the lug 73 without being blocked by the lug 74, and the lug 73 can be blocked. The other side surface of the lug 72 can be irradiated without being irradiated.

In the case of a triple shoe with a small size, the sensor heads 23, 24, 25, and 27 may be set to the positions shown in FIG. 7, and the angle of the sensor 25 may be adjusted to be the same as in FIG.
When the shoe plate is a double shoe (a shoe plate with two lugs), the sensor head may be basically set similarly to the triple shoe.

As described above, by adjusting the positions of the sensor heads 23, 24, 25, and 27, it is possible to detect heels of various shapes and sizes of footwear.
When a hole or the like is formed in the shoe plate, the heel determining means 28 performs masking in a software manner without performing image processing of this part. Alternatively, detection of wrinkles at this part may be avoided by pattern matching.

The present invention is not limited to the above-described embodiment, and can be variously employed.
The angle of the sensor head 24 may be adjusted similarly to the sensor head 25.
The wrinkle detection system of the present invention can also be applied to rolled materials other than the footwear.

  The present invention can be applied to surface flaw detection of a rolled material having protrusions.

12 Roller conveyor
12a Roller 13 Positioning plate 13a Reference surface 16 Gap 22, 23 Sensor head (first contour information acquisition means)
24 sensor head (second contour information acquisition means)
25 Sensor head (third contour information acquisition means)
26, 27 Sensor head (fourth contour information acquisition means)
28 Wrinkle determination means 33, 34, 37 Uniaxial robot (moving means)
35 Moving means 35c Angle adjusting mechanism 50, 60, 70 Foot plate (rolled material)
51, 61, 71 Plate portion 51a, 61a, 71a One side edge portion 52, 62, 72, 73, 74 of the plate portion (projection)
S Band incident light

Claims (9)

In the wrinkle detection system for detecting wrinkles on the surface of the rolled material having the plate portion and the protrusions formed on the plate portion,
A conveyor that carries the rolled material with the ridges facing up and conveys it in the longitudinal direction of the rolled material, first, second, and third contour information acquisition means disposed above the conveyor, and wrinkle determination Means and
The first, second, and third contour information acquisition means include a light emitting unit that irradiates the surface of the rolled material with a strip-shaped incident light that intersects the longitudinal direction of the rolled material, and the above-described band-shaped incident light. Each has an imaging unit that images the contour of the surface of the rolled material,
The first contour information acquisition means irradiates the band-shaped incident light downward to obtain contour information of the upper surface of the plate portion and the top of the ridge among the surfaces of the rolled material,
The second contour information acquisition means obtains contour information of one side surface of the ridge of the rolled material by irradiating the band-shaped incident light obliquely downward from one side in a direction orthogonal to the transport direction,
The third contour information acquisition means irradiates the band-shaped incident light obliquely downward from the opposite side of the second contour information acquisition means, thereby obtaining contour information of the other side surface of the ridge of the rolled material,
The wrinkle determination means sequentially receives the contour information from the first, second and third contour information acquisition means as the rolled material is conveyed by the conveyor, and based on the contour information, the surface of the rolled material is received. A wrinkle detection system characterized by determining the presence or absence of wrinkles.   Each of the second and third contour information acquisition means has one sensor head, and each of the sensor heads has the light emitting part and the imaging part, and is moved closer to and away from the rolled material by the moving means. The wrinkle detection system according to claim 1, wherein the wrinkle detection system is supported so that the position of the wrinkle can be adjusted.   The moving means for at least one of the sensor heads of the second and third contour information acquiring means includes an angle adjusting mechanism for adjusting the angle of the sensor head in the vertical direction on a plane orthogonal to the longitudinal direction of the rolled material. The wrinkle detection system according to claim 2, further comprising: The conveyor is a roller conveyor,
Furthermore, it has a 4th outline information acquisition means, this 4th outline information acquisition means is located below the said rolling material, and is a strip | belt shape which cross | intersects the longitudinal direction to the lower surface of the said rolling material from between the adjacent rollers of the said roller conveyor. A light emitting unit that emits incident light, and an imaging unit that captures an outline of the lower surface of the plate portion of the rolled material drawn by the band-shaped incident light,
2. The wrinkle detection system according to claim 1, wherein the wrinkle determination means determines whether or not there is wrinkles on the surface of the rolled material in consideration of contour information of the lower surface of the plate portion of the rolled material. Further, on one side of the roller conveyor in the width direction, a positioning plate extending along the conveying direction of the roller conveyor is disposed, and a surface of the positioning plate facing the roller conveyor is provided as a reference surface.
5. The wrinkle detection system according to claim 4, wherein one side edge portion of the rolled material in a conveying state is brought into contact with the reference surface by positioning means. The rolled material is a footwear plate, the footwear plate has at least one lug as the protrusion, and the one side edge portion of the plate portion is bent to the opposite side of the protrusion,
A gap is formed between the one end surface of the roller and the positioning plate, and one side edge portion of the plate portion enters the gap and comes into contact with the reference surface of the positioning plate. The wrinkle detection system according to claim 5. The rolled material is a shoe plate, and the shoe plate has at least one lug as the protrusion,
Each of the second and third contour information acquisition means has one sensor head, and each of the first and fourth contour information acquisition means has two sensor heads separated from each other in the width direction of the roller conveyor. Each of these sensor heads has the light emitting unit and the imaging unit,
The sensor head on the positioning plate side of the first and fourth contour information acquiring means is in a fixed position, and the sensor head on the opposite side of the positioning plate of the first and fourth contour information acquiring means is moving means. Is supported so that it can move up and down,
The sensor head of the second contour information acquisition means is arranged on the positioning plate side and supported by the moving means so as to be movable in the vertical direction.
The sensor head of the third contour information acquisition means is disposed on the opposite side of the positioning plate, and is moved away from the positioning plate as it moves upward on a plane perpendicular to the longitudinal direction of the shoe plate by the moving means. The wrinkle detection system according to claim 5, wherein the wrinkle detection system is supported so as to be movable along an inclined movement locus.   The moving means for supporting the sensor head on the opposite side of the positioning plate of the first contour information acquisition means is inclined so as to move away from the positioning plate toward the upper side on a plane orthogonal to the longitudinal direction of the crawler plate. The wrinkle detection system according to claim 7, wherein the sensor is moved in a vertical direction along a movement trajectory.   The moving means for supporting the sensor head of the third contour information acquiring means includes an angle adjusting mechanism for adjusting the angle of the sensor head in the vertical direction on a surface orthogonal to the longitudinal direction of the rolled material. The wrinkle detection system according to claim 7 or 8.

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