JP2020091584A - Automatic inspection system for machined products - Google Patents

Abstract

To provide an automatic inspection system for machined products capable of automating various types of inspections, such as appearance inspection and three-dimensional measuring inspection of machined products, as one process on a production process line and of improving the efficiency of inspection processes of machined products.SOLUTION: An automatic inspection system for machined products comprises an automatic warehouse 1 for appearance inspection, etc. that stores a machined product W that is an object of measuring inspection for conducting at least cleaning and appearance inspection, an automatic warehouse 3 for three-dimensional measurement that stores a machined product W that is an object of measuring inspection by a three-dimensional measuring machine 2, an automatic carrier unit 4 that automatically transports the machined product W between the automatic warehouse 1 for appearance inspection, etc. and the automatic warehouse 3 for three-dimensional measurement, an area R1 for appearance inspection, etc. that the machined product W is automatically transported to/from the automatic warehouse 1 for appearance inspection, etc., and a three-dimensional measuring area R2 that has a robot for three-dimensional measurement transporting the machined product W to/from the automatic warehouse 3 for three-dimensional measurement and is provided adjacent to the automatic warehouse 3 for three-dimensional measurement.SELECTED DRAWING: Figure 1

Description

The present invention relates to an automatic inspection system for processed products.

Conventionally, a machined product processed by a machine tool is subjected to various inspections such as visual inspection, screw inspection, and three-dimensional measurement inspection after deburring work and cleaning work. As a result, defective products are eliminated, and processed products with high reliability can be shipped as products.

Here, in Patent Document 1, the dimensions of an assembled product that performs a predetermined operation and the dimensions that perform a shape accuracy inspection, a shape accuracy measuring device, and an operating state are simulated, and various predetermined performance tests of an assembly product are performed. Is a device composed of an operation inspection device that performs an inspection by combining a device configured for each inspection item alone or in a plurality of units as appropriate, and automatically inspects, outputs inspection result data, passes or fails. There is disclosed a product inspection device having a function of judging pass and a cause of failure.

In Patent Document 2, while the inspection target object is placed and continuously moved in at least one direction, the inspection target object is imaged to acquire an image of the inspection target object including texture information of the surface of the inspection target object. Acquires the surface unevenness information of the inspection target object, restores the three-dimensional shape of the inspection target object from the acquired surface unevenness information of the inspection target object, and has the surface texture from the acquired image and the restored three-dimensional shape of the inspection target object. The appearance information of the object is obtained, a plurality of features is extracted from the obtained appearance information, and at least one of the extracted features corresponds to the at least one feature of the reference data set in advance. There is disclosed an appearance inspection device configured to evaluate the appearance of an object to be inspected in comparison with.

In Patent Document 3, even if working oil or cleaning liquid adheres to the inner surface of an inspected cylindrical object such as an engine cylinder, a defect inspection capable of inspecting defects such as porosity, scratches, dirt, etc. at high speed. The device is a device for cleaning the residual liquid remaining on the inner surface of the inspected cylindrical object, an optical system for detecting a two-dimensional image of the inner surface of the inspected cylindrical object cleaned by the cleaning unit, and an optical system for detection. An image processing unit that acquires information such as a blowhole defect, a defect near the contour of a machined hole, a machining defect defect, and a stain defect based on the obtained two-dimensional image, and an output that outputs information of the defect acquired by the image processing unit And an inspection apparatus including a unit.

JP-A-58-97614 JP, 2013-29350, A JP, 2005-121450, A

On the other hand, in Patent Document 1, Patent Document 2 and Patent Document 3, only an apparatus for performing visual inspection and three-dimensional measurement inspection of the processed product is shown, and basically, the inspector processes each one. It is necessary to repeat the work of carrying out each inspection such as placing the item on the table. Therefore, in Patent Document 1, Patent Document 2, and Patent Document 3, various inspections cannot be automated as one process on the production line, and the inspection of the processed product should be systematic and sufficiently efficient. I can't.

In view of the above circumstances, the present invention can automate various inspections such as appearance inspection and three-dimensional measurement inspection of a processed product as one process on the line of the production process, and improve the efficiency of the processed product inspection process. It is an object to provide an automatic inspection system for processed products that enables it.

The inventor of the present invention has completed the present invention by finding means for automatically performing various inspections such as a visual inspection and a three-dimensional measurement inspection of a processed product and sufficiently improving the inspection of the processed product.

(1) The present invention relates to an automatic warehouse for a visual inspection or the like (for example, an automatic warehouse for a visual inspection or the like described later) that stores a processed product (for example, a processed product W to be described later) that is subjected to at least cleaning and visual inspection. And an automatic warehouse for three-dimensional measurement (for example, an automatic warehouse 3 for three-dimensional measurement described later) that stores the workpiece to be measured and inspected by a three-dimensional measuring machine (for example, three-dimensional measurement instrument 2 described below), An automatic transfer unit (for example, an automatic transfer unit 4 described later) that automatically transfers the processed product between an automatic warehouse for appearance inspection and the like and the automatic warehouse for three-dimensional measurement, and at least a cleaning device (for example, a cleaning unit described later). A device 10) and a visual inspection device (for example, a visual inspection robot 16 and an image pickup device 18 described later) are provided adjacent to the visual inspection automatic warehouse, and between the visual inspection automatic warehouse. And the area where the processed product is automatically conveyed (for example, an appearance inspection area R1 described later), and the processed product is conveyed between the coordinate measuring machine and the automatic warehouse for three-dimensional measurement. A three-dimensional measurement robot (for example, a three-dimensional measurement robot 36 described later) that is provided, and a three-dimensional measurement region (for example, a three-dimensional measurement region R2 described later) provided adjacent to the automatic warehouse for three-dimensional measurement. ) And are provided.

According to the present invention, various inspections such as a visual inspection and a three-dimensional measurement inspection of a processed product can be automatically performed, and the processed product inspection process can be made efficient.

It is a figure which shows the automatic inspection system of the processed product which concerns on one Embodiment of this invention. It is a perspective view showing a visual inspection etc. field of an automatic inspection system of a processed product concerning one embodiment of the present invention. It is a perspective view showing a screw inspection device of an automatic screw inspection system. It is a figure which shows the screw hole inspection using a passing gauge. It is a figure which shows the screw hole inspection using a dead end gauge. It is a block diagram showing a control device of a screw automatic inspection system. It is a block diagram which shows a part of control system of the automatic inspection system of the processed product which concerns on one Embodiment of this invention. It is a figure which shows the screw automatic inspection system which concerns on one Embodiment of this invention. It is a figure which shows an example of the processed product of an inspection target. It is a figure which shows an example of the processed product of an inspection target. It is a figure which shows an example of the screw inspection result file performed using the screw automatic inspection system which concerns on one Embodiment of this invention. It is a perspective view showing an automatic three-dimensional measurement and inspection system. It is a perspective view showing equipment for three-dimensional measurement of an automatic three-dimensional measurement inspection system. It is a perspective view showing the state where the processed product was supported by the inspection jig. It is a perspective view showing the state where the processed product was supported by the inspection jig.

Hereinafter, an automatic inspection system for a processed product according to an embodiment of the present invention will be described with reference to FIGS. 1 to 15.

Here, the present embodiment relates to an automatic inspection system for a processed product for automatically performing a visual inspection, a screw inspection, a three-dimensional measurement inspection, and the like while sequentially conveying the processed product processed by a machine tool.

Specifically, as shown in FIG. 1, an automatic inspection system A for processed products according to the present embodiment includes a distributed warehouse for uninspected products which is an automatic warehouse 1 for appearance inspection and the like, and a measurement inspection target by a coordinate measuring machine 2. And the automatic warehouse 3 for three-dimensional measurement in which the processed product W is stored and the automatic warehouse 1 for appearance inspection and the like, and an inspection area R1 for appearance inspection and screw inspection for the processed product W and , A three-dimensional measurement region R2 provided adjacent to the three-dimensional measurement automatic warehouse 3 for performing three-dimensional measurement inspection of the processed product W, and an automatic warehouse 1 for external appearance inspection and the like, and an automatic warehouse 3 for three-dimensional measurement. And an automatic transport unit (transport device) 4 for automatically transporting the processed product W between them.

The automatic warehouse 1 for visual inspection and the automatic warehouse 3 for three-dimensional measurement each have a plurality of stacker racks in which a measurement target hangar 5 and an inspection/measurement hangar 6 are arranged in a plurality of rows in the vertical direction and a plurality of rows in the width direction. It is formed with a (packaging rack) 7, and the storage box 5 for measurement and the storage box 6 for inspection and measurement are installed in parallel in the depth direction at a predetermined interval. In addition, between the measurement object storage 5 and the inspection measurement storage 6, a stacker crane 8 that automatically conveys a load of processed products W or the like between the measurement target storage 5 and the inspection measurement storage 6 and the stacker rack 7 is provided. It is arranged.

In this embodiment, the automatic warehouse 1 for visual inspection and the automatic warehouse 3D for three-dimensional measurement are set in parallel at a predetermined interval. At this time, the appearance inspection automatic warehouse 1 and the three-dimensional measurement automatic warehouse 1 are arranged so that the measurement object storage 5 of the visual inspection automatic warehouse 1 and the measurement object storage 5 of the three-dimensional measurement automatic warehouse 3 face each other. 3 are installed.

The automatic conveyance unit 4 is a belt conveyor or the like, and is installed between the measurement target hangar 5 of the automatic warehouse 1 for appearance inspection and the like and the measurement target hangar 5 of the automatic warehouse 3D for three-dimensional measurement, and is used for automatic appearance inspection and the like. The processed product W or the like is transported from the predetermined stacker rack 7 of the measurement object storage 5 of the warehouse 1 to the predetermined stacker rack 7 of the measurement object storage 5 of the three-dimensional measurement automatic warehouse 3.

In the present embodiment, the processed product W placed on the pallet is stored together with the pallet in the predetermined stacker rack 7 by the stacker crane 8.

For example, after processing with a machine tool, it is placed on a pallet, transported by AGV (automated guided vehicle) or the like to the storage object 5 of the automatic warehouse 1 for appearance inspection, etc., and loaded into the stacker of the automatic warehouse 1 for appearance inspection. The processed product W carried in is automatically stored in the predetermined stacker rack 7 by the crane 8.

When inspecting the processed product W stored in the predetermined stacker rack 7 of the appearance inspection automatic warehouse 1, the stacker crane 8 automatically determines the inspection measurement hangar 6 of the appearance inspection automatic warehouse 1. The processed product W is stored in the stacker rack 7 and the appearance inspection and screw inspection of the processed product W are performed in the adjacent inspection region R1 such as the appearance inspection.

The processed product W that has undergone the appearance inspection and the screw inspection is returned to the predetermined stacker rack 7 of the inspection measurement hangar 6 of the appearance inspection automatic warehouse 1 and is measured by the stacker crane 8 in the appearance inspection automatic warehouse 1. It is stored in a predetermined stacker rack 7 of the hangar 5, and the automatic transfer section 4 and the stacker crane 8 of the automatic warehouse 3D for three-dimensional measurement are used to measure from the hangar 5 to be measured in the automatic warehouse 1 for visual inspection to the automatic warehouse for three-dimensional measurement. 3 is stored in a predetermined stacker rack 7 of the measurement object storage 5.

When three-dimensionally inspecting the processed product W stored in the predetermined stacker rack 7 of the measurement target storage 5 of the three-dimensional measurement automatic warehouse 3, the stacker crane 8 automatically operates the three-dimensional measurement automatic warehouse 3 The processed product W is stored in the predetermined stacker rack 7 of the inspection/measurement storage 6, and the three-dimensional measurement inspection of the processed product W is performed in the adjacent three-dimensional measurement region R2.

The processed product W that has undergone the three-dimensional measurement inspection is returned to the predetermined stacker rack 7 of the inspection measurement storage 6 of the three-dimensional measurement automatic warehouse 3 and is automatically carried out to the next process such as the painting process. ..

Here, the visual inspection and the screw inspection performed in the visual inspection area R1 will be described.

When the inspection is performed in the area R1 for appearance inspection or the like, first, as shown in FIG. 2, the processed product W is cleaned by the cleaning device 10, and the cleaning liquid is removed from the cleaned processed product W by the air blow device 11. In the visual inspection area R1, a handling robot 12 is provided together with the cleaning device 10 and the air blower 11. For example, the handling robot 12 is sequentially stored in a predetermined stacker rack 7 of the automatic visual inspection warehouse 1. The processed product W includes a temporary storage table 13 and 14 provided at predetermined positions in the area R1 for visual inspection, a cleaning device 10, an air blower 11, and an inspection table 15 on which the processed product W after cleaning processing is placed. Transport between.

In the visual inspection area R1, a visual inspection robot (visual inspection device) 16 for performing visual inspection such as presence or absence of scratches or cavities on the processed product W by image inspection, and a female screw hole of the processed product W ( And a screw inspection robot 17 for inspecting a pin hole). Then, the screw inspection robot 17 and the appearance inspection robot 16 are configured to inspect each of the processed products W sent to the inspection table 15.

The appearance inspection robot 16 and the screw inspection robot 17 are provided with an articulated arm portion, and are configured so that their tip portions can be freely moved within a predetermined area in all directions.

The appearance inspection robot 16 has an image pickup device (appearance inspection device) 18 for picking up an image of the processed product W at the tip thereof. In the visual inspection, the image acquired by the imaging device 18 is processed and analyzed to check the surface of the workpiece W for scratches, presence or absence of cavities, the degree thereof, and the like to determine the quality of the workpiece W.

The screw inspection robot 17 has a screw inspection device 19 attached to its tip.

As shown in FIGS. 2 and 3, the screw inspection device 19 is detachably provided with a holder portion 21 that holds an inspection gauge 20 for inspecting a female screw hole formed in a workpiece W to be inspected. There is. Further, a plurality of holder parts 21 in a state of respectively holding a plurality of inspection gauges 20 having different inspection gauge standards for inspecting female screw holes of a plurality of standards are stored in the gauge stocker 22, and the screw inspection robot 19 is , The gauge stocker 22 and the holder portion 21 are driven so that they can be selected, exchanged, and stored. The gauge stocker 22 stores, for example, a total of 16 holder portions 21 that respectively hold the inspection gauges 20 of gauge sizes: M3 to M16 (for street inspection/stop inspection: one each).

The screw inspection device 19 is configured to detect the amount of advancement of the inspection gauge 20 with a proximity sensor at the time of inspection and thereby to inspect the quality of the female screw hole 23. Alternatively, as shown in FIGS. 4 and 5, the screw inspection device 19 uses a gauge 20a, which is an inspection gauge 20, and sets a predetermined force (torque) corresponding to the force of screwing by hand without difficulty. Check whether or not the gauge 20a reaches the female screw hole 23 up to the specified depth, and use the stop gauge 20b of the inspection gauge 20 to force the female thread with a predetermined force (torque) corresponding to the force of screwing by hand. The blind gauge 20b is screwed into the screw hole 23, and an inspection for confirming whether or not the blind gauge 20b is stopped with a screw-in amount of less than two rotations can be performed. In such a case, parameters (amount of advance, torque, rotation speed, etc.) for each screw size are set in advance.

Here, as shown in FIG. 2, the automatic screw inspection system B of the present embodiment includes a controller 25 for controlling the driving of the handling robot 12, the screw inspection robot 17, the appearance inspection robot 16, the screw inspection device 19, and the like. I have it.

Further, as shown in FIGS. 2 and 6, the control device 25 selects from the gauge stocker 22 the holder portion 21 corresponding to the standard of the female screw hole 23 to be inspected and inspected, and the screw inspection device. Drive the robots 12, 16, 17 and the screw inspection device 19 so as to be automatically attached to the screw inspection device 19 and/or to store the holder portion 21 attached to the screw inspection device 19 in a predetermined position of the gauge stocker 22. The holder mounting/storing control unit 26 for controlling the robot and the inspection target on the tables 13, 14, 15 or the inspection target held by the robots 16, 17 from the tables 13, 14, 15 are inspected. 16, 17 and an inspection execution control unit 27 that controls the drive of the screw inspection device 19, and a screw hole determination that determines the quality of the female screw hole 23 based on the screw inspection result obtained by controlling the drive by the inspection execution control unit 27. And part 28.

In the screw automatic inspection system B of the present embodiment, the control device 25 performs automatic control as follows.

As shown in FIG. 2, FIG. 6, FIG. 7, and FIG. 8, first, the PLC 29 on the system side inquires whether a processed product W that can be inspected is stored in the host PC 30 on the automatic warehouse 1 for visual inspection and the like. If there is a processed product W to be processed, the robot program number for the processed product is acquired from the host PC 30. The processed product W is unloaded to a transfer device (a dolly, a receiving tray) in the system and carried into the area R1 for visual inspection and the like. The robot program number, processed product information, etc. are stored and stored in the warehouse database 31, and can be acquired through a Web server or the like.

The holder mounting/storing control unit 26 drives and controls the screw inspection robot 17, selects the holder unit 21 corresponding to the standard of the female screw hole 23 to be inspected and inspected from the gauge stocker 22, and screw. The inspection device 19 is automatically attached. The inspection execution control unit 27 inspects the female screw hole 23 of the processed product W conveyed to the inspection table 15 by the handling robot 12 by the screw inspection device 19, and the data at this inspection is stored in the storage unit 32. The hole determination unit 28 determines the quality of the female screw hole 23 based on the data at the time of inspection (screw inspection result).

Here, as shown in FIG. 6, FIG. 9, FIG. 10, and FIG. 11, in the present embodiment, for example, a plurality of female screw holes 23 are formed on the workpiece W using the same tool based on the machining information data acquired in advance. It is confirmed whether or not is formed (see (1) in FIG. 11). In the case where a plurality of female screw holes 23 are formed using the same tool, the inspection execution control unit 27 determines that the female screw hole formed last using the same tool among the plurality of female screw holes 23 formed using the same tool. Control is performed so that only the hole 23 is inspected (see (2) and (3) in FIG. 11), and the quality of the plurality of female screw holes 23 formed by using the same tool is determined based on the inspection result. The screw hole determination unit 28 makes the determination.

Note that, in the automatic inspection system A for processed products of the present embodiment, as shown in FIG. 1, for example, a processed product W such as a large processed product W that cannot be automatically inspected by the automatic screw inspection system B is inspected. A visual inspection area R1' is provided to allow the visual inspection and the screw inspection by an operator or the like.

Next, in the automatic three-dimensional measurement/inspection system C of this embodiment, as shown in FIGS. 1 and 12, the three-dimensional measurement region R2 is divided into a plurality of regions and the three-dimensional measurement equipment 35 is provided in each divided region. It is provided and configured. The plurality of three-dimensional measurement equipments 35 are adjacent to the inspection/measurement storage 6 and are arranged in parallel along the width direction of the inspection/measurement storage 6.

Each of the three-dimensional measuring equipment 9 is equipped with a three-dimensional measuring machine 2 and a three-dimensional measuring robot 36.

As shown in FIG. 13, the coordinate measuring machine 2 is a device that makes it possible to three-dimensionally capture the shape of the workpiece W on the data and perform various measurements. , A scale for determining the amount of movement of the guide portion and a probe, and the three-dimensional coordinate values of the probe can be obtained from the respective amounts of movement according to the shape of the workpiece W, whereby the dimensions and tolerances of the workpiece W can be obtained. Etc. can be measured.
Note that, in the present embodiment, the gate-type three-dimensional measuring machine 2 is illustrated in FIGS. 12 and 13, but the present invention is not limited to this, and another type of three-dimensional measuring machine such as an articulated arm type is applied. But of course it doesn't matter.

Further, the coordinate measuring machine 2 is provided with an installation base portion 37 on which the processed product W is installed. The installation base 37 is provided with a large number of jig insertion holes 38. As shown in FIGS. 13, 14, and 15, the coordinate measuring machine 2 installs the inspection jig 39 by fitting the positioning plunger 39 a into the jig insertion hole 38, and, for example, the shape of the processed product W. The workpiece W is supported by being placed on a plurality of inspection jigs 39 installed in accordance with the above, and the workpiece W is three-dimensionally measured in this state.

The inspection jig 39 has, as its components (inspection jig components), a substantially flat plate-shaped base portion 39b having an interface 40 for the three-dimensional measurement robot 39 to grip and connect the inspection jig components, and the base portion. A plurality of positioning plungers 39a projecting downward from the lower surface of 39b and a support section 39c detachably attached to the upper surface of the base section 39b so as to project upward are configured as a module.

That is, the inspection jig 39 is provided at an arbitrary position on the upper surface of the base portion 39b according to the shape of the processed product W, the installation position on the three-dimensional side installation base portion 37, and the like. It is formed by attaching an arbitrary number of supporting parts 39c and assembling the respective parts 39a, 39b, 39c. Then, the positioning plunger 39a is inserted into the jig insertion hole 38, and the base portion 39b is positioned and placed at a predetermined position on the installation base portion 37. For example, the support portions 39c of the plurality of inspection jigs 39 are supported. By placing the workpiece W so that the upper ends thereof come into contact with each other, the processed product W can be held in a stationary state.

The components of the plurality of inspection jigs 39 (the plurality of base portions 39b, the positioning plungers 39a, the plurality of support portions 39c) as described above are stored in the inspection jig stocker 41. The inspection jig stocker 41 is provided, for example, by being stored in a predetermined stacker rack 7 of the inspection/measurement storage 6 or arranged as the three-dimensional measurement equipment 35 in the three-dimensional measurement region R2.

As shown in FIGS. 12 and 13, the three-dimensional measurement robot 36 is formed with an articulated arm, and is configured to be able to freely move its tip side within a predetermined range in all directions. There is.

The three-dimensional measurement robot 36 automatically selects the jig installation device 42 used when installing the inspection jig 39 and the workpiece gripping device 43 used when gripping the workpiece W, and selects the tip portion. Mounted on the side, the inspection jig parts 39a, 39b, 39c and by extension the assembly work of the inspection jig 39, the workpiece W is conveyed between the inspection measurement hangar 6 and the coordinate measuring machine 2, and the coordinate measuring machine 2 It is configured to automatically carry out the transportation/inspection work in which the inspection is performed.

The three-dimensional measurement robot 36 assembles the inspection jig 39 by selecting the inspection jig parts 39a, 39b, 39c from the inspection jig stocker 41, and automatically places the installation base portion 37 of the three-dimensional measuring machine 2 at a predetermined position. Is configured to be installed. At this time, the three-dimensional measurement robot 36 automatically arranges a plurality of inspection jig parts 39a, 39b, 39c so as to match the shape of the processed product W, and assembles the inspection jig 39 that supports the processed product W. Is configured.

Further, the control system (control device) that controls the transfer operation of the processed product W in the automated warehouse 3, the drive control of the three-dimensional measuring robot 36, and the operation control of the three-dimensional measuring machine 2 by linking the respective controls. It is automatically controlled by 44.

That is, the processed product W (and the inspection jig stocker 41) to be inspected is stored in the predetermined stacker rack 7 of the inspection and measurement storage 6 by the drive control of the stacker crane 8 of the automatic warehouse 3.

By the drive control of the three-dimensional measuring robot 36, the inspection jig 39 is assembled so as to match the workpiece W to be inspected, and the inspection jig 39 is installed on the installation base 37 of the three-dimensional measuring machine 2. Further, by controlling the driving of the three-dimensional measurement robot 36, the workpiece W to be inspected is installed on the three-dimensional measuring machine 2 while being supported by a plurality of inspection jigs 39 from a predetermined stacker rack 7 of the inspection and measurement hangar 6. It is installed on the base 37.

By the operation control of the coordinate measuring machine 2, the workpiece W installed on the installation table 37 is detected, and the coordinate measuring machine 2 automatically performs the three-dimensional measurement of the workpiece W.

After the three-dimensional measurement is completed, the workpiece W that has been inspected is returned to the predetermined stacker rack 7 of the automatic warehouse 3 by the drive control of the three-dimensional measurement robot 36 and the automatic warehouse 3.

Further, when the inspection of the processed product W of the same standard is continuously performed, the next processed product W is supported by the plurality of inspection jigs 39 on the installation table 37 of the coordinate measuring machine 2 in the same manner as above. Once installed, the coordinate measuring machine 2 automatically measures the workpiece W in three dimensions.

On the other hand, when inspecting the processed product W having different specifications, the inspection jig 39 is appropriately disassembled and returned to the inspection jig stocker 41, and the inspection jig 39 is assembled and installed according to the new processed product W. The installation on the table 37, the processed product W, and the three-dimensional measurement are sequentially performed.

In the automatic inspection system A for processed products of the present embodiment, as shown in FIG. 1, a processed product W, such as a large processed product W, which cannot be automatically inspected by the automatic three-dimensional measurement inspection system C, is used. A three-dimensional measurement region R2' for inspection is provided, and an operator or the like can perform three-dimensional measurement inspection here.

Therefore, in the automatic inspection system A of the processed product of the present embodiment, various inspections such as the appearance inspection and the three-dimensional measurement inspection of the processed product W can be automatically performed, and the inspection process of the processed product W is made efficient. It will be possible.

Although one embodiment of the automatic inspection system for processed products according to the present invention has been described above, the present invention is not limited to the above-mentioned one embodiment and can be appropriately modified without departing from the spirit thereof.

1 Automated warehouse for visual inspection (distributed warehouse for uninspected products)
2 Three-dimensional measuring machine 3 Automatic warehouse for three-dimensional measurement 4 Automatic transfer section 5 Storage hang for measurement 6 Storage hang for inspection and measurement 7 Stacker rack (packing rack)
8 Stacker Crane 10 Cleaning Device 11 Air Blow Device 12 Handling Robot 16 Appearance Inspection Robot (Appearance Inspection Device)
17 Screw inspection robot 18 Imaging device (visual inspection device)
35 Equipment for three-dimensional measurement 36 Robot for three-dimensional measurement A Automatic inspection system for workpieces B Automatic screw inspection system C Automatic three-dimensional measurement inspection system R1 Inspection area for visual inspection R2 Three-dimensional measurement area W

Claims (1)

At least an automated warehouse for visual inspection, which stores processed products to be measured and inspected for cleaning and visual inspection,
An automatic warehouse for three-dimensional measurement that stores the processed product to be measured and inspected by the three-dimensional measuring machine,
An automatic transfer unit that automatically transfers the processed product between the automatic warehouse for visual inspection and the automatic warehouse for three-dimensional measurement,
Appearance inspection area where at least the cleaning device and the appearance inspection device are provided adjacent to the appearance inspection automatic warehouse, and the processed product is automatically conveyed to and from the appearance inspection automatic warehouse. When,
A three-dimensional measurement area provided adjacent to the three-dimensional measurement automatic warehouse, which has a three-dimensional measurement robot that conveys the processed product between the three-dimensional measurement machine and the three-dimensional measurement automatic warehouse. An automatic inspection system for processed products that includes and.

Images