JP4438534B2 - Molded article inspection apparatus and molded article inspection method - Google Patents

Description

  The present invention relates to a technique for inspecting a molded product molded using a mold.

  Conventionally, as a technique for inspecting the quality of the external shape of a molded product, for example, there is one described in Patent Document 1.

  In this inspection technique, the molded product is imaged from the lower side of the middle mold while the molded product is in the middle mold. Further, the molded product is imaged from above with the molded product removed from the middle mold and transferred to a predetermined tray unit.

  Then, predetermined image processing is performed on the captured image from the lower surface side of the middle mold, and the shape quality inspection of the lower side portion of the molded product is performed. In addition, predetermined image processing is performed on the captured image from above the tray unit, and the shape quality inspection of the upper side portion of the molded product is performed, and the number of molded products in the tray unit is counted to determine the middle mold It is inspected whether there is any molded product remaining without being demolded.

JP 2003-247948 A

  However, depending on the shape or the like of the molded product, there may be a plurality of locations where shape defects are likely to occur. In such a case, it is necessary to image and inspect the molded product at more places.

  Therefore, the present invention provides a technique capable of inspecting a molded product molded at a lower cost at a lower cost by imaging a larger number of locations and inspecting the presence or absence of the molded product in the mold. Objective.

A first aspect of the present invention is an inspection apparatus for a molded product molded using a middle mold sandwiched between an upper mold and a lower mold, and has a molding cavity hole, A middle mold disposed at the inspection position with a molded product in the cavity hole, and movably disposed between a position on one surface side and a position on the other surface side of the middle mold at the inspection position. The molded product before demolding in the cavity hole is imaged from the one surface side of the middle mold at the one surface side position, and the cavity hole from the other surface side of the middle mold at the other surface side position. A first imaging unit having a first imaging means for imaging a molded product before demolding, a molded product receiving portion for receiving the molded product removed from the middle mold in a fixed posture, and the molded product receiving portion. , Discharging the molded product to the outside from the receiving position for receiving the molded product from the middle mold A molded product receiving unit having a receiving unit moving means for moving to a position and an image of the molded product held by the molded product receiving unit while the molded product receiving unit moves from the receiving position to the discharge position Based on the second imaging unit having the second imaging means, and the image data obtained through the first imaging unit and the second imaging unit, the shape of the molded product is inspected, and through the second imaging unit Determination means for inspecting whether or not the molded product remains in the middle mold based on the obtained image data, and the first imaging unit includes a first imaging means for the middle mold. In the outer periphery, the first surface is disposed movably between the position on the one surface side and the position on the other surface side, and light from the one surface side of the middle mold is disposed on the one surface side position. One side leading to the imaging means And a light guide unit configured to further include a light guide unit and a light guide unit configured to guide the light from the other side of the middle mold to the first imaging unit disposed at the position of the other side. .

  A molded product inspection device according to a second aspect is an inspection device for a molded product molded using a middle mold sandwiched between an upper mold and a lower mold, and includes a cavity hole for molding. It is movable between the middle mold disposed at the inspection position with the molded product in the cavity hole, and the position on one side and the other side of the middle mold at the inspection position. The molded product before demolding in the cavity hole is imaged from one surface side of the middle mold at the one surface side position, and from the other surface side of the middle mold at the other surface side position. A first imaging unit having first imaging means for imaging a molded product before demolding in the cavity hole; a molded product receiving portion for receiving the molded product demolded from the middle mold in a fixed posture; and the molded product The receiving part is discharged from the receiving position for receiving the molded product from the middle mold. A molded product receiving unit having a receiving unit moving means for moving to a discharging position, and a molded product held by the molded product receiving unit while the molded product receiving unit moves from the receiving position to the discharging position. Based on a second imaging unit having a second imaging means for imaging, and image data obtained through the first imaging unit and the second imaging unit, the shape of the molded product is inspected, and the second imaging unit Determination means for inspecting whether or not the molded product remains in the middle mold based on image data obtained through the unit, wherein the second imaging unit includes a cavity hole in the molded product. Imaging is performed by focusing on the part that has entered.

  A molded product inspection apparatus according to a third aspect is an inspection apparatus for a molded product molded using a middle mold sandwiched between an upper mold and a lower mold, and includes a cavity hole for molding. It is movable between the middle mold disposed at the inspection position with the molded product in the cavity hole, and the position on one side and the other side of the middle mold at the inspection position. The molded product before demolding in the cavity hole is imaged from one surface side of the middle mold at the one surface side position, and from the other surface side of the middle mold at the other surface side position. A first imaging unit having first imaging means for imaging a molded product before demolding in the cavity hole; a molded product receiving portion for receiving the molded product demolded from the middle mold in a fixed posture; and the molded product The receiving part is discharged from the receiving position for receiving the molded product from the middle mold. A molded product receiving unit having a receiving unit moving means for moving to a discharging position, and a molded product held by the molded product receiving unit while the molded product receiving unit moves from the receiving position to the discharging position. Based on a second imaging unit having a second imaging means for imaging, and image data obtained through the first imaging unit and the second imaging unit, the shape of the molded product is inspected, and the second imaging unit Determining means for inspecting whether or not the molded product remains in the middle mold based on image data obtained through the unit, wherein the molded product is an annular molded product, and the molded product receiving unit Has a receiving pin portion that supports the annular molded product from the inside and receives it in a fixed posture.

  The molded article inspection apparatus according to the fourth aspect is the molded article inspection apparatus according to any one of the first to third aspects, wherein the first imaging unit is configured such that the first imaging means is positioned on the one surface side. In the state of being disposed on the other side of the middle mold, the imaging is performed while focusing on one side of the middle mold, and the first imaging means is disposed at the position on the other side. Imaging is performed with a focus on the direction.

  A method for inspecting a molded product according to a fifth aspect is a method for inspecting a molded product molded using a middle mold sandwiched between an upper mold and a lower mold. A one-surface-side light guiding means for moving the light from the one-surface side of the middle mold to the first imaging means disposed at the one-surface side position by moving to one position of the middle mold. An imaging step of imaging the molded product before demolding from one side of the middle mold, and the first imaging means is moved to a position on the other side of the middle mold, and the middle mold The molding before demolding from the other surface side of the middle mold through the other surface side light guiding means for guiding the light from the other surface side of the first surface to the first imaging means disposed at the position on the other surface side An imaging step of imaging a product, a step of transferring the molded product removed from the middle mold to a molded product receiving unit so as to receive the molded product in a fixed posture, and the molded product receiving unit The step of imaging the held molded product, the captured image data from one side of the middle mold, the captured image data from the other side of the middle mold, and the molding on the molded product receiving unit A step of inspecting the shape quality of the molded product based on the captured image data of the product, and the remaining of the molded product in the middle mold based on the captured image data of the molded product on the molded product receiving unit And a step of inspecting for the presence or absence.

A method for inspecting a molded product according to a sixth aspect is a method for inspecting a molded product molded using a middle mold sandwiched between an upper mold and a lower mold. An imaging step of moving the middle mold to a position on one side of the middle mold and imaging the molded product before demolding from one side of the middle mold, and the first imaging means on the other side of the middle mold An imaging step of moving to a side position and imaging the molded product before demolding from the other side of the middle mold, and a molded product so as to receive the molded product demolded from the middle mold in a fixed posture A step of transferring to the receiving unit, a step of imaging the molded product held by the molded product receiving unit while focusing on a portion of the molded product that has entered the cavity hole, and one of the middle molds captured image data from the surface side, the captured image data from the other side of the middle mold, shooting of the molded article at the molded article receiving on Based on the image data, inspection a step of inspecting the shape quality of the molded article, on the basis of the captured image data of the molded article at the molded article receiver on the presence or absence of residual of the molded article in said middle mold And a step of performing.
A method for inspecting a molded product according to a seventh aspect is an inspection method for an annular molded product molded using a middle mold sandwiched between an upper mold and a lower mold, and the first imaging means Is moved to a position on one side of the middle mold to image the annular molded product before demolding from one side of the middle mold, and the first imaging means is connected to the middle mold. An imaging step of moving to the position on the other surface side to image the annular molded product before demolding from the other surface side of the middle mold, and a receiving pin that supports the annular molded product from the inside and receives it in a fixed posture A step of transferring the annular molded product removed from the middle mold to the molded product receiving unit so that the molded product receiving unit is received in a fixed posture using a molded product receiving unit having a portion, and held by the molded product receiving unit. In addition, the step of imaging the annular molded product, the captured image data from one side of the middle mold, the other side of the middle mold And a step of inspecting the shape of the annular molded product based on the imaged image data of the annular molded product on the molded product receiving unit, and the annular molding on the molded product receiving unit. And a step of inspecting whether or not the annular molded product remains in the middle mold based on captured image data of the product.

According to the molded product inspection apparatus according to the first to fourth aspects configured as described above, the first imaging unit allows one of the middle molds to be in a state before the molded product is removed from the middle mold. The molded product before demolding in the cavity hole is imaged from the direction side, and the molded product before demolding in the cavity hole is imaged from the other surface side of the middle mold. Furthermore, the molded product on the molded product receiving unit is imaged by the second imaging unit while the molded product receiving unit moves from the receiving position to the discharge position. Therefore, the molded product can be inspected by imaging more places at a lower cost. Moreover, based on the image data imaged by the 2nd imaging unit, the presence or absence of the molded product remaining in the mold can be inspected.

According to the first or fifth aspect, the first imaging unit is arranged such that the first imaging means is movable between the position on the one surface side and the position on the other surface side around the outer periphery of the middle mold. In addition, from one surface side light guiding means for guiding light from one surface side of the middle mold to the first imaging means disposed at the one surface side position, and from the other surface side of the middle mold And the other surface side light guiding means for guiding the light to the first imaging means disposed at the other surface side position, the first imaging means with a smooth and compact structure, It can be moved between the position on one side and the position on the other side on the outer periphery of the middle mold.

Further, as in the fourth aspect, in the state where the first imaging means is disposed at the position on the one surface side, the first imaging is performed by focusing on one surface of the middle mold. In a state where the means is disposed at the position on the other surface side, by focusing on the other surface of the middle mold and performing imaging, a molded product is accurately obtained at a location where shape defects such as burrs are likely to occur. The shape pass / fail inspection can be performed.

By the way, since the first imaging unit images the molded product before demolding, it cannot capture the portion of the molded product that has entered the cavity hole. Therefore, as in the second or sixth aspect, it is suitable that the portion of the molded product that has entered the cavity hole is imaged by the second imaging unit on the molded product receiving portion after demolding. ing.

Furthermore, as in the third or seventh aspect, when the molded product receiving portion has a receiving pin portion that supports the annular molded product from the inside and receives it in a fixed posture, the annular molded product is not misaligned. The shape of the outer peripheral surface can be recognized with high accuracy.

In addition, according to the molded product inspection method according to the fifth to seventh aspects , the single molded article is imaged from one side of the middle mold by moving the single first imaging means. At the same time, the molded product before demolding is imaged from the other side of the middle mold. Furthermore, the molded product held in the molded product receiving part is imaged. Therefore, the molded product can be inspected by imaging more places at a lower cost. Further, based on the imaged image data of the molded product on the molded product receiving unit, it is possible to inspect whether or not the molded product remains in the middle mold.

  Hereinafter, a molded product inspection apparatus according to an embodiment of the present invention will be described.

  First, an example of a molded product to be inspected will be described. FIG. 1 is a perspective view showing a molded product, and FIG. 2 is a cross-sectional view showing a step in the middle of molding the molded product.

  This molded product 1 is an annular molded product molded from rubber, resin, or the like. Here, the molded product 1 is molded into a substantially rectangular annular shape with rubber. Then, two annular grooves 2 are formed on the inner peripheral surface of the molded product 1 along the circumferential direction thereof, and the bulging projections projecting along the circumferential direction are formed on the outer peripheral surface of the molded product 1. 3 is formed. The molded product 1 is, for example, a component that is disposed on the inner peripheral portion or the outer peripheral portion of the connector fitting portion to prevent water from entering the connector fitting portion, that is, as a rubber plug for a waterproof connector. Used.

  The molded product 1 is molded using a middle mold 26 sandwiched between an upper mold 22 and a lower mold 24.

  That is, a cavity hole 26 h having an inner peripheral surface shape corresponding to the outer peripheral side surface of the molded product 1 is formed in the substantially plate-shaped middle mold 26. The upper mold 22 and the lower mold 24 are members that respectively close the upper opening and the lower opening of the cavity hole 26h. A core 25 having an outer peripheral shape corresponding to the inner peripheral side surface of the molded product 1 is integrally formed on one side of the upper mold 22 and the lower mold 24 (here, the lower mold 24).

  Then, the core 25 is disposed in the cavity hole 26h, and the cavity hole 26h is closed through the runner and gate (not shown) while the upper and lower openings of the cavity hole 26h are closed by the upper mold 22 and the lower mold 24. The molten rubber is filled in 26h. Then, after cooling and solidification, when the upper mold 22 and the lower mold 24 are removed, the molded product 1 remains in the cavity hole 26h. By releasing this from the cavity hole 26 h of the middle mold 26, the molded product 1 is manufactured.

  In the present embodiment, the inspection apparatus for the molded product 1 as described above will be described in a form integrally incorporated in the following molding inspection apparatus.

  FIG. 3 is an explanatory diagram showing an overall schematic side configuration of the molding inspection apparatus, and FIG. 4 is an explanatory diagram showing an overall planar schematic configuration of the molding inspection apparatus.

  First, a basic configuration and operation for the molding inspection apparatus to mold and discharge the molded product 1 will be described. This molding inspection apparatus receives a molding machine 10 for molding a molded product 1, a demolding machine 30 for demolding a molded product 1 that has been molded, and a molded product 1 that has been demolded. And a molded product receiving and discharging machine 50 for discharging.

  The molding machine 10 includes an upper mold 22, a lower mold 24, and a middle mold 26 sandwiched therebetween.

  FIG. 5 is a plan view showing the middle mold 26. The middle mold 26 is a metal member in a substantially rectangular plate shape having a predetermined thickness. A plurality of cavity holes 26h (see FIG. 2) having the above-described shape are formed in a substantially circular region at the center of the middle mold 26 in an appropriate arrangement.

  Returning to FIGS. 3 and 4, the middle mold 26, together with the lower mold 24, is molded by the mold horizontal drive mechanism 12 below the upper mold 22 (position moved to the right side in FIG. 3), It is movable between the delivery position on the side of the demolding machine 30 (position moved to the left side in FIG. 3).

  Further, the upper mold 22 can be moved up and down by a mold lifting drive mechanism (not shown).

  Then, with the lower mold 24 and the middle mold 26 positioned at the molding position, the upper mold 22 is lowered, so that the upper and lower openings of the cavity holes 26h of the middle mold 26 become the upper mold 22 and the lower mold. Closed with a mold 24. In this state, each rubber hole 26h is filled with molten rubber.

  Further, after the rubber is cooled and solidified, the upper mold 22 is moved upward, and then the lower mold 24 and the middle mold 26 are moved to the delivery position, and the middle mold 26 is moved to the demolding machine 30 side. Delivered.

  The demolding machine 30 includes a mold cradle 32 that receives the middle mold 26 and holds it in a substantially horizontal posture, a mold cradle lifting mechanism 34 for moving the mold cradle 32 up and down, and a middle mold. A demolding mechanism 36 for demolding the molded product 1 from each cavity hole 26h of the mold 26 is provided.

  The mold cradle 32 has a pair of clamping parts 32 a that can clamp both side parts of the middle mold 26. Further, the mold cradle raising / lowering mechanism 34 drives the mold cradle 32 up and down between the mold receiving position, the mold inspection position, and the removal position by driving an actuator such as an air cylinder. It is configured.

  That is, the middle mold 26 moves to the delivery position together with the lower mold 24 in a state where the mold receiving base 32 is disposed at the lowermost mold receiving position. Then, the pair of sandwiching portions 32 a of the mold receiving base 32 sandwiches both side portions of the middle mold 26 and receives the middle mold 26. Then, by raising the middle mold 26, the middle mold 26 and the lower mold 24 are separated.

  Thereafter, the mold cradle 32 is moved up to the mold inspection position at the middle position in the vertical direction and stopped for a certain period of time. In this state, as will be described later, imaging of each molded product 1 in each cavity hole 26h of the middle mold 26 is performed.

  Further, the mold cradle 32 is moved up to the mold release position at the uppermost position. At this position, the molded product 1 is removed from each cavity hole 26 h of the middle mold 26.

  The demolding mechanism 36 includes an air nozzle 37 that ejects air, and a nozzle horizontal movement mechanism 38 that horizontally moves the air nozzle 37.

  The air nozzle 37 ejects air from an air supply source (not shown) at such a pressure that the mold 1 can be released from the cavity hole 26h. The nozzle horizontal movement mechanism 38 is constituted by an XY robot or the like, and horizontally moves the air nozzle 37 so as to sequentially pass above the cavity holes 26h of the middle mold 26 at the demolding position.

  Then, when the air nozzle 37 passes above each cavity hole 26h, release air is blown into each cavity hole 26h from above, and the molded product 1 is released from each cavity hole 26h. It has become.

  The molded product receiving / discharging machine 50 includes a molded product receiving unit 52 and a receiving unit moving mechanism 60 as a receiving unit moving means for moving the molded product receiving unit 52.

  The molded product receiving portion 52 is configured to be able to receive the molded product 1 removed from the middle mold 26 in a fixed posture. A more specific configuration of the molded product receiving unit 52 will be described later.

  The receiving unit moving mechanism 60 causes the molded product receiving unit 52 to receive the molded product 1 from the middle mold 26 (the right position in FIG. 3) and the defective product discharge position (the defective product 1 is discharged). It is moved horizontally between the center position in FIG. 3 and the non-defective product discharge position (the left position in FIG. 3) from which a good molded product 1 is discharged.

  That is, the receiving portion moving mechanism 60 has a movable frame portion 63 in which a pair of side plate portions 62 are erected on both sides of the bottom plate portion 61 (see FIGS. 6 and 7). The movable frame portion 63 is supported on the apparatus housing 18 through a rail 64 so as to be horizontally movable, and is horizontally driven by a ball screw mechanism having a motor 64a, a screw shaft 64b, and a nut portion 64c. It has become. That is, a motor 64a is fixed on the apparatus housing 18 side, and a screw shaft 64b is connected to a rotation shaft of the motor 64a. The nut portion 64c is fixed to the bottom surface of the movable frame portion 63 in a state where the nut portion 64c is screwed to the screw shaft 64b. As the motor 64a rotates in the forward or reverse direction, the nut portion 64c moves while being screwed along the screw shaft 64b, thereby moving the movable frame portion 63 horizontally.

  Further, the molded product receiving / discharging machine 50 includes a defective product discharging mechanism 82. The defective product discharge mechanism 82 is configured by, for example, a combination of a grip portion that can grip only one molded product 1 and a robot that moves the grip portion. This defective product discharge mechanism 82 grips one of the molded products 1 on the receiving unit 52 arranged at the defective product discharge position, one by one determined by the determination unit 78 as a defective product, The product is discharged to the defective product collection unit 82a.

  Furthermore, the molded product receiving / discharging machine 50 has a non-defective product discharging mechanism 84. The non-defective product discharge mechanism 84 moves, for example, a substantially U-shaped discharge frame 84 a that collects and discharges the molded products 1 on the molded product receiving portion 52, and moves the discharge frame 84 a on the molded product receiving portion 52. It is configured by a combination with moving means or the like. The non-defective product discharge mechanism 84 is configured to be able to discharge the non-defective molded product 1 remaining on the molded product receiving unit 52 disposed at the non-defective product discharge position to the external non-defective product collecting unit 85a. . Further, in order to eliminate the bulk of the product when a large number of products are discharged, an air blowing mechanism is added in addition to the discharge frame 84a.

  The overall configuration of the present molding inspection apparatus is as described above. Hereinafter, the configuration of the main part for inspecting the molded product 1 will be described in more detail.

  That is, this inspection apparatus is an inspection apparatus for the molded product 1 molded using the middle mold 26 as described above, and is molded as the middle mold 26, the first imaging unit 40, and the molded product receiving unit. The product receiving / discharging machine 50, the 2nd imaging unit 70, and the determination part 78 (refer FIG. 14) are provided as a component.

  The 1st imaging unit 40 is made into the form integrally assembled | attached to the said molded article receiving / discharging machine 50. As shown in FIG. FIG. 6 is a partial cross-sectional side view showing the molded product receiving / discharging machine 50 to which the first imaging unit 40 is assembled, and FIG. 7 is a plan view showing the molded product receiving / discharging machine 50.

  The first imaging unit 40 includes a first imaging camera 42 as first imaging means. The first imaging camera 42 has an upper imaging position (the other surface side position in FIG. 6, an upper position indicated by a solid line in FIG. 6) and a lower imaging position (lower surface side position in FIG. 6) of the middle mold 26. Then, it is movably disposed between the lower position indicated by a two-dot chain line). Then, the first imaging camera 42 images the molded product 1 before demolding in the cavity hole 26h from the upper surface side of the middle mold 26 using the light reflection by the first upper reflecting portion 43a at the upper imaging position. At the lower imaging position, the molded product 1 before demolding in the cavity hole 26h is imaged from the lower surface side of the middle mold 26 using light reflection by the first lower reflecting portion 43b. .

  More specifically, the front end portion (the end portion on the mold release machine 30 side) of the movable frame portion 63 of the molded product receiving and discharging machine 50 has projecting support portions 63a and 63b that can be divided into upper and lower forks, A space is formed between the projecting support portions 63a and 63b so that the middle mold 26 can be inserted and arranged in a substantially horizontal posture.

  In addition, a first upper reflecting portion 43a and a first upper illumination portion 44a are provided in the tip portion of the upper protruding support portion 63a, and the first lower reflecting portion 43b and the first upper reflecting portion 43b are provided in the tip portion of the lower protruding support portion 63b. A first lower illumination unit 44b is provided.

  The first upper illumination part 44a has a light emitting source such as a light emitting diode, and is configured to illuminate the upper surface of the middle mold 26 disposed between the projecting support parts 63a and 63b. . The first upper reflecting portion 43a is constituted by a prism, a general reflecting mirror, and the like, and reflects light from the upper surface side of the middle mold 26 disposed between the projecting support portions 63a and 63b. It functions as a light guide that guides toward the first imaging camera 42 at the upper imaging position.

  The first lower illumination unit 44b is configured to illuminate the upper surface of the middle mold 26 between the projecting support portions 63a and 63b by the same configuration as the first upper illumination unit 44a. The first lower reflecting portion 43b has the same configuration as the first upper reflecting portion 43a, reflects light from the lower surface of the middle mold 26 between the projecting support portions 63a and 63b, and the first lower reflecting portion 43b at the lower imaging position. It functions as a light guide that guides the camera to one imaging camera.

  The first imaging camera 42 is supported so as to be movable up and down via a lifting guide rail 62a in a rear end portion (an end portion far from the mold release machine 30) of the movable frame portion 63. And it is comprised so that a raising / lowering drive may be carried out between an upper imaging position and a lower imaging position by camera raising / lowering drive parts 62b, such as an air cylinder.

  As the first imaging camera 42, a CCD camera or the like that outputs a captured image as a video signal is used. In the present embodiment, a line sensor (also referred to as a linear sensor) that outputs a one-dimensional image as a video signal is used as the first imaging camera. Of course, a two-dimensional imaging camera may be used.

  In the present embodiment, imaging of the molded article 1 by the first imaging unit 40 is performed as follows.

  That is, as shown in FIG. 8A, in a state where the middle mold 26 is held at the mold inspection position by the mold cradle 32 and the first imaging camera 42 is disposed at the upper imaging position. The movable frame part 63 is moved to the mold releaser 30 side.

  8B, the middle mold 26 is disposed between the projecting support portions 63a and 63b, and the first upper reflecting portion 43a and the first upper illumination portion 44a are located above the middle mold 26. , The two-dimensional image of the upper surface side of the middle mold 26 is obtained as follows.

  That is, in the state shown in FIG. 8B, the illumination light from the first upper illumination unit 44a illuminates the upper surface side of the middle mold 26, and the light from the upper surface side of the middle mold 26 The light is reflected by the reflecting portion 43 a and guided to the first imaging camera 42. Thereby, a one-dimensional image on the upper surface side of the middle mold 26 is obtained. As the movable frame portion 63 moves, the first upper reflecting portion 43a scans the upper side of the middle mold 26, whereby a continuous one-dimensional image on the upper surface side of the middle mold 26 is obtained. Based on the above, a two-dimensional image of the upper surface side of the middle mold 26, that is, an image from above each molded product 1 before demolding in the cavity hole 26 h of the middle mold 26 is obtained.

  Next, as shown in FIG. 8C, the movable frame portion 63 is moved and stopped until the first upper reflecting portion 43 a passes over the entire upper part of the middle mold 26. Then, the first imaging camera 42 is lowered to the lower imaging position.

  Thereafter, as shown in FIG. 8D, the movable frame portion 63 is moved in a direction away from the demolding machine 30. Then, when the first lower illumination unit 44b and the first lower reflection unit 43b pass under the middle mold 26, the illumination light from the first lower illumination unit 44b illuminates the lower surface side of the middle mold 26, and Light from the lower surface side of the middle mold 26 is reflected by the first lower reflecting portion 43 b and guided to the first imaging camera 42. Thus, in the same manner as described above, a two-dimensional image on the lower surface side of the middle mold 26, that is, an image from the lower side of each molded product 1 before demolding in the cavity hole 26 h of the middle mold 26 is obtained.

  Finally, as shown in FIG. 8E, the upper and lower surfaces of the middle mold 26 are imaged by moving the movable frame portion 63 until it returns to the original position. Based on this captured image, the determination unit 78 performs a quality inspection of each molded product 1.

  The molded product receiving / discharging machine 50 has a molded product receiving portion 52 that receives the molded product 1 removed from the middle mold 26 in a fixed posture.

  FIG. 9 is a plan view showing the molded product receiving portion 52, and FIG. 10 is a partially sectional side view showing the molded product receiving portion 52. In FIG. 10, the left half shows a state where the receiving pin portion 54a protrudes upward, and the right half shows a state where the receiving pin portion 54a is retracted downward.

  The molded product receiving portion 52 includes a basic plate portion 53, a pin support plate portion 54, and a receiving plate portion 56 that are arranged in order from the lower side.

  The basic plate portion 53 is fixed to the upper portion on one end side of the movable frame portion 63. In the central portion of the basic plate portion 53, a hole portion is formed so as not to interfere with the lifting support / drive mechanism of the pin support plate portion 54 and the receiving plate portion 56 described later.

  The receiving plate portion 56 includes a circular receiving plate portion 57 and an outer peripheral plate portion 58. The outer peripheral plate portion 58 is supported on the basic plate portion 53 via a guide pin 58a so as to be movable up and down, and is configured to be lifted and lowered by a plate lifting and lowering drive portion 58b such as an air cylinder.

  The outer peripheral plate portion 58 is formed with a substantially circular hole portion 58h. A circular receiving plate portion 57 is disposed so as to be movable upward so as to close the hole portion 58h from above. Yes.

  In the circular receiving plate portion 57, holes 57ha and 57hb, which will be described in detail later, are formed at positions corresponding to the cavity holes 26h in the middle mold 26 (see FIGS. 10 and 11).

  The pin support plate portion 54 is formed as a plate-like member having a spread corresponding to the circular receiving plate portion 57, and a receiving pin portion 54a that can be inserted into the hole portion 57ha is formed on the upper surface thereof. Yes.

  The pin support plate portion 54 is supported so as to be movable up and down relatively with respect to the receiving plate portion 56 via a guide pin 54b. Further, a body portion 59a of a pin lifting / lowering drive portion 59 such as an air cylinder is fixed to the pin support plate portion 54 side, and a rod portion 59b that is driven out and retracted from the body portion 59a is connected and fixed to the outer peripheral plate portion 58. ing.

  In a state where the rod portion 59b has advanced, the receiving pin portion 54a is disposed at a pin retracting position that is separated from the outer peripheral plate portion 58 by a predetermined distance. In this state, the receiving pin portion 54a is in a state of being retracted to the back of the hole portion 57ha.

  When the rod portion 59b is retracted from this state, the pin support plate portion 54 first moves up and down. In the middle of this, the protrusion 57 c formed on the lower surface of the circular receiving plate portion 57 contacts the upper surface of the pin support plate portion 54. Thereafter, as the pin support plate portion 54 continues to move up and down, the circular receiving plate portion 57 is also lifted slightly upward. In this state, the receiving pin portion 54a protrudes above the hole portion 57ha.

  A description will be given of the configuration of the main part in which each molded product 1 removed from the molded product receiving unit 52 is received. 11 is a view showing a state in which the molded product 1 removed from the middle mold 26 is received by the receiving pin portion 54a, and FIG. 12 is a state in which the molded product 1 is placed on the circular receiving plate portion 57. FIG.

  That is, a pair of receiving pin portions 54 a are formed to protrude from the pin support plate portion 54 at positions corresponding to the cavity holes 26 h in the middle mold 26. The pair of receiving pin portions 54a are formed in a circular bar shape whose tip ends are gradually narrowed, and the annular molded product 1 is supported at least at two locations from the inner peripheral side to receive the molded product 1 in a fixed posture. It has a configuration that can. Here, the outer width dimension of the pair of receiving pin portions 54 a is set to be substantially the same as the inner diameter dimension in the longitudinal direction of the molded product 1. Then, the molded product 1 can be received in a fixed posture by inserting and supporting the inner peripheral portions on both ends in the longitudinal direction of the molded product 1 with a pair of receiving pin portions 54a.

  An air vent hole 54 h is formed at a position between each pair of receiving pin portions 54 a in the pin support plate portion 54.

  In addition, a pair of hole portions 57ha through which the pair of receiving pin portions 54a can be inserted are formed in the circular receiving plate portion 57 at positions corresponding to the cavity holes 26h in the middle mold 26, respectively. An air vent hole 57hb is formed between the pair of holes 57ha.

  The operation of receiving the molded product 1 removed from the middle mold 26 with the above-described configuration by the receiving pin portion 54a will be described as follows.

  First, the middle mold 26 having the molded product 1 in the cavity hole 26h is held by the mold cradle 32 and is lifted to the demolding position by the mold cradle lifting mechanism 34 (uppermost in FIG. 3). Position), the molded product receiving portion 52 moves to a position below the middle mold 26. In this state, the outer peripheral plate portion 58 is raised by driving the plate lifting / lowering driving portion 58b, and the pin support plate portion 54 is also raised by driving the pin lifting / lowering driving portion 59.

  As a result, as shown in FIG. 11, the circular receiving plate portion 57 is disposed below the middle mold 26 with an interval that allows the molded product 1 to be placed. In addition, each pair of receiving pin portions 54a is inserted into each pair of hole portions 57ha, and the tip ends of each pair of receiving pin portions 54a enter the respective cavity holes 26h.

  In this state, the air nozzle 37 of the demolding mechanism 36 is moved so as to sequentially pass above the cavity holes 26 h of the middle mold 26 by driving the nozzle horizontal movement mechanism 38. When air blown from the air nozzle 37 is blown onto the molded product 1 in the predetermined cavity hole 26h, the molded product 1 is released from the cavity hole 26h under the air pressure.

  Then, the molded product 1 moves onto the circular receiving plate portion 57 while the pair of receiving pin portions 54 a are inserted into the molded product 1. Thus, the molded product 1 is received by the receiving pin part 54a with a fixed attitude | position.

  Note that the demolding air flows to the outside through the space between the circular receiving plate portion 57 and the middle mold 26 and the air vent hole 54h from the hole portion 57ha.

  Thereafter, the outer peripheral plate portion 58 is lowered by driving the plate raising / lowering driving portion 58b, and the pin support plate portion 54 is lowered by driving the pin raising / lowering driving portion 59. Then, as shown in FIG. 12, each pair of receiving pin portions 54a retreats to the lower side of each hole portion 57ha. As a result, each molded product 1 is placed on the circular receiving plate portion 57 in the fixed posture received by the pair of receiving pin portions 54a and in an aligned state.

  In addition to the above-described configuration, the molded product receiving portion 52 that receives the molded product 1 removed from the middle mold 26 in a fixed posture is an upper surface of a plate-like member having a predetermined thickness and is formed in each cavity hole 26h. A configuration using a saucer in which a bottomed hole corresponding to the outer shape of the molded product 1 is formed at a corresponding position may be employed.

  However, as in the present embodiment, when the receiving pin portion 54a supports the annular molded product 1 from the inside and receives it in a fixed posture, the shape of the outer peripheral portion of the molded product 1 can be accurately recognized. There is an advantage that you can.

  As shown in FIGS. 3 and 13, the second imaging unit 70 discharges the molded product 1 from the receiving position where the molded product receiving unit 52 receives the molded product 1 (here, the defective molded product 1 is discharged). In the middle of moving to the defective product discharge position), a second imaging camera 72 is provided as second imaging means for imaging each molded product 1 held by the molded product receiving unit 52.

  More specifically, the second imaging unit 70 includes a second imaging camera 72, a second reflection unit 74, and a second illumination unit 75.

  The second illumination unit 75 has a light emitting source such as a light emitting diode, and is disposed in the middle of a path along which the molded product receiving unit 52 moves from the receiving position to the defective product discharging position. And it is the structure which projects each molded product on the molded product receiving part 52 in the middle of the movement of the said path | route.

  Further, the second reflecting portion is configured by a prism, a general reflecting mirror, and the like, and is disposed above the second illumination portion 75. Then, the molded product receiving unit 52 is configured to reflect the light from each molded product 1 placed thereon and guide it to the second imaging camera 72 while moving along the path.

  The second imaging camera 72 is fixed to the upper position of the apparatus housing 18 via a bracket (not shown). As the second imaging camera 72, as in the first imaging camera 42, a CCD camera or the like, particularly a line sensor is used in this embodiment. Of course, a two-dimensional imaging camera may be used.

  And in this embodiment, the imaging of the molded article 1 by the 2nd imaging unit 70 is performed as follows.

  That is, the molded product receiving portion 52 is moved from the receiving position to the defective product discharging position by the movement of the movable frame portion 63 in a state where each molded product 1 is removed from the middle mold 26 and placed on the molded product receiving portion 52. Move to.

  As shown in FIG. 13, when the molded product receiving portion 52 passes below the second reflecting portion 74 and the second illumination portion 75, the illumination light from the second illumination portion 75 is on the molded product receiving portion 52. While illuminating each molded product 1, the light from each molded product 1 is reflected by the second reflecting portion 74 and guided to the second imaging camera 72. Thereby, a one-dimensional image on the upper surface side of the middle mold 26 is obtained. As the molded product receiving unit 52 moves, the second reflecting unit 74 scans above the molded product receiving unit 52 to obtain a continuous one-dimensional image on the molded product receiving unit 52. Based on this, a two-dimensional image on the upper surface side of the molded product receiving portion 52, that is, an image from above each molded product 1 after demolding is obtained. Based on this captured image, the determination unit 78 performs a pass / fail inspection and a number inspection of each molded product 1.

  FIG. 14 is an overall block diagram of the present molding inspection apparatus. As shown in the figure, the molding inspection apparatus includes a control unit 76, and the control unit 76 controls overall operations such as mold molding, demolding, and collection of molded products.

  Further, the molding inspection apparatus includes a determination unit 78 that performs the number inspection and pass / fail inspection of the molded product 1 based on the captured image data from the first imaging unit 40 and the second imaging unit 70.

  The determination unit 78 is configured by a general microcomputer including a CPU, a ROM, a RAM, and the like. The first imaging unit 40 and the second imaging unit are connected via an interface board such as an image capture board (not shown). 70. And the determination part 78 performs the number inspection of the molded article 1 and a quality inspection by the software program stored beforehand.

  For example, the determination unit 78 performs image recognition processing such as binarization processing on the image data captured by the second imaging unit 70, and the molded product 1 in the image captured by the second imaging unit 70. Count the number. Then, the counted number is compared with a preset number of molded products (the number of cavity holes 26 h formed in the middle mold 26). When the count number and the number of molded products are the same, it is determined that the specified molded product has been removed, and when the count number is smaller than the number of molded products, the inside of the cavity hole 26h of the middle mold 26 It is determined that the molded product 1 remains and there is a remaining mold release.

  In addition, the determination unit 78 performs predetermined image processing such as binarization processing, approximation processing, and edge detection processing on the image data captured by the first imaging unit 40 and the second imaging unit 70 to form the image data. The quality of the outer shape of the product 1 is inspected. For example, in the captured image, the area of each molded product 1 or a predetermined distance between edges is compared with a predetermined reference value, and the shape of the molded product 1 is recognized in a predetermined inspection line set in the captured image. Check whether or not. Thereby, defects such as burrs, short shots, chips, bubbles, etc. generated around the molded product 1, that is, quality inspection of the external shape of the molded product 1 is performed.

  FIG. 15 is a flowchart for explaining mainly the operation related to the inspection of the molded product 1 among the operations of the present molding inspection apparatus.

  First, after the molded product 1 is molded by the molding machine 10, the middle mold 26 is taken out from the molding machine 10, held on the mold cradle 32 of the demolding machine 30, and placed at the mold inspection position. Established.

  In this state, as shown in step S <b> 1, the first imaging unit 40 is moved forward by the movement of the movable frame portion 63 toward the mold releaser 30 side, and the middle mold 26 is moved from the upper surface side of the middle mold 26. The molded product 1 in each of the 26 cavity holes 26h is imaged.

  Thereafter, in step S2, the first imaging camera 42 is lowered.

  In step S3, the first imaging unit 40 moves backward from the lower surface side of the middle mold 26 by moving the movable frame portion 63 away from the demolding machine 30 side. The molded product 1 in each cavity hole 26h is imaged.

  Thereafter, in step S4, the middle mold 26 is raised to the mold release position. In step S <b> 5, the molded product receiving portion 52 moves forward by the forward movement of the movable frame portion 63 and moves to a position below the middle mold 26.

  Thereafter, in step S6, each molded product 1 is demolded and transferred to the molded product receiving portion 52.

  Next, in step S <b> 7, the molded product receiving unit 52 moves backward by the forward movement of the movable frame unit 63, and each molded product 1 on the molded product receiving unit 52 is moved by the second imaging unit 70 during the backward movement. Images are taken from above.

  In step S8, the number of molded products 1 is counted on the molded product receiving unit 52 based on the image data captured by the second imaging unit 70, and the counted number is the specified number of molded products. (Demold confirmation). If the count number is less than the specified number, the process proceeds to step S12 and the molding inspection apparatus is stopped. Thereafter, the operator visually confirms the inside of each cavity hole 26h and the like of the middle mold 26, and removes the molded product 1 if it remains in each cavity hole 26h. Thereby, the malfunction caused by the residual in the cavity hole 26h of the molded article 1 can be prevented beforehand.

  On the other hand, if it is determined in step S8 that the count number satisfies the specified number, the process proceeds to step S9, and based on the image data captured by the first imaging unit 40 and the second imaging unit 70, An appearance shape inspection of each molded product 1 is performed.

  If it is determined that the predetermined molded product 1 has a defective shape, the process proceeds to step S11, and the molded product 1 determined to be defective by the defective product discharge mechanism 82 is discharged to the outside.

  On the other hand, when no defective shape is detected for the predetermined molded product 1 in step S9, the process proceeds to step S10 after the defective product is discharged in step S11. In step S10, the non-defective product discharge mechanism 84 discharges each molded product 1 on the molded product receiving unit 52 to the non-defective product collecting unit 85a. Thereby, each molded product 1 is distinguished and discharged into a good product and a defective product.

  According to the molded product inspection apparatus and the molded inspection device configured as described above, the middle mold 26 is obtained by the single first imaging unit 40 in a state before the molded product 1 is removed from the middle mold 26. The molded product 1 before demolding in the cavity hole 26h is imaged from the upper surface side of the mold, and the molded product 1 before demolding in the cavity hole 26h is imaged from the lower surface side of the middle mold 26. Furthermore, the molded product 1 on the molded product receiving unit 52 is imaged by the second imaging unit 70 while the molded product receiving unit 52 moves from the receiving position to the discharge position. Therefore, the molded product 1 can be inspected by imaging more places at a lower cost. Moreover, since the molded product 1 on the molded product receiving portion 52 is imaged after being removed from the middle mold 26, for example, by counting the number of molded products 1 based on the image data, the intermediate mold 26 is counted. The presence or absence of the remaining molded product 1 can also be inspected.

  Further, the first imaging unit 40 includes a first upper reflecting portion 43a that guides light from the upper surface side of the middle mold 26 to the first imaging camera 42 at the upper imaging position, and light from the lower surface side of the middle mold 26. The first imaging camera has a first lower reflection portion 43b that leads to the first imaging camera 42 at the lower imaging position and moves the first imaging camera 42 up and down between the upper imaging position and the lower imaging position. 42 can be moved up and down linearly around the outer periphery of the middle mold 26. Therefore, the configuration for moving the first imaging camera 42 up and down can be made compact and simple.

  Further, the molded product 1 in each cavity hole 26h is imaged, or each molded product 1 is imaged in an aligned state on the molded product receiving portion 52, and the shape is judged to be good. The hole 26h is prone to form defects but is easy to identify, and there is also an advantage that it is easy to deal with such problems.

  Moreover, since the shape quality inspection is performed immediately after the molded product 1 is molded, the malfunction of the molding machine 10 can be known immediately. Therefore, there is an advantage that such a malfunction can be dealt with quickly. Further, since the non-defective product inspection is performed at a stage before dust such as oil adheres to the molded product 1, it is possible to perform a highly accurate inspection from this point.

  By the way, in this apparatus, the first imaging unit 40 images the molded product 1 before demolding in each cavity hole 26h of the middle mold 26 from above or below.

  Therefore, as shown in FIG. 16, in the state where the first imaging camera 42 is disposed at the upper imaging position, the upper end portion of the molded product 1 is imaged while focusing on the upper surface of the middle mold 26 (see V1). ) In a state where the first imaging camera 42 is disposed at the lower imaging position, the lower end portion of the molded product 1 may be imaged while focusing on the lower surface of the middle mold (see V2).

  As a result, it is possible to determine the quality of the molded product 1 for the portions corresponding to the upper and lower surfaces of the middle mold 26 where shape defects such as burrs are likely to occur, and to accurately check the external shape of the molded product 1. It can be carried out.

  Moreover, the middle mold 26 is generally made of metal or the like and has a metallic color. Therefore, the shape of the molded product 1 can be accurately recognized by image processing by capturing an image of the molded product 1 molded with colored rubber or the like with the upper surface or the lower surface of the middle mold 26 as a background. Therefore, the appearance shape inspection can be performed with high accuracy.

  Further, a portion of the molded product 1 that has entered the cavity hole 26h, that is, a side intermediate portion of the molded product 1 is imaged by the second imaging unit 70 while focusing on the portion. A shape inspection may be performed (see V3). Thereby, a shape inspection can be performed also about the part which entered in the cavity hole 26h.

  In this case, since the receiving pin portion 54a is retracted and moved on the inner peripheral side of the molded product 1, the circular receiving plate portion 57 spreads in a uniform manner on the outer peripheral portion of the molded product 1. Therefore, the shape recognition of the outer peripheral surface of the molded product 1 can be performed with high accuracy, and the appearance shape quality inspection can be performed with high accuracy.

  Note that, when the molded product 101 is molded in such a manner that the molded product 101 protrudes from the cavity hole 126h of the intermediate mold 126 as in the molded product 101 shown in FIG. You may make it image by focusing on a protrusion part.

  In other words, an annular protrusion 101 a is formed at the intermediate portion in the vertical direction of the molded product 101. The upper surface of the middle mold 26 is disposed in accordance with the upper surface of the annular protrusion 101a, the lower part is formed by the cavity hole 126h, and the upper part is a mold on the upper mold side. It is formed by a surface (not shown).

  With respect to such a molded product 101, the first imaging unit 40 performs imaging of the molded product 101 while focusing on the upper surface or the lower surface of the middle mold 126 (see W 1 and W 2), and the second imaging unit 70 molds the molded product 101. Imaging may be performed by focusing on the upper end of the product 101 (see W3).

  In short, in the second imaging unit 70, imaging may be performed by focusing on a part that is appropriately taken into consideration, such as a part that is prone to form defects, in the molded products 1 and 101.

It is a perspective view which shows an example of the molded product used as shaping | molding object. It is sectional drawing which shows the intermediate | middle process which molds the molded article same as the above. It is explanatory drawing which shows the whole side surface schematic structure of the shaping | molding inspection apparatus which concerns on embodiment. It is explanatory drawing which shows the whole plane schematic structure of a shaping | molding inspection apparatus same as the above. It is a top view which shows a middle mold. It is a partial cross section side view which shows the molded product receiving / discharging unit with which the 1st imaging unit was assembled | attached. It is a top view which shows the same molded product receiving / discharging unit same as the above. It is explanatory drawing which shows the imaging process by a 1st imaging unit. It is a top view which shows a molded product receiving part. It is a partial cross section side view which shows the same molded article receiving part same as the above. It is a figure which shows the state in the middle of the molded article removed from the middle metal mold | die being received by a receiving pin part. It is a figure which shows the state in which the molded article was mounted on the circular receiving plate part. It is explanatory drawing which shows the imaging process by a 2nd imaging unit. It is a whole block diagram of a molding inspection apparatus. It is a flowchart for demonstrating the test | inspection operation | movement of a molded article. It is explanatory drawing which shows the imaging location by each imaging unit. It is explanatory drawing which shows the imaging location by each imaging unit about the molded article which concerns on a modification.

Explanation of symbols

DESCRIPTION OF SYMBOLS 1 Molded product 10 Molding machine 22 Upper mold 24 Lower mold 26 Middle mold 26h Cavity hole 32 Mold receiving stand 36 Demolding mechanism 40 First imaging unit 42 First imaging camera 43a First upper reflection part 43b First lower Reflector 50 Molded product receiving / discharging machine 52 Molded product receiving part 54a Receiving pin part 56 Receiving plate part 57 Circular receiving plate part 57ha, 57hb Hole part 63 Movable frame part 70 Second imaging unit 72 Second imaging camera 74 Second reflecting part 76 Control unit 78 Determination unit

Claims (7)

An inspection apparatus for a molded product molded using a middle mold sandwiched between an upper mold and a lower mold,
A mold having a cavity for molding, and a middle mold disposed at an inspection position in a state of having a molded product in the cavity hole;
Detachment in the cavity hole from one surface side of the middle mold at the one surface side position is arranged between the one surface side position and the other surface side position of the middle mold at the inspection position. A first imaging unit having a first imaging unit that images the previous molded product and images the molded product before demolding in the cavity hole from the other surface side of the middle mold at the other surface side position;
A molded product receiving portion that receives a molded product removed from the middle mold in a fixed posture, and a discharge that discharges the molded product to the outside from a receiving position that receives the molded product from the middle mold. A molded product receiving unit having receiving part moving means for moving to a position;
A second imaging unit having second imaging means for imaging the molded product held by the molded product receiving unit while the molded product receiving unit moves from the receiving position to the discharge position;
Based on the image data obtained through the first image pickup unit and the second image pickup unit, the shape of the molded product is inspected, and based on the image data obtained through the second image pickup unit, the intermediate metal A determination means for inspecting whether or not the molded product remains in the mold; and
Equipped with a,
The first imaging unit includes
The first imaging means is disposed movably between the position on the one surface side and the position on the other surface side around the outer periphery of the middle mold, and emits light from the one surface side of the middle mold. One surface side light guide means for guiding the first image pickup means disposed at the direction side position, and the first image pickup means disposed at the other face side position for light from the other surface side of the middle mold. A molded product inspection apparatus further comprising: the other-surface-side light guide means that guides the light . An inspection apparatus for a molded product molded using a middle mold sandwiched between an upper mold and a lower mold,
A mold having a cavity for molding, and a middle mold disposed at an inspection position in a state of having a molded product in the cavity hole;
Detachment in the cavity hole from one surface side of the middle mold at the one surface side position is arranged between the one surface side position and the other surface side position of the middle mold at the inspection position. A first imaging unit having a first imaging unit that images the previous molded product and images the molded product before demolding in the cavity hole from the other surface side of the middle mold at the other surface side position;
A molded product receiving portion that receives a molded product removed from the middle mold in a fixed posture, and a discharge that discharges the molded product to the outside from a receiving position that receives the molded product from the middle mold. A molded product receiving unit having receiving part moving means for moving to a position;
A second imaging unit having second imaging means for imaging the molded product held by the molded product receiving unit while the molded product receiving unit moves from the receiving position to the discharge position;
Based on the image data obtained through the first image pickup unit and the second image pickup unit, the shape of the molded product is inspected, and based on the image data obtained through the second image pickup unit, the intermediate metal A determination means for inspecting whether or not the molded product remains in the mold; and
With
The second imaging unit is
A molded product inspection apparatus that performs imaging while focusing on a portion of the molded product that has entered the cavity hole . An inspection apparatus for a molded product molded using a middle mold sandwiched between an upper mold and a lower mold,
A mold having a cavity for molding, and a middle mold disposed at an inspection position in a state of having a molded product in the cavity hole;
Detachment in the cavity hole from one surface side of the middle mold at the one surface side position is arranged between the one surface side position and the other surface side position of the middle mold at the inspection position. A first imaging unit having a first imaging unit that images the previous molded product and images the molded product before demolding in the cavity hole from the other surface side of the middle mold at the other surface side position;
A molded product receiving portion that receives a molded product removed from the middle mold in a fixed posture, and a discharge that discharges the molded product to the outside from a receiving position that receives the molded product from the middle mold. A molded product receiving unit having receiving part moving means for moving to a position;
A second imaging unit having second imaging means for imaging the molded product held by the molded product receiving unit while the molded product receiving unit moves from the receiving position to the discharge position;
Based on the image data obtained through the first image pickup unit and the second image pickup unit, the shape of the molded product is inspected, and based on the image data obtained through the second image pickup unit, the intermediate metal A determination means for inspecting whether or not the molded product remains in the mold; and
With
The molded product is an annular molded product,
The molded product receiving device includes a receiving pin unit that supports the annular molded product from the inside thereof and receives the annular molded product in a fixed posture . The molded product inspection apparatus according to any one of claims 1 to 3,
The first imaging unit includes
In a state where the first imaging means is disposed at the position on the one surface side, imaging is performed while focusing on one surface of the middle mold, and the first imaging means is disposed at the position on the other surface side. In the molded state , the molded product inspection apparatus that performs imaging while focusing on the other surface of the middle mold .   A method for inspecting a molded product molded using a middle mold sandwiched between an upper mold and a lower mold,
  One surface that moves the first imaging means to a position on one side of the middle mold and guides light from one side of the middle mold to the first imaging means disposed on the one surface side position An imaging step of imaging the molded product before demolding from one side of the middle mold through a side light guide;
  The first imaging means is moved to the position on the other surface side of the middle mold, and the light from the other surface side of the middle mold is guided to the first imaging means disposed on the other surface side position. An imaging step of imaging the molded product before demolding from the other side of the middle mold through the direction-side light guide means;
  Transferring the molded product removed from the middle mold to a molded product receiving unit so as to receive the molded product in a fixed posture;
  Imaging the molded product held by the molded product receiving unit;
  Based on the captured image data from one side of the middle mold, the captured image data from the other side of the middle mold, and the captured image data of the molded product on the molded product receiving unit, the molded product A process of inspecting the quality of the shape,
  Based on the imaged image data of the molded product on the molded product receiving unit, inspecting the presence or absence of the molded product in the middle mold, and
  Molded article inspection method with A method for inspecting a molded product molded using a middle mold sandwiched between an upper mold and a lower mold,
An imaging step of moving the first imaging means to a position on one side of the middle mold and imaging the molded product before demolding from one side of the middle mold;
The first imaging means, is moved to the other side position of the middle mold, an imaging step of imaging the molded article demolded before the other side of the middle mold,
The demolded said molded article from said middle mold, and a step of transferring a molded article receiver to receive at a fixed position,
A step of imaged in focus the molded product receiving said molded article is held in the said portion that has penetrated into the cavity bore of the molded article,
The captured image data from one side of the middle mold, the captured image data from the other side of the middle mold, on the basis of the captured image data of the molded article at the molded article receiver on, the molded article A process for inspecting the shape of the
On the basis of the captured image data of the molded article at the molded article receiver on, the step of inspecting the presence or absence of residual of the molded article in the middle mold,
Molded article inspection method with   An inspection method for an annular molded product molded using a middle mold sandwiched between an upper mold and a lower mold,
  An imaging step of moving the first imaging means to a position on one side of the middle mold and imaging the annular molded product before demolding from one side of the middle mold;
  An imaging step of moving the first imaging means to a position on the other side of the middle mold and imaging the annular molded product before demolding from the other side of the middle mold;
  Using the molded product receiving portion having a receiving pin portion that supports the annular molded product from the inside and receives it in a fixed posture, and molding the annular molded product removed from the middle mold in a fixed posture. The process of transferring to the product receiving department;
  Imaging the annular molded product held by the molded product receiving unit;
  Based on the captured image data from one side of the middle mold, the captured image data from the other side of the middle mold, and the captured image data of the annular molded product on the molded product receiving unit A process for inspecting the quality of the molded product;
  Based on the imaged image data of the annular molded product on the molded product receiving unit, the step of inspecting the presence or absence of the annular molded product in the middle mold,
  Molded article inspection method with

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