JP6755625B2 - Black skin residue detection method and detection device - Google Patents

Description

The present invention relates to a method for detecting black skin residue and a detection device.

As a method for manufacturing a gear part in which a tooth part that meshes with another gear part is formed on the outer periphery of the shaft part, (1) a large-diameter part is formed at an intermediate position in the longitudinal direction of the shaft part by hot forging of a rod-shaped material. A forging step to be performed, (2) a cutting step of forming a tooth portion on the outer periphery of a large diameter portion by cutting, and (3) a carburizing treatment step of carburizing a gear part having a tooth portion formed. 4) In the gear component after the carburizing treatment, there is a method of manufacturing the gear component through a polishing step of polishing the surface of the tooth portion which is the meshing surface with the other gear component.

In the polishing step, the region of the tooth surface that becomes the meshing surface with other gear parts is polished with a grindstone and molded so as to remove heat treatment strain.
However, if the meshing surface with other gears is curved, for example, gear parts used in automatic transmissions for vehicles, the teeth of the meshing surface can be simply polished in the area that becomes the meshing surface. Since it is difficult to mold the material to the ideal size and accuracy, the material surface remains on a part of the meshing surface.

Here, the surface of the material that remains on a part of the meshing surface due to insufficient polishing is called black skin residue because it is black due to the effect of carburizing, and the gear component has a curved meshing surface. In the case of, the suitability of polishing the meshing surface was determined by visually confirming the presence or absence of black skin residue.

Patent Document 1 discloses a method for detecting the presence or absence of black skin residue in a hot rolled plate.

Japanese Unexamined Patent Publication No. 8-220019

However, this method is not suitable for detecting the presence or absence of black skin residue on the meshing surface of the tooth portion of the gear component.
Therefore, it is required to be able to appropriately detect the black skin residue on the tooth portion of the gear component.

The present invention
In a gear component provided with a plurality of tooth portions that mesh with other gear components at predetermined intervals in the circumferential direction around the rotation axis, polishing on one side surface and the other side surface of the tooth portion in the circumferential direction. It is a method for detecting black skin residue afterwards.
A first imaging step in which one side surface of the tooth portion is imaged by a camera while rotating the gear component around the rotation axis.
A change step of rotating the gear component 180 degrees around an axis orthogonal to the rotation axis to change the orientation of the gear component, and
A second imaging step in which the other side surface of the tooth portion is imaged one tooth at a time by the camera while rotating the gear component whose orientation has been changed around the rotation axis.
It has a determination step of determining the presence or absence of black skin residue on one side surface and the other side surface by image processing of the captured image obtained in the first imaging step and the imaging in the second imaging step. ,
One side surface of the tooth portion and the other side surface of the tooth portion are curved .
The imaging of the one side surface in the first imaging step is performed on a plurality of imaging regions set on the one side surface, and at the same time.
The imaging of the other side in the second imaging step is performed for a plurality of imaging regions are set on the side surface of the other,
In the portion where the curvature on the side surface is large and the projected area with respect to the camera is small, more of the imaging region is set than in the portion where the curvature on the side surface is small and the projected area is large.
The camera is configured to be a camera capable of outputting an image captured in the imaging region as a grayscale image .

According to the present invention, a plurality of imaging regions on one side surface and the other side surface are set in consideration of the projected area with respect to the camera that performs imaging. Therefore, in each of the captured image of one side surface and the captured image of the other side surface, by setting a plurality of imaging regions so that shadows due to the shape of one side surface and the shape of the other side surface are not generated, black is formed. An image taken to determine the presence or absence of skin residue can be appropriately obtained. As a result, the black skin residue on the meshing surface of the tooth portion of the gear component can be appropriately detected.

It is a figure explaining the black skin residue detection device. It is a figure explaining the gear component. It is a flowchart explaining the detection method of the black skin residue in a gear component. It is a figure explaining the arrangement of the camera with respect to the side surface of a tooth part. It is a figure explaining the setting of the imaging region on the side surface of a tooth portion. It is a flowchart explaining the detail of the process in the determination step which determines the presence or absence of black skin residue. It is a figure explaining the averaging process of the density value which each pixel of a captured image has. It is a figure explaining the determination of the black skin candidate region and the black skin region after the averaging treatment of the concentration value. It is a figure explaining the propriety determination with respect to the polishing process of the side surface of a tooth portion.

Hereinafter, embodiments of the present invention will be described.
1A and 1B are views for explaining a black skin residue detecting device 1, FIG. 1A is a schematic configuration diagram of a black skin residue detecting device 1, and FIG. 1B is a gear by a support shaft 46 of a second unit 45. It is a figure explaining the support of the shaft part 21 of a part 2, and (c) is a figure explaining the movement of a gear part 2 after inspection for the presence or absence of black skin residue.
2A and 2B are views for explaining a gear component 2 in which the presence or absence of black skin residue is inspected by the black skin residue detecting device 1, FIG. 2A is a perspective view of the gear component 2, and FIG. 2B is a diameter. It is a plan view of the tooth portion 23 seen from the outside in the direction, (c) is a cross-sectional view taken along the line AA in (b), (d) is a cross-sectional view taken along the line BB in (b), and (e). ) Is a sectional view taken along line CC in (b).
Note that FIG. 2A simply shows other parts of the gear component 2 except around the tooth portion 23, and FIG. 2B simply shows the flat surface 230 of the tooth portion 23, one side surface 231 and the other. The flat surface 230 and the side surfaces 231 and 232 are shown with different hatches so that they can be visually distinguished from the side surface 232 of the above.

First, the gear component 2 in which the presence or absence of black skin residue is inspected by the black skin residue detecting device 1 will be described.
As shown in FIGS. 1 and 2, the gear component 2 has a base portion 22 having a diameter larger than that of the shaft portion 21 at a substantially central portion in the longitudinal direction of the shaft portion 21, and is provided on the outer periphery of the base portion 22. , A plurality of tooth portions 23 that mesh with the tooth portions of other gear parts are provided at predetermined intervals in the circumferential direction around the rotation axis X.
Further, first large diameter portions 24, 24 having a diameter larger than that of the shaft portion 21 are provided on both sides of the base portion 22, and second large diameter portions 24, 24 having a diameter larger than that of the shaft portion 21 are provided at both ends of the shaft portion 21. Large diameter portions 25, 25 are provided.

As shown in FIG. 2B, when viewed from the radial direction of the rotation axis X, each of the tooth portions 23 provided on the outer periphery of the base portion 22 intersects the rotation axis X in the rotation axis X direction. One end 23a and the other end 23b of the tooth portion 23 in the rotation axis X direction are offset by a predetermined length L1 in the circumferential direction around the rotation axis X.
The tip of the tooth portion 23 is a flat surface 230 formed with substantially the same width W1 (see FIG. 2B) over the entire length in the rotation axis X direction.

As shown in FIG. 2C, each of the tooth portions 23 when viewed from the rotation axis X direction has a cross-sectional shape in which the width W in the circumferential direction becomes narrower toward the outer diameter side, and the rotation axis X. One side surface 231 of the tooth portion 23 in the circumferential direction and the other side surface 232 have a surface curved in the radial direction of the rotation axis X.

As shown in FIG. 2B, when viewed from the outside in the radial direction, one side surface 231 of the tooth portion 23 and the other side surface 232 are point-symmetrical with respect to the center Cn of the tooth portion 23 in the rotation axis X direction. It is formed in.
One side surface 231 is curved in a direction in which the inclination θ (θa to θc) with respect to the normal line L of the outer circumference of the base 22 as viewed from the rotation axis X direction decreases from one end 23a in the rotation axis X direction toward the other end 23b. ((C): θa in FIG. 2, (d): θb in FIG. 2, (e): θc in FIG. 2, θa>θb> θc).

Further, the other side surface 232 is curved in a direction in which the inclination of the outer circumference of the base portion 22 as viewed from the rotation axis X direction with respect to the normal line becomes smaller as the other end 23b in the rotation axis X direction is directed toward the one end 23a. FIG. 2 (c): θc, FIG. 2 (d): θb, FIG. 2 (e): θa, θa> θb> θc).

Here, in FIGS. 2C to 2D, the inclination θ of the side surfaces 231 and 232 is the normal line L passing through the base end P2 of the side surface 231 and the center point in the width direction of the base end P2 and the flat surface 230. It is expressed as the intersection angle with the line segment La connecting P1 and the intersection angle with the line segment Lb connecting the base end P3 of the side surface 231 and the center point P1.
In the drawing, reference numeral Pa indicates a boundary point between the flat surface 230 and the side surface 231 and reference numeral Pb indicates a boundary point between the flat surface 230 and the side surface 232.

Therefore, one side surface 231 of the tooth portion 23 and the other side surface 232 also have a curved surface in the rotation axis X direction (the left-right direction in FIG. 2B).

Here, the gear component 2 is manufactured by forming a tooth portion 23 on the outer periphery of the base portion 22 by cutting after forming a portion other than the tooth portion 23 by hot forging of a rod-shaped material. The produced gear component 2 is finished by carburizing and polishing the surface of the tooth portion 23.

Since one side surface 231 and the other side surface 232 on the surface of the tooth portion 23 serve as meshing surfaces with other gear parts, in the polishing treatment, these side surfaces 231 and 232 are polished with a grindstone and oxidized by the carburizing treatment. The heat treatment strain is removed by removing the surface of the material.

However, as described above, since one side surface 231 and the other side surface 232 are curved, it is not possible to mold the teeth of the meshing surface so as to have ideal dimensions and accuracy by simple polishing of the side surfaces 231 and 232. It is difficult and the material surface may remain on a part of the meshing surface.
Therefore, in order to confirm the presence or absence of the oxidized material surface (black skin residue) that remains without being removed during polishing and to determine whether or not the polishing process is properly performed, the black skin residue detecting device 1 is used.

As shown in FIG. 1, the black skin residue detecting device 1 is a rotation mechanism that rotates a support member 3 that rotatably supports the gear component 2 and a gear component 2 supported by the support member 3 around a rotation axis X. 4, the cameras C (C1 to C3) that image the tooth portions 23 (side surfaces 231 and 232) of the gear component 2, the LED light source 10 that illuminates the tooth portions 23 of the gear component 2, and the detection process of the black skin residue. It has a control device 5 to be implemented.

The support member 3 has a pair of support plates 31, 31 on the upper surface of the disk-shaped support base 30, and these support plates 31, 31 are provided symmetrically with the rotation axis Y of the support base 30 interposed therebetween. Has been done.
The upper surfaces of the support plates 31 and 31 are provided with arcuate recesses 311 (see (c) in FIG. 1) along the outer diameters of the first large diameter portions 24 and 24, and the gear component 2 is a tooth portion. The first large-diameter portions 24, 24 located on both sides of the 23 are set on the support member 3 in a state of being placed on the support plates 31, 31.
In this state, the gear component 2 is placed on the support plates 31 and 31 in a state where rotation around the rotation axis X is allowed.

A support shaft 32 extending downward on the base 15 side is provided in the center of the lower surface of the support base 30, and the support shaft 32 is provided with a rotation mechanism and an elevating mechanism (not shown).

The rotation axis Y of the support base 30 is orthogonal to the rotation axis X of the gear component 2, and when the support base 30 is rotated 180 degrees around the rotation axis Y by a rotation mechanism (not shown), the support plates 31, 31 The orientation of the gear component 2 placed on the vehicle is changed (in the case of FIG. 1, the gear component 2 is reversed left and right).

Further, a pair of guide rails 33, 33 are provided on both sides of the support base 30. These guide rails 33, 33 are located below the second large diameter portions 25, 25 of the gear component 2 supported by the support base 30.
The guide rails 33, 33 extend toward the front side of the paper surface in FIG. 1B, and are inclined so that the front side of the paper surface is located below the back side of the paper surface.

Therefore, when the support base 30 is moved downward on the base 15 side by an elevating mechanism (not shown) after the inspection for the presence or absence of black skin residue is completed, the gear component 2 is received from the support plates 31, 31 to the guide rails 33, 33. After being handed over, the gear component 2 handed over to the guide rails 33, 33 moves by its own weight to a position where it comes into contact with the stopper 331 set at the end of the guide rails 33, 33 (FIG. 1 (c)).

As shown in FIGS. 1A and 1B, the rotation mechanism 4 for rotating the gear component 2 around the rotation axis X is the first unit 41 located on one side of the support base 30 in the rotation axis X direction. A second unit 45 located on the other side, and each of the first unit 41 and the second unit 45 has a rotation axis X along the guide rails 43 and 47 installed on the base 15. It is possible to move forward and backward in the direction.

The first unit 41 has a rotation transmission shaft 42 that rotates around a rotation shaft X by a rotational driving force of a motor (not shown), and the second unit 45 has a support shaft 46 that can rotate around the rotation shaft X. doing.
The rotation transmission shaft 42 and the support shaft 46 are arranged to face each other on the rotation shaft X, and the tip side of the rotation transmission shaft 42 and the support shaft 46 has a tapered insertion portion 421 whose outer diameter decreases toward the tip. It is 461.

In the embodiment, the first unit 41 and the second unit 45 are displaced in the direction closer to each other in the rotation axis X direction, and the insertion portion 421 of the rotation transmission shaft 42 and the insertion portion 461 of the support shaft 46 are gear components. By inserting the gear component 2 into the through hole 20 (see (b) of FIG. 1) provided in the shaft portion 21 of 2, the gear component 2 is gripped between the first unit 41 and the second unit 45. ing.
Then, in this state, by rotating the rotation transmission shaft 42 around the rotation shaft X, the gear component 2 gripped between the first unit 41 and the second unit 45 rotates around the rotation shaft X. It has become.

Above the first unit 41 and the second unit 45, an LED light source 10 supported by the support frame 16 and a plurality of cameras C (C1 to C3) supported by the support frame 17 are provided.
The LED light source 10 is arranged at a position where the tooth portion 23 of the gear component 2 mounted on the support plates 31 and 31 of the support base 30 can be illuminated, and the cameras C (C1 to C3) are at the imaging positions described later. It is provided so as to face the side surface (side surface 231 or side surface 232) of the tooth portion 23 arranged in (see FIG. 4).

Hereinafter, a procedure (method for detecting black skin residue) of detecting the black skin residue after polishing on one side surface 231 and the other side surface 232 of the tooth portion 23 by using the black skin residue detecting device 1 will be described.
FIG. 3 is a flowchart illustrating a method for detecting black skin residue.
FIG. 4 is a diagram illustrating the arrangement of the cameras C (C1, C2, C3) with respect to the side surface of the tooth portion 23, and FIG. 4A shows the cameras C1, C2 and the side surface 231 of the tooth portion 23 in the first imaging step. (B) is a diagram showing the positional relationship between the camera C3 and the side surface 231 of the tooth portion 23 in the first imaging step, and (c) is a diagram showing the positional relationship of the camera C1 in the second imaging step. , C2 is a diagram showing the positional relationship between the side surface 232 of the tooth portion 23, and FIG. 3D is a diagram showing the positional relationship between the camera C3 and the side surface 232 of the tooth portion 23 in the second imaging step.
5A and 5B are views for explaining the setting of the imaging regions R1, R2a, and R2b on the side surfaces (side surfaces 231 and 232) of the tooth portion 23. FIG. 5A is a view for the side surface 231 and FIG. 5B is a side surface. The case of 232 is shown respectively.

The method for detecting the remaining black skin is as follows: (1) A first imaging step of photographing one side surface 231 of the tooth portion 23 in the circumferential direction around the rotation axis X one tooth at a time while rotating the gear component 2 around the rotation axis X. (FIG. 3, step S101) and (2) a direction changing step (FIG. 3) in which the gear component 2 is rotated 180 degrees around an axis (rotation axis Y) orthogonal to the rotation axis X to change the orientation of the gear component 2. 3. Step S102) and (3) A second imaging step of capturing the other side surface 232 of the tooth portion 23 in the circumferential direction one tooth at a time while rotating the gear component 2 whose orientation has been changed around the rotation axis X. (FIG. 3, step S103) and (4) Black on one side surface 231 and the other side surface 232 of the tooth portion 23 by image processing of the captured images obtained in the first imaging step and the second imaging step. It has a determination step (FIG. 3, step S104) for determining the presence or absence of skin residue.

When implementing the method for detecting the black skin residue, first, the gear component 2 to be inspected is placed on the support plates 31 and 31 of the support base 30, and the gear component 2 is aligned with the rotation axis X. Arrange in the vertical orientation (see FIG. 1).
In this state, the movement of the gear component 2 in the rotation axis X direction is restricted by the support plates 31 and 31 located on both sides of the base portion 22. Further, it is placed on the support plates 31 and 31 in a state where rotation around the rotation axis X is allowed. The imaging in the first imaging step and the second imaging step is performed in a shaded dark room or a shaded space.

[First imaging step]
In the first imaging step (step S101), first, the first unit 41 and the second unit 45 are displaced in a direction approaching each other in the rotation axis X direction by a drive mechanism (not shown). As a result, the insertion portion 421 of the rotation transmission shaft 42 and the insertion portion 461 of the support shaft 46 are inserted into the through holes 20 provided in the shaft portion 21 of the gear component 2, and the gear component 2 becomes the first unit 41. It is in a state of being gripped with the second unit 45.

Then, in this state, the support base 30 is slightly moved downward, and then the rotation transmission shaft 42 is rotated around the rotation shaft X, so that the support base 30 is gripped between the first unit 41 and the second unit 45. The gear component 2 is rotated around the rotation axis X.
Further, while the gear component 2 continues to rotate around the rotation axis X, imaging by the cameras C (C1 to C3) on one side surface 231 of the tooth portion 23 is sequentially performed tooth by tooth.

In the embodiment, imaging is performed using a total of three cameras C (C1 to C3), and on the side surface of the tooth portion 23 (one side surface 231 in the case of the first imaging step), the camera C (C1) is used. A range (imaging area) for imaging is set for each of ~ C3).

As shown in FIGS. 4A and 4B, each of the cameras C (C1 to C3) has a side surface (imaging position) of the tooth portion 23 at a predetermined angular position (imaging position) in the circumferential direction around the rotation axis X. It is arranged so as to face the side surface of the tooth portion 23 at a position where one side surface 231) can be imaged.
In the first imaging step of the embodiment, the side surface (one side surface 231) of the tooth portion 23 is imaged while rotating the gear component 2 around the rotation axis X, and the tooth portion 23 is located at the imaging position. Each time it reaches, the LED light source 10 illuminates the side surface (one side surface 231) and the illuminated side surface (one side surface 231) is imaged by the cameras C (C1 to C3) one tooth at a time. ing.

In the embodiment, since the image pickup is performed while rotating the gear component 2 around the rotation axis X at a constant speed, the lighting of the LED light source 10 and the image pickup by the cameras C (C1 to C3) are intermittent at equal intervals. It has come to be implemented as a target.

Here, the imaging region by the cameras C (C1 to C3) will be described.
As described above, each of the tooth portions 23 when viewed from the rotation axis X direction has a cross-sectional shape in which the width W in the circumferential direction becomes narrower toward the outer diameter side (see (c) of FIG. 2).
Then, one side surface 231 of the tooth portion 23 is curved in a direction in which the inclination of the outer circumference of the base portion 22 as viewed from the rotation axis X direction with respect to the normal L becomes smaller as the direction from one end 23a in the rotation axis X direction toward the other end 23b. The other side surface 232 is curved in a direction in which the inclination of the outer circumference of the base portion 22 as viewed from the rotation axis X direction with respect to the normal L becomes smaller as the other end 23b in the rotation axis X direction toward one end 23a. (See (c) to (e) in FIG. 2).

That is, since the side surfaces 231 and 232 of the tooth portion 23 are curved in the rotation axis X direction and the radial direction (normal direction), when the side surfaces 231 and 232 of the tooth portion 23 are simply imaged by one camera C, Shadows due to curvature are generated in the captured image.
Here, the black skin residue to be detected is an oxide film at the time of carburizing treatment and has a black color. Therefore, if a shadow due to curvature is generated in the captured image, the black skin residue remains in the shadow area. Even if it exists, it cannot be detected.
Further, depending on the positional relationship between the light source and the side surfaces 231 and 232, a phenomenon (halation) in which the captured image appears white may occur, and a captured image unsuitable for image processing may be obtained.

Therefore, in the embodiment, in consideration of the curvature of the side surface imaged by the cameras C (C1 to C3), the imaging region of each camera is taken so as not to cause shadows and halation due to the curvature in the image captured by each camera. Is set.

Here, the cameras C (C1 to C3) are arranged so that the side surfaces (side surfaces 231) of the tooth portions 23 are imaged from the radial outside of the rotation axis X of the gear component 2 (see FIG. 4). The projected area of the 231 with respect to the cameras C (C1 to C3) is the inclination θ (θa, θb, θc) of the side surface 231 with respect to the normal line L of the outer circumference of the base 22 as viewed from the rotation axis X direction: (c) to (c) in FIG. See e)) becomes wider as it becomes larger, and becomes narrower as it becomes smaller.
The wider the projected area, the smaller the effect of curvature, and the narrower the projected area, the greater the effect of curvature.

As described above, in the gear component 2 of the embodiment, the side surface 231 of the tooth portion 23 is curved in both the rotation axis X direction and the radial direction, and in the rotation axis X direction, from one end 23a of the tooth portion 23. As it approaches the other end 23b, it is curved in a direction in which the inclination of the outer circumference of the base portion 22 as viewed from the rotation axis X direction with respect to the normal L becomes smaller.
Therefore, in the case of the side surface 231 the projected area is wider on the one end 23a side and narrower on the other end 23b side.

Therefore, in the embodiment, as shown in FIG. 5A, the imaging region on the side surface 231 of the tooth portion 23 is divided into two imaging regions R1 and R2 in the rotation axis direction, and the projected area is narrow. The imaging region R2 on the end 23b side is divided into two imaging regions R2a and R2b in the radial direction, and a total of three imaging regions are set. That is, the imaging region on the side surface 231 of the tooth portion 23 is divided into a plurality of regions in the rotation axis X direction and the radial direction according to the curvature of the side surface 231.

Then, in the embodiment, dedicated cameras C1, C2, and C3 are prepared corresponding to each of these three imaging regions R1, R2a, and R2b on a one-to-one basis, and imaging by the camera C on the side surface 231 is performed. The cameras C1, C2, and C3 prepared for each of the imaging regions R1, R2a, and R2b are simultaneously performing the measurement.

As described above, in the first imaging step (step S101), the imaging of the plurality of imaging regions R1, R2a, and R2b set on one side surface 231 of each tooth portion 23 of the gear component 2 is the imaging region R1. Simultaneous imaging by the cameras C1, C2, and C3 prepared for each of R2a and R2b is performed one by one in order, and one side surface 231 of all the tooth portions 23 is imaged.

[Orientation change step]
When the imaging of one side surface 231 of all the tooth portions 23 in the first imaging step (step S101) is completed, the control device 5 slightly raises the support base 30 by an elevating mechanism (not shown) in step S102 (direction changing step). It is raised so that the pair of support plates 31 and 31 support the gear component 2.
Then, by a drive mechanism (not shown), the first unit 41 and the second unit 45 are displaced in the direction away from each other in the rotation axis X direction, and the insertion portion 421 of the rotation transmission shaft 42 and the insertion portion 461 of the support shaft 46 are inserted. , It is separated from the through hole 20 provided in the shaft portion 21 of the gear component 2.
Then, the support base 30 is rotated 180 degrees around the rotation axis Y by a rotation mechanism (not shown).
As a result, the orientations of the gear components 2 placed on the support plates 31 and 31 are changed (in the case of FIG. 1, the left and right sides are reversed).

[Second imaging step]
In the second imaging step (step S103), first, the first unit 41 and the second unit 45 are displaced in the direction closer to each other in the rotation axis X direction by a drive mechanism (not shown), and the rotation transmission shaft 42 is inserted. The portion 421 and the insertion portion 461 of the support shaft 46 are inserted into the through hole 20 provided in the shaft portion 21 of the gear component 2, and the gear component 2 is gripped between the first unit 41 and the second unit 45. To do.

Here, as described above, tapered insertion portions 421 and 461 whose outer diameter becomes smaller toward the tips are provided at the tips of the insertion portion 421 of the rotation transmission shaft 42 and the insertion portion 461 of the support shaft 46. The outer circumferences of the insertion portions 421 and 461 are pressed against the inner circumference of the through hole 20 to grip the gear component 2.
Therefore, even when the lengths of the shaft portion 21 on one side and the other side sandwiching the tooth portion 23 of the gear component 2 are different, the gear component 2 can be reliably gripped.

When the gripping between the first unit 41 and the second unit 45 of the gear component 2 is completed, the support base 30 is slightly moved downward, and then the rotation transmission shaft 42 of the first unit 41 is rotated around the rotation axis X. The gear component 2 is rotated around the rotation axis X.
The rotation direction of the gear component 2 in the second imaging step is the same as the rotation direction of the gear component 2 in the first imaging step.

Then, while the rotation of the gear component 2 around the rotation axis X is continued, imaging by the cameras C (C1 to C3) on the other side surface 232 of the tooth portion 23 is sequentially performed tooth by tooth.

As described above, one side surface 231 and the other side surface 232 of the tooth portion 23 in the circumferential direction around the rotation axis X are based on the center Cn of the tooth portion 23 in the rotation axis X direction (see (b) in FIG. 2). It is formed point-symmetrically.
Therefore, when the gear component 2 is rotated 180 degrees around the rotation axis Y with reference to the center of the tooth portion 23, one side surface 231 and one side surface 231 are placed in front of the cameras C (C1 to C3) that have taken images of one side surface 231. The other side surface 232 (see FIG. 5B) having the same curved shape will be arranged.

In this state, each of the cameras C (C1 to C3) is at a position where the side surface (the other side surface 232) of the tooth portion 23 at a predetermined angular position (imaging position) in the circumferential direction around the rotation axis X can be imaged. It is arranged so as to face the side surface of the portion 23 (see (c) and (d) of FIG. 4).

Therefore, it is possible to take an image of the side surface 232 by using the cameras C (C1 to C3) used for the image of the side surface 231 as they are without preparing a camera separately for the image of the side surface 232.

Further, since the curved shape of one side surface 231 viewed from the camera C (C1 to C3) side and the curved shape of the other side surface 232 are the same, the imaging regions R1, R2a, and R2b set on the one side surface 231 are the same. It is possible to take an image with the same settings without changing the above (see (b) in FIG. 5).

[Judgment step]
When the imaging of the other side surface 232 of all the tooth portions 23 in the second imaging step (step S103) is completed, the control device 5 performs imaging in the first imaging step and the second imaging step in step S104 (determination step). The image data (captured image) of the side surfaces (231 and 232) obtained in the above-described method is processed to determine the presence or absence of black skin residue on the side surfaces 231 and 232.

In the embodiment, the images captured by the cameras C (C1 to C3) are input to the control device 5 as grayscale images (data).
The control device 5 determines the position and range (size) of the black region existing in the captured image from the density (shade) of each pixel constituting the input captured image, and determines the position and range of the determined black region. Based on, the presence or absence of black skin residue is determined.

Hereinafter, the determination process (determination step) for the presence or absence of black skin residue will be specifically described.
FIG. 6 is a flowchart for specifically explaining the processing in the determination step.
FIG. 7 is a diagram for explaining the density value averaging process of each pixel of the captured image, and FIG. 7A is a diagram showing the case where the segment (pixel range) is “4” as an example of the density value. It is a figure explaining the averaging process, (b) is a figure explaining the change of the position of the segment (pixel range) set in the captured image, (c) is the figure which explains the segment (pixel range) A to D. It is a figure explaining the averaging process of the density value in.
FIG. 8 is a diagram for explaining the determination of the black skin candidate region TS and the black skin region T in the captured image G_ave after the density value averaging process, and FIG. 8A is a diagram showing the case where the black skin candidate region TS exists. It is a figure to explain, (b) is the figure explaining the case where the black skin candidate region TS does not exist, and (c) is the figure explaining the determination of the black skin region T.
FIG. 9 is a diagram for explaining whether or not the side surface (231, 232) of the tooth portion 23 can be polished, and FIGS. 9A and 9B are determined to be insufficient in the polishing treatment (NG determination). ) Is a diagram for explaining a case, and FIGS. (C) and (d) are diagrams for explaining a case where it is determined that the polishing treatment is sufficient (OK determination).

First, the control device 5 determines the gradation of the pixel to be detected (detection target gradation) from the preset reference density value SD and the detection threshold Th1 (step S201).

Here, the reference density value SD is a reference value for reference determined from the captured image of the side surface of the tooth portion 23 having no black skin residue, and all constituting the captured image of the tooth portion 23 having no black skin residue. It is the average density value or the median value obtained from the density value of the pixel of.
The detection threshold Th1 is determined to be a value offset to the black side (the side where the density becomes darker) from the reference density value SD. This offset amount is determined in consideration of the variation caused by the cameras C (C1 to C3) and the influence of the environment at the time of imaging.

Subsequently, the density value of each pixel is averaged (step S202).
Specifically, the average value of the density values of the pixels included in the segment is obtained from the density value of each pixel included in the preset segment (pixel range), and each pixel included in the segment (pixel range) is obtained. Replace the concentration value of with the average value.

Here, as shown in FIG. 7A, the number of segments is “4”, and the pixels in the second row of column A (hereinafter referred to as pixels A2), pixels B2, and pixels are included in the segments. A case where A3 and pixel B3 are included will be described as an example.
For example, when the density values of the pixels A2, B2, A3, and B3 are "150", "160", "151", and "152", respectively, the density values of the pixels A2, B2, A3, and B3 are used. , Replace with the average value of "153" (153 = (150 + 160 + 151 + 152) / 4).

Then, the density value averaging process is performed while changing the position of the segment (pixel range) for all the pixels constituting the captured image.
When changing the position of this segment (pixel range), it is preferable that the position of the segment (pixel range) is changed while the adjacent segments (pixel range) overlap each other.

For example, when the number of segments is "16" as shown in (c) of FIG. 7, the segments A, B, C, and D, which are set in order, are set to overlap each other. It is possible to smoothly change the gradation (density value) of the density between each segment A'to D'after the averaging process.

Therefore, the positions of the segments (pixel range) that are set in order are changed so that the positions of the segments (pixel range) are changed while the segments (pixel range) overlap each other (see (c) in FIG. 7). Then, when the averaging process is executed on the captured image G shown in FIG. 7 (b), the captured image G_ave (see the right side of FIG. 7 (b)) in which the gradation (density value) of the density changes smoothly is displayed. Will be obtained.

Subsequently, in the captured image G_ave after the density value averaging process is performed, the other eight pixels on the black side (darker density) than the preset detection threshold Th1 and surround the pixel. A pixel having a pixel on the black side of the detection threshold Th1 is extracted as a target pixel, and a mass formed by gathering a plurality of the extracted target pixels is determined as a black skin candidate region TS (step). S203).

For example, in the case of (a) of FIG. 8, pixels C4 and B3 having a density higher than the detection threshold Th1 are adjacent to the pixel at the position of the third row in column C (hereinafter referred to as pixel C3). Since it exists, these pixels C3, C4, and B3 are extracted as target pixels.
Since the pixel C5 having a density higher than the detection threshold is further present adjacent to the target pixel C4, the region of the target pixel (pixels B3, C3, C4, C5) connected to the target pixel C3 is the black skin candidate region. It will be decided as TS.

In the case of (b) of FIG. 8, since all the pixels adjacent to the pixel C3 have a density lower than the detection threshold Th1, the pixel C3 is not extracted as a target pixel. Therefore, in FIG. 8B, the black skin candidate region TS is not determined.

Then, when the black skin candidate region TS is determined in the captured image G_ave, the black skin is compared with the total number of target pixels included in the determined black skin candidate region TS and the determination threshold Th2 of the black skin region T. Whether or not the candidate region TS is the black skin region T is determined (step S204).

For example, when the determination threshold Th2 of the black skin region is “50”, the number of pixels (total number of target pixels) included in the black skin candidate region TS shown in FIG. 8 (c) is “50 or more”. , This black skin candidate region TS will be determined as the black skin region T.

Then, when the black skin region T is specified in the captured image of the side surface (231, 232) of the tooth portion 23, the total number Tn of the specified black skin region T or the total area Tw of the specified black skin region T Based on the above, it is determined whether or not the side surface (231, 232) of the tooth portion 23 can be polished.

In the embodiment, when the total area Tw of the black skin region T is larger than the threshold area Th_w (Tw> Th_w), or when the total number Tn of the black skin region T is larger than the total threshold value Th_n (Tn> Th_n). , It is determined that the polishing process is insufficient (NG determination).

Here, a case where the threshold area Th_w is set to “200” and the total threshold area Th_n is set to “8” will be described as an example.
For example, as shown in FIG. 9A, when the total area Tw is "1200" and the total number Tn of the black skin region T is "1", the total area Tw "1200" is the threshold area. Since it is larger than Th_w "200", it is determined that the polishing process is insufficient (NG determination).

As shown in FIG. 9B, when the total area Tw is "50" and the total number Tn of the black skin region T is "10", the total number Tn "10" of the black skin region T is Since it is larger than the total threshold value Th_n "8", it is determined that the polishing process is insufficient (NG determination).

Further, as shown in FIG. 9 (c), when the total area Tw is "50" and the total number Tn of the black skin region T is "3", the total area Tw and the total number of the black skin region T are total. Since all of Tn are smaller than the threshold area Th_w and the total threshold Th_n, it is determined that the polishing process is sufficient (OK determination).

Further, as shown in FIG. 9D, when the total area Tw is "190" and the total number of black skin regions T is "1", the total area Tw and the total number of black skin regions Tn Since all of these are smaller than the threshold area Th_w and the total threshold value Th_n, it is determined that the polishing process is sufficient (OK determination).

As described above, even when the black skin region T exists on the side surfaces 231 and 232 of the tooth portion 23, whether or not the polishing treatment is sufficient by comparing with the threshold value (threshold area Th_w, total threshold value Th_n). Is determined.
Therefore, since the validity of the polishing process can be determined more accurately in a shorter time, the production efficiency can be expected to be improved by the amount of time required for determining whether or not the polishing process is sufficient.

Here, step S101 (FIG. 3) in the embodiment corresponds to the first imaging means in the invention, and step S102 (FIG. 3) in the embodiment corresponds to the changing means in the invention, and the step in the embodiment. S103 (FIG. 3) corresponds to the second imaging means in the invention, and step S104 (FIG. 3) in the embodiment corresponds to the determination means in the invention.

As described above, in the embodiment,
(1) A plurality of tooth portions 23 that mesh with the tooth portions of other gear components are provided at predetermined intervals in the circumferential direction around the rotation axis X, and in the gear component 2 provided on the outer periphery of the base 22, the circumference around the rotation axis X It is a method of detecting the black skin residue after polishing on one side surface 231 and the other side surface 232 of the tooth portion 23 in the direction.
A first imaging step (FIG. 3, step S101) in which one side surface 231 is imaged one tooth at a time by the cameras C (C1 to C3) while rotating the gear component 2 around the rotation axis X.
A change step (FIG. 3, step S102) in which the gear component 2 is rotated 180 degrees around an axis line (rotation axis Y) orthogonal to the rotation axis X to change the direction of the gear component 2.
A second imaging step (FIG. 3, step S103) in which the other side surface 232 is imaged one tooth at a time by the cameras C (C1 to C3) while rotating the gear component 2 whose orientation has been changed around the rotation axis X. ,
A determination step of determining the presence or absence of black skin residue on one side surface 231 and the other side surface 232 by image processing of the captured images obtained in the first imaging step and the second imaging step (FIG. 3, step S104). And have
The imaging of one side surface 231 in the first imaging step is performed on a plurality of imaging regions R1, R2a, and R2b set in consideration of the projected area of one side surface 231 with respect to the cameras C (C1 to C3). With
The imaging of the other side surface 231 in the second imaging step is performed on a plurality of imaging regions R1, R2a, and R2b set in consideration of the projected area of the other side surface 232 with respect to the cameras C (C1 to C3). It was configured.

With this configuration, the settings of the plurality of imaging regions R1, R2a, and R2b on one side surface 231 and the other side surface 232 are set in consideration of the projected area for the cameras C (C1 to C3) that perform imaging. Therefore, in each of the captured image of one side surface 231 and the captured image of the other side surface 232, a plurality of images are taken so that shadows and halation caused by the shape of one side surface 231 and the shape of the other side surface 232 do not occur. By setting the areas R1, R2a, and R2b, it is possible to appropriately obtain an captured image necessary for determining the presence or absence of black skin residue.
Thereby, the black skin residue on the meshing surface (side surfaces 231 and 232) of the tooth portion 23 of the gear component 2 can be appropriately detected.
In addition, since it is possible to determine whether or not the black skin remains from the captured image, it is possible to appropriately distinguish between the black skin residue and impurities (dust).
Further, based on the result of determination of the presence or absence of black skin residue, it is possible to determine whether or not the polishing treatment is sufficient in a shorter time, which is necessary for determining whether or not the polishing treatment is sufficient. The shorter the time, the better the production efficiency can be expected.

Further, by reversing the orientation of the gear component 2 by 180 degrees with respect to the orientation in the first imaging step before performing the second imaging step, a camera is separately prepared for imaging the side surface 232. Instead, the cameras C (C1 to C3) used for imaging the side surface 231 can be used as they are for imaging the side surface 232.
As a result, it is possible to take an image of one side surface 231 and the other side surface 232 without increasing the number of cameras C, so that the cost for detecting the black skin residue can be reduced.
Furthermore, the presence or absence of black skin residue can be determined more accurately and in a shorter time than when visually inspecting the black skin residue.

(2) The imaging of one side surface 231 in the first imaging step is simultaneously performed on the plurality of imaging regions R1, R2a, R2b set on the one side surface 231 and at the same time.
The imaging of the other side surface 232 in the second imaging step is simultaneously performed on a plurality of imaging regions R1, R2a, R2b set to 232 on the other side surface.
In the judgment step
By image processing of the captured image obtained by imaging each of the imaging regions R1, R2a, and R2b of one side surface 231, the presence or absence of black skin residue on one side surface 231 is determined, and the presence or absence of black skin remains is determined.
By image processing of the captured image obtained by imaging each of the imaging regions R1, R2a, and R2b on the other side surface 232, the presence or absence of black skin residue on the other side surface 232 is determined.

With this configuration, by simultaneously imaging the plurality of imaging regions R1, R2a, and R2b set on one and the other side surfaces 231 and 232, one of the gear components 2 is rotated once around the rotation axis X. The imaging of the side surface 231 is completed, and the imaging of the other side surface 232 is completed while the gear component 2 is further rotated around the rotation axis X.
Therefore, when a plurality of imaging regions are set, it is not necessary to increase the number of rotations of the gear component 2 required to determine the presence or absence of black skin residue, so that it takes a long time to determine the presence or absence of black skin residue. It can be prevented from becoming.

(3) In the determination step, the presence or absence of black skin residue is determined by image processing for each of the imaging regions R1, R2a, and R2b.

With this configuration, by setting the range of the imaging region according to the likelihood of black skin residue being generated, image processing for the imaging region where black skin residue is likely to occur can be performed, and image processing for other imaging regions can be performed. It becomes possible to carry out more densely, and it becomes possible to more appropriately determine the presence or absence of black skin residue.

(4) Each of the tooth portions 23 when viewed from the rotation axis X direction has a cross-sectional shape in which the width W in the circumferential direction becomes narrower toward the outer diameter side.
On one side surface 231, one side surface 231 is divided into two in the radial direction, and two imaging regions R2a and R2b are set.
On the other side surface 232, the other side surface 232 is divided into two in the radial direction, and two imaging regions R2a and R2b are set.

With this configuration, when the side surfaces 231 and 232 of the tooth portion 23 are curved in the radial direction of the tooth portion 23, the side surfaces 231 and 232 are divided into a plurality of radial directions to set the imaging region. Therefore, the set imaging region can be appropriately imaged without causing a shadow in the captured image, and the presence or absence of black skin residue can be appropriately determined.

(5) One side surface 231 and the other side surface 232 are formed point-symmetrically with respect to the center Cn of the tooth portion 23 in the X direction of the rotation axis.
One side surface 231 is curved in a direction in which the inclination of the outer circumference of the base portion 22 as viewed from the rotation axis X direction with respect to the normal L becomes smaller from one end 23a in the rotation axis X direction to the other end 23b.
The other side surface 232 is curved in a direction in which the inclination of the outer circumference of the base portion 22 as viewed from the rotation axis direction with respect to the normal line becomes smaller from the other end 23b in the rotation axis X direction toward one end 23a.
On one side surface 231, one side surface 231 is partitioned in the rotation axis X direction, and two imaging regions R1 and R2 are set.
In the other side surface 232, the other side surface 232 is partitioned in the rotation axis X direction, and two imaging regions R1 and R2 are set.

With this configuration, when the side surfaces 231 and 232 of the tooth portion 23 are curved in the rotation axis X direction of the tooth portion, the side surfaces 231 and 232 are divided into a plurality of portions in the rotation axis direction to set the imaging region. By doing so, the set imaging region can be appropriately imaged without causing shadows in the captured image, and the presence or absence of black skin residue can be appropriately determined.

(6) Each of the tooth portions 23 when viewed from the rotation axis X direction has a cross-sectional shape in which the width W in the circumferential direction becomes narrower toward the outer diameter side.
One side surface 231 and the other side surface 232 are formed point-symmetrically with respect to the center Cn of the tooth portion 23 in the rotation axis X direction.
One side surface 231 is curved in a direction in which the inclination of the outer circumference of the base portion 22 as viewed from the rotation axis X direction with respect to the normal L becomes smaller from one end 23a in the rotation axis X direction to the other end 23b.
The other side surface 232 is curved in a direction in which the inclination of the outer circumference of the base portion 22 as viewed from the rotation axis direction with respect to the normal line becomes smaller from the other end 23b in the rotation axis X direction toward one end 23a.
On one side surface 231, the one side surface 231 is partitioned in the rotation axis X direction, two imaging regions R1 and R2 are set, and the other end 23b side of the two imaging regions R1 and R2 The located imaging region R2 is further divided into two imaging regions R2a and R2b in the radial direction.
On the other side surface 232, the other side surface 232 is partitioned in the rotation axis X direction, two imaging regions R1 and R2 are set, and one end of the two imaging regions R1 and R2 is located on the 23a side. The imaging region R2 is configured to be further divided into two imaging regions R2a and R2b in the radial direction.

With this configuration, when the side surfaces 231 and 232 of the tooth portion 23 are curved in the radial direction and the rotation axis direction of the tooth portion 23, the side surfaces 231 and 232 are formed in a plurality in the rotation axis X direction and the radial direction. By partitioning and setting the imaging region, it is possible to appropriately image the set imaging region without causing shadows in the captured image, and it is possible to appropriately determine the presence or absence of black skin residue. ..

(7) In particular, one side surface 231 and the other side surface 232 are formed point-symmetrically with respect to the center Cn of the tooth portion 23 in the rotation axis X direction.
The plurality of imaging regions R1, R2a, R2b set on one side surface 231 and the plurality of imaging regions R1, R2a, R2b set on the other side surface 232 are point-symmetrical with respect to the center Cn of the tooth portion 23. The configuration is set to.

With this configuration, when the gear component 2 is rotated 180 degrees around the rotation axis Y with reference to the center Cn of the tooth portion 23, the front of the cameras C (C1 to C3) that imaged one side surface 231 is displayed. The other side surface 232 (see (b) in FIG. 5) having the same curved shape as the side surface 231 will be arranged.
In this state, each of the cameras C (C1 to C3) is at a position where the side surface (the other side surface 232) of the tooth portion 23 at a predetermined angular position (imaging position) in the circumferential direction around the rotation axis X can be imaged. The camera C is arranged so as to face the side surface of the portion 23 (see (c) and (d) of FIG. 4), and is used for imaging the side surface 231 without separately preparing a camera for imaging the side surface 232. (C1 to C3) can be used as they are to take an image of the side surface 232.
Further, since the curved shape of the side surface 231 viewed from the camera C (C1 to C3) side and the curved shape of the side surface 232 are the same, the imaging regions R1, R2a, and R2b set on the side surface 231 are not changed. Imaging can be performed with the same settings (see (b) in FIG. 5).
Therefore, even when a plurality of imaging regions are set on one side surface 231 and the other side surface 232, it is not necessary to increase the number of cameras C or change the setting of the imaging region, so that the black skin remains. It is possible to easily determine the presence or absence of black skin residue without increasing the cost for determining the presence or absence.

(8) A plurality of tooth portions 23 that mesh with other gear components are provided at predetermined intervals in the circumferential direction around the rotation axis X, and in the gear component 2 provided on the outer periphery of the base portion 22, the teeth in the circumferential direction around the rotation axis X A black skin residue detecting device 1 for detecting the black skin residue after polishing on one side surface 231 and the other side surface 232 of the portion 23.
A support base 30 that rotatably supports the gear component 2 and can rotate around an axis (rotation axis Y) orthogonal to the rotation axis X.
A rotation mechanism 4 that rotates the gear component 2 around the rotation axis X, and
Cameras C (C1 to C3) that image one side surface 231 and the other side surface 232 of the tooth portion 23, and
An LED light source 10 (light source) that illuminates the imaging region set on the side surface of the tooth portion 23 (one side surface 231 and the other side surface 232).
It has a control device 5 that performs detection processing of black skin residue, and has.
The control device 5
A first imaging means (FIG. 3) in which one side surface 231 of the tooth portion 23 is imaged tooth by tooth by cameras C (C1 to C3) while rotating the gear component 2 supported by the support base 30 around the rotation axis X (FIG. 3). , Step S101) and
A changing means (FIG. 3, step S102) for changing the orientation of the gear component 2 supported by the support base 30 by rotating the support base 30 180 degrees around an axis (rotation axis Y) orthogonal to the rotation axis X.
A second imaging means (FIG. 3, FIG. 3,) in which the other side surface 232 of the tooth portion 23 is imaged tooth by tooth with the cameras C (C1 to C3) while rotating the gear component 2 whose orientation has been changed around the rotation axis X. Step S103) and
A determination means for determining the presence or absence of black skin residue on one side surface 231 and the other side surface 232 of the tooth portion 23 by image processing of the captured image obtained by imaging by the first imaging means and the second imaging means (FIG. 2, FIG. Step S104) and
The imaging of one side surface 231 in the first imaging means is performed on a plurality of imaging regions R1, R2a, and R2b set in consideration of the projected area of the one side surface 231 with respect to the cameras C (C1 to C3). With
The imaging of the other side surface 232 in the second imaging means is performed on a plurality of imaging regions R1, R2a, and R2b set in consideration of the projected area of the other side surface 232 with respect to the cameras C (C1 to C3). It was configured.

With this configuration, the settings of the plurality of imaging regions R1, R2a, and R2b on one side surface 231 and the other side surface 232 are set in consideration of the projected area for the cameras C (C1 to C3) that perform imaging. Therefore, in each of the captured image of one side surface 231 and the captured image of the other side surface 232, a plurality of imaging regions R1 are formed so that shadows due to the shape of one side surface 231 and the shape of the other side surface 232 are not generated. By setting R2a and R2b, it is possible to appropriately obtain an captured image necessary for determining the presence or absence of black skin residue. As a result, the black skin residue on the tooth portion 23 of the gear component 2 can be appropriately detected.
Further, by rotating the orientation of the gear component 2 by 180 degrees with respect to the orientation at the time of imaging by the first imaging means before performing imaging by the second imaging means, the side surface 232 can be imaged. It is possible to take an image of the side surface 232 by using the cameras C (C1 to C3) used for the image of the side surface 231 as they are without preparing a camera separately.
As a result, one side surface 231 and the other side surface 232 can be performed without increasing the number of cameras C, so that the cost for inspecting the presence or absence of black skin residue can be reduced.

In the embodiment, the case where the tooth portion 23 is curved in the rotation axis X direction has been described as an example, but in the present invention, the gear in which the tooth portion 23 is provided parallel to the rotation axis X ( It can also be effectively used for inspecting the presence or absence of black skin residue on gear parts).

1 Black skin residue detection device 2 Gear parts 20 Through hole 21 Shaft 22 Base 23 Tooth 23a One end 23b Other end 230 Flat surface 231 One side surface 232 The other side surface 24 First large diameter part 25 Second large diameter part 3 Support Member 30 Support base 31 Support plate 311 Recess 32 Support shaft 33 Guide rail 331 Stopper 4 Rotation mechanism 41 1st unit 42 Rotation transmission shaft 421 Insertion part 43 Guide rail 45 2nd unit 46 Support shaft 461 Insertion part 47 Guide rail 5 Control device 10 LED light source 15 Base 16, 17 Support frame Cn Center C1 to C3 Camera L Diameter line La, Lb Line P1 Center point P2, P3 Base end Pa, Pb Bounding point R1 Imaging area R2 (R2a, R2b) Imaging area SD reference Concentration value T Black skin area TS Black skin candidate area Th1 Detection threshold Th2 Judgment threshold Th_w Threshold area Th_n Total threshold Tn Total area Tw Total area X, Y Rotation axis

Claims (8)

In a gear component provided with a plurality of tooth portions that mesh with other gear components at predetermined intervals in the circumferential direction around the rotation axis, polishing on one side surface and the other side surface of the tooth portion in the circumferential direction. It is a method for detecting black skin residue afterwards.
A first imaging step in which one side surface of the tooth portion is imaged by a camera while rotating the gear component around the rotation axis.
A change step of rotating the gear component 180 degrees around an axis orthogonal to the rotation axis to change the orientation of the gear component, and
A second imaging step in which the other side surface of the tooth portion is imaged one tooth at a time by the camera while rotating the gear component whose orientation has been changed around the rotation axis.
It has a determination step of determining the presence or absence of black skin residue on one side surface and the other side surface by image processing of the captured image obtained in the first imaging step and the imaging in the second imaging step. ,
One side surface of the tooth portion and the other side surface of the tooth portion are curved .
The imaging of the one side surface in the first imaging step is performed on a plurality of imaging regions set on the one side surface, and at the same time.
The imaging of the other side in the second imaging step is performed for a plurality of imaging regions are set on the side surface of the other,
In the portion where the curvature on the side surface is large and the projected area with respect to the camera is small, more of the imaging region is set than in the portion where the curvature on the side surface is small and the projected area is large.
The camera is a camera capable of outputting an image captured in the imaging region as a grayscale image.
A method for detecting black skin residue, which is characterized by the fact that. The imaging of the one side surface in the first imaging step is simultaneously performed on the plurality of imaging regions set on the one side surface, and at the same time.
The imaging of the other side surface in the second imaging step is simultaneously performed on the plurality of imaging regions set on the other side surface.
In the determination step,
By image processing of the captured image obtained by imaging each imaging region on the one side surface, the presence or absence of black skin residue on the one side surface is determined, and at the same time.
The detection of black skin residue according to claim 1, wherein the presence or absence of black skin residue on the other side surface is determined by image processing of the captured image obtained by imaging each imaging region on the other side surface. Method. The method for detecting black skin residue according to claim 2, wherein in the determination step, the presence or absence of the black skin residue is determined for each imaging region. Each of the tooth portions when viewed from the rotation axis direction has a cross-sectional shape in which the width in the circumferential direction becomes narrower toward the outer diameter side.
In the one side surface, the plurality of imaging regions are set by partitioning the one side surface in the radial direction.
The method for detecting black skin residue according to claim 2 or 3, wherein on the other side surface, the other side surface is divided in the radial direction and the plurality of imaging regions are set. The one side surface and the other side surface are formed point-symmetrically with respect to the center of the tooth portion in the rotation axis direction.
The one side surface is curved in a direction in which the inclination with respect to the normal of the outer circumference as viewed from the rotation axis direction becomes smaller from one end to the other end in the rotation axis direction.
The other side surface is curved in a direction in which the inclination with respect to the normal of the outer circumference as viewed from the rotation axis direction decreases from the other end in the rotation axis direction toward one end.
In the one side surface, the one side surface is partitioned in the rotation axis direction, and the plurality of imaging regions are set.
The detection of black skin residue according to claim 2 or 3, wherein on the other side surface, the other side surface is partitioned in the rotation axis direction and the plurality of imaging regions are set. Method. Each of the tooth portions when viewed from the rotation axis direction has a cross-sectional shape in which the width in the circumferential direction becomes narrower toward the outer diameter side.
The one side surface and the other side surface are formed point-symmetrically with respect to the center of the tooth portion in the rotation axis direction.
The one side surface is curved in a direction in which the inclination with respect to the normal of the outer circumference as viewed from the rotation axis direction becomes smaller from one end to the other end in the rotation axis direction.
The other side surface is curved in a direction in which the inclination with respect to the normal of the outer circumference as viewed from the rotation axis direction decreases from the other end in the rotation axis direction toward one end.
In the one side surface, the one side surface is partitioned in the rotation axis direction, and the plurality of imaging regions are set, and among the plurality of imaging regions, the imaging region located on the other end side is , It is further divided into multiple imaging regions in the radial direction,
On the other side surface, the other side surface is partitioned in the direction of the rotation axis to set the plurality of imaging regions, and the imaging region located on one end side of the plurality of imaging regions is set. The method for detecting black skin residue according to claim 2 or 3, wherein the imaging region is further divided in the radial direction. The plurality of imaging regions set on one side surface and the plurality of imaging regions set on the other side surface are set point-symmetrically with respect to the center of the tooth portion. The method for detecting black skin residue according to claim 5 or 6. In a gear component provided with a plurality of tooth portions that mesh with other gear components at predetermined intervals in the circumferential direction around the rotation axis, polishing on one side surface and the other side surface of the tooth portion in the circumferential direction. It is a detection device for detecting the residual black skin afterwards.
A support base that rotatably supports the gear component and that can rotate around an axis orthogonal to the rotation axis.
A rotation mechanism that rotates the gear component around the rotation axis,
A camera that captures the one side surface and the other side surface,
A light source that illuminates the tooth and
It has a control device that performs the detection process of the black skin residue, and
The control device is
A first imaging means for photographing one side surface of the gear component supported by the support base one tooth at a time while rotating the gear component around the rotation axis.
A changing means for changing the orientation of the gear component supported by the support base by rotating the support base 180 degrees around an axis orthogonal to the rotation axis.
A second imaging means for capturing the other side surface of the gear component whose orientation has been changed, tooth by tooth, while rotating the gear component around the rotation axis.
It has a determination means for determining the presence or absence of black skin residue on one side surface and the other side surface by image processing of the captured image obtained by the first imaging means and the imaging by the second imaging means.
One side surface of the tooth portion and the other side surface of the tooth portion are curved .
Imaging of the one side surface is performed on a plurality of imaging regions set on the one side surface, and at the same time.
Imaging the other side is performed for a plurality of imaging regions are set on the side surface of the other,
In the portion where the curvature on the side surface is large and the projected area with respect to the camera is small, more of the imaging region is set than in the portion where the curvature on the side surface is small and the projected area is large.
The camera is a camera capable of outputting an image captured in the imaging region as a grayscale image, and is a device for detecting black skin residue.

Images