JP6887637B1 - Image inspection equipment - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an image inspection apparatus capable of efficiently inspecting a work. An image inspection device (10) has a work holding portion (40) that moves a work (12) to a predetermined inspection position and changes the posture of the work (12), and a position for imaging one side of the work (12) at the inspection position. The first imaging unit 50 that is movable up to and images one side of the work 12 and the other side of the work 12 that is movable to the position where the other side of the work 12 is imaged at the inspection position. It includes a second imaging unit 60 that images the side, and a determination unit that determines the quality of the work 12 based on the images captured by the first imaging unit 50 and the second imaging unit 60. [Selection diagram] Fig. 1

Description

The present invention relates to an image inspection device.

Patent Document 1 describes an inspection device that inspects the presence or absence of molding defects in a molded product at high speed and with high accuracy by using a three-dimensional image measurement method. This inspection device captures an image including at least one irradiation unit configured to project a specific optical pattern onto a predetermined imaging range and an optical pattern projected onto an inspection object within the imaging range. At least one imaging unit configured to measure the three-dimensional surface shape of the inspection object based on the optical pattern included in the image captured by the imaging unit, and the measuring unit. The 3D surface shape measured by is collated with the given reference shape data representing the 3D surface shape of the non-defective product corresponding to the inspection object, and the 3D surface shape of the non-defective product in the 3D surface shape of the inspection object is collated. Of the comparative detection unit configured to detect a portion recognized as showing a shape different from that of the shape as a candidate for molding defect together with the dimensions of the shape, and the candidate for molding defect detected by the comparison detection unit. Only those whose shape dimensions are equal to or greater than a predetermined determination reference value representing a molding defect reference are provided with a defect identification portion configured to identify molding defects.

JP-A-2019-2834

An object of the present invention is to provide an image inspection apparatus capable of efficiently inspecting a work.

The invention according to claim 1 is a turntable that rotates around a rotation axis, and a first that rotates a workpiece provided on the turntable and held as an automobile part or an aircraft part around a predetermined first axis. The cage and the second cage provided on the turntable to rotate the held work around a predetermined second axis, and the turntable rotates around the rotation axis. The work holding portion in which the first cage moves from the receiving position for receiving the work to the inspection position and the second cage moves from the inspection position to the receiving position does not interfere with the work holding portion. A predetermined first imaging location on the surface side of the workpiece that moves from the first retracted position to the first imaging position for imaging the workpiece at the inspection position and rotates about the first axis. It moves from the first imaging unit to be imaged and the second retracted position that does not interfere with the work holding unit to the second imaging position for imaging the work at the inspection position, and rotates about the first axis. Based on the second imaging unit that images a predetermined second imaging location on the back surface side of the work, and the images captured by the first imaging unit and the second imaging unit, the work An image inspection that includes a determination unit for determining quality, and the first imaging unit and the second imaging unit capture the first imaging location and the second imaging location over the entire circumference, respectively. It is a device.

According to the second aspect of the present invention, in the image inspection apparatus according to the first aspect, the first imaging unit and the second imaging unit illuminate the work and the camera that images the work, respectively. And have.

According to the third aspect of the present invention, in the image inspection apparatus according to the first aspect, the first imaging unit and the second imaging unit illuminate the work and the camera that images the work, respectively. And a moving mechanism for moving the camera and the work independently.

According to a fourth aspect of the present invention, in the image inspection apparatus according to the first aspect, the first imaging unit and the second imaging unit each have a plurality of cameras that image different positions of the work, and the above. It has an illuminator that illuminates the work and a light-shielding member that blocks ambient light.

The invention according to claim 5 is the image inspection apparatus according to claim 1, wherein the first imaging unit and the second imaging unit each capture a plurality of cameras that image different positions of the work, and the above. It has an illuminator that illuminates the work, a light-shielding member that blocks ambient light, and a moving mechanism that independently moves the plurality of cameras, the illuminator, and the light-shielding member.

The invention according to claim 6 is the image inspection apparatus according to any one of claims 2 to 5, wherein the work held by the first cage is held at least 360 degrees around the first axis. Rotate.

The invention according to claim 7 is the image inspection apparatus according to claim 6, wherein the work is conveyed to the first cage at the receiving position, and the first conveying unit at the inspection position. a second conveying unit that conveys the workpiece from the first retainer further Ru comprising a.

The invention according to claim 8 further includes a payout unit provided with first to third payout locations for paying out the work to be conveyed by the second transfer unit in the image inspection apparatus according to claim 7. The second transport unit transports the non-defective product, the defective product, and the re-inspected product that needs to be re-inspected, respectively, to the first to third payout locations.

According to a ninth aspect of the present invention, in the image inspection apparatus according to the eighth aspect, the first cage supports the work at a tip portion and rotates around the first axis. The second cage has a shaft, and the second cage has a second rotary fixed shaft that supports the work at a tip portion and rotates around the second shaft .

The invention according to claim 10 is the image inspection apparatus according to claim 8, wherein the work is a part having a protruding portion, and the first cage is inserted into the protruding portion. It has a first rotary fixed shaft that rotates around one axis, and a first open / close member that opens and closes and rotatably presses the protruding portion inserted into the first rotary fixed shaft. The cage 2 is inserted into the protruding portion and can rotate the second rotating fixed shaft that rotates around the second axis and the protruding portion that is opened and closed and inserted into the second rotating fixed shaft. It has a second opening / closing member that is pressed down.

According to the present invention, it is possible to provide an image inspection apparatus capable of efficiently inspecting a work.

It is external drawing of the image inspection apparatus which concerns on one Embodiment of this invention. It is a top view of the image inspection apparatus. It is explanatory drawing which shows the flow of a work, and is the top view which shows the state which the 1st transfer robot and the 2nd transfer robot are removed from the image inspection apparatus. It is a perspective view of the 1st transfer robot included in the image inspection apparatus. It is a perspective view of the work holding part included in the image inspection apparatus. It is a perspective view which shows the state which the image pickup part included in the image inspection apparatus is in the image pickup position. It is a front view corresponding to FIG. It is a plan view corresponding to FIG. It is a perspective view of the 2nd transfer robot included in the image inspection apparatus.

Subsequently, an embodiment embodying the present invention will be described with reference to the attached drawings, and the present invention will be understood. In the figure, parts not related to the description may be omitted.

The image inspection device 10 (see FIG. 1) according to an embodiment of the present invention inspects the supplied work 12 by an image, and it is difficult to determine whether it is a non-defective product, a defective product, or a non-defective product or a defective product based on the presence or absence of defects. It can be classified as one of the re-inspected products that need to be re-inspected and paid out. Defects are, for example, scratches. However, the defect is not limited to scratches, and may be, for example, dirt or chips.
The work 12 is, for example, a pressed metal part, and has a shape whose outer shape is substantially axisymmetric with respect to the central axis. The work 12 has a protruding portion 124 protruding from the central portion on the surface side, and a hole H124 centered on the central axis is formed in the center of the top portion of the protruding portion 124. However, the work 12 is not limited to such parts. Examples of other workpieces include automobile parts such as engine blocks and mission cases, or aircraft parts.
Hereinafter, as shown in FIG. 1, the front-rear direction of the image inspection apparatus 10 may be described as the X direction, the left-right direction as the Y direction, and the vertical direction as the Z direction.

As shown in FIGS. 1 and 2, the image inspection device 10 includes a supply unit 20, a first transfer robot 30, a work holding unit 40, a first image pickup unit 50, a second image pickup unit 60, and a control unit (not). (Fig.), A second transfer robot 80 and a payout unit 90 are provided.
In the image inspection device 10, as shown in FIG. 3, the work 12 supplied to the supply unit 20 is conveyed to the work holding unit 40 by the first transfer robot 30 (not shown in FIG. 3) (arrow T1). (See), transported to the inspection position by the work holding unit 40 (see arrows T2a and arrow T2b), and both sides are imaged by the first imaging unit 50 and the second imaging unit 60. After the imaging, the presence or absence of the defect is determined, and the work 12 is dispensed to a predetermined position of the payout unit 90 according to the type of the defect by the second transfer robot 80 (not shown in FIG. 3) (arrows T3a, T3b). , T4, T5).

As shown in FIG. 2, the supply unit 20 is arranged on the right-hand side of the image inspection device 10 when viewed from the front, and the work 12 to be inspected is loaded.
The supply unit 20 has input gravity conveyors 202a and 202b arranged in two rows side by side and extending in the X direction. The transport surfaces of the loading gravity conveyors 202a and 202b are inclined so that the height decreases from the front side (front side of the image inspection device 10) toward the rear side.
Therefore, the work 12 loaded into the loading gravity conveyors 202a and 202b from the front side is conveyed by its own weight and supplied to the supply location A (an example of a predetermined location) at the rear end.

At the supply location A of the loading gravity conveyors 202a and 202b, a presence / absence sensor (not shown) for detecting the presence / absence of the work 12 and a push-up mechanism are provided. This push-up mechanism has a round bar-shaped push-up member 204 (see FIG. 2) extending in the vertical direction, and a protrusion fitted into the hole H124 formed in the work 12 is formed at the tip of the push-up member 204.
The push-up member 204 advances upward from between the rollers, and the protrusion at the tip fits into the hole H124 of the work 12, so that the work 12 is lifted from the transport surface and within the previously allowed error range in the X and Y directions. Positioned to.

The first transfer robot (an example of the first transfer unit) 30 is an orthogonal robot as shown in FIG. 4, and is a loading gravity conveyor 202a or a charging gravity conveyor 202b as shown by an arrow T1 in FIG. The work 12 lifted at the supply location A (see FIG. 2) can be conveyed to the work holding portion 40.

As shown in FIG. 4, the first transfer robot 30 has a linear motion mechanism 310, a slider 320, and a hand 330.
The linear motion mechanism 310 has a slider (not shown) that moves in the Y direction at a position higher than the supply unit 20 and the work holding unit 40.
The slider 320 is guided by a guide 322 extending in the Z direction fixed to a slider (not shown) of the linear motion mechanism 310, and is provided so as to be movable in the Z direction.

The hand 330 has an air cylinder 332 and a gripping claw 334.
The air cylinder 332 is provided on the slider 320 so that it can rotate around the axis AX31 extending in the X direction.
The gripping claw 334 can be moved back and forth by the air cylinder 332 and can be opened and closed in a direction intersecting the direction of moving forward and backward.
Therefore, in addition to moving in the Y direction and the Z direction, the gripping claw 334 rotates around the axis AX31 and moves forward and backward, and the outer edge portion of the work 12 can be gripped by each notch 336 formed at the tip.
If a specific description is made based on the state shown in FIG. 4, the entire four gripping claws 334 move in the Y direction and the Z direction from the state shown in FIG. 4, or the rotation axis when viewed from the front side. It can rotate clockwise around the AX32, or open in the Y direction to release the gripped work 12.

As shown in FIG. 3, the work holding unit 40 is arranged between the supply unit 20 and the payout unit 90 when viewed from the front.
The work holding unit 40 receives the work 12 from the first transfer robot 30, and as shown by arrows T2a and T2b, moves to a predetermined inspection position for image inspection of the delivered work 12. Can be moved.

As shown in FIG. 5, the work holding portion 40 has a turntable 410, a first cage 420a, and a second cage 420b.
The turntable 410 is driven by an air motor 412 and can rotate around a rotation shaft AX41 extending in the Z direction. The rotation direction and the amount of rotation of the turntable 410 are half a turn counterclockwise (see arrow T2a shown in FIG. 3) or clockwise (see arrow T2b shown in FIG. 3) from the state shown in FIG.

The first cage 420a is provided on the turntable 410, and while holding the work 12, the work 12 is rotated around the central axis of the work 12 (an example of a predetermined axis) to change the posture of the work 12. Can be changed.

The first cage 420a includes a servomotor 422a, a rotary fixed shaft 424a, an opening / closing member 426a, and an air cylinder 428a.
The servomotor 422a is fixed to the rotary table 410 via a fixing member 430a.

The rotation fixing shaft 424a is a round bar-shaped member extending diagonally upward, and the work 12 is inserted into the rotating fixed shaft 424a. The rotary fixed shaft 424a is flat with the right side facing the tip side when viewed from the front in a state where the first cage 420a is in the receiving position (state shown in FIG. 5) for receiving the work 12 from the first transfer robot 30. It is arranged so that the supply location A is located in the direction in which the rotation fixed shaft 424a extends (see FIG. 2). The base end portion of the rotation fixed shaft 424a is provided on the shaft of the servomotor 422a via a coupling, and rotates around the central axis AX42 with the rotation of the servomotor 422a. A support member (not shown) having a shape corresponding to the back surface side of the protrusion 124 of the work 12 is provided at the tip of the rotation fixing shaft 424a, and the protrusion 124 formed on the work 12 can be supported.

The opening / closing member 426a can be opened / closed by rotating around the rotation shaft AX43, and the protruding portion 124 of the work 12 can be pressed by the tip end portion. At the tip of the opening / closing member 426a, a pressing member 432a having a shape corresponding to the surface side of the protruding portion 124 is provided. The pressing member 432a is provided on the opening / closing member 426a via a bearing (not shown) so that the pressing member 432a can rotate around the central axis AX42 of the rotating fixed shaft 424a when the work 12 is pressed. Therefore, when the opening / closing member 426a is closed and the work 12 inserted into the rotation fixing shaft 424a is pressed, the work 12 is held without falling off, while the rotation of the work 12 that rotates with the rotation of the rotation fixing shaft 424a is Permissible

The air cylinder 428a can rotate the opening / closing member 426a around the rotation shaft AX43 by advancing / retreating the base end portion of the opening / closing member 426a. That is, the air cylinder 428a can open and close the opening / closing member 426a.

The second cage 420b is provided on the turntable 410 so as to be rotationally symmetric with respect to the first cage 420a about the rotation axis AX41, and the work 12 is held by the work 12 while holding the work 12. The posture of the work 12 can be changed by rotating it around a central axis (an example of a predetermined axis).
The second cage 420b includes a servomotor 422b, a rotary fixed shaft 424b, an opening / closing member 426b, and an air cylinder 428b, and is configured in the same manner as the first cage 420a.
Since the second cage 420b is arranged on the opposite side of the rotation shaft AX41 from the first cage 420a, the first cage 420a receives the work 12 from the first transfer robot 30. When in position, the second cage 420b is in the inspection position for imaging the work 12. Therefore, each time the turntable 410 rotates half a turn, one cage moves to the receiving position where the work 12 is received, and the other cage rotates to the inspection position where the work 12 is imaged.

The first imaging unit 50 can move from a retracted position that does not interfere with the work holding unit 40 and the second transfer robot 80 to an imaging position where the work 12 is imaged, and can image the surface side (one side) of the work 12.
As shown in FIGS. 6 to 8, the first imaging unit 50 includes a camera 510, an illuminator 520, and a moving mechanism 550 that moves the camera 510 and the illuminator 520 in the X and Z directions.
For example, three cameras 510 are provided, and each of them can image different positions on the surface of the work 12.

For example, three illuminators 520 are provided, and each camera 510 can illuminate the target portion to be imaged. The illuminator 520 is, for example, a light guide plate.
The first imaging unit 50 may further have a light-shielding plate in order to block ambient light.

The moving mechanism 550 has a first slider 552 that moves in the Z direction and a second slider 554 that is provided on the first slider 552 and moves in the X direction. The camera 510 and the illuminator 520 are fixed to the second slider 554 via the support member 556.

The position where the first slider 552 is raised and the second slider 554 is moved forward is the evacuation position where the first imaging unit 50 does not interfere with the work holding unit 40. This retracted position is also the initial position when the image inspection device 10 starts operation.
The specific configuration of the moving mechanism of the first imaging unit 50 may be arbitrary as long as the camera 510 and the illuminator 520 can be moved from the retracted position that does not interfere with the work holding unit 40 to the imaging position. Further, instead of the moving mechanism 550, the moving mechanism that can move the camera 510 and the illuminator 520 independently may be used.

The second imaging unit 60 can move from a retracted position that does not interfere with the work holding unit 40 and the second transfer robot 80 to an imaging position where the work 12 is imaged, and can image the back surface side (the other side) of the work 12.

The second imaging unit 60 includes a camera 610, an illuminator 620, a light-shielding plate 630, and a moving mechanism 650 that moves the camera 610, the illuminator 620, and the light-shielding plate 630 in the X direction.
For example, two cameras 610 are provided, and each can image different positions on the back surface of the work 12.

For example, three illuminators 620 are provided, and each camera 610 can illuminate the target portion to be imaged. The illuminator 620 is, for example, a light guide plate.
The light-shielding plate (an example of a light-shielding member) 630 is, for example, a member that blocks ambient light such as light from lighting installed on the ceiling of a factory.

The moving mechanism 650 has a slider 652 that moves in the X direction. The camera 610, the illuminator 620, and the shading plate 630 are fixed to the slider 652 via the support member 656.

The position where the slider 652 is moved to the rear side is a retracted position where the second imaging unit 60 does not interfere with the work holding unit 40. This retracted position is also the initial position when the image inspection device 10 starts operation.
The specific configuration of the moving mechanism of the second imaging unit 60 is optional as long as the camera 610, the illuminator 620, and the light-shielding plate 630 can be moved from the retracted position that does not interfere with the work holding unit 40 to the imaging position. Good. Further, instead of the moving mechanism 650, a moving mechanism capable of independently moving the camera 610, the illuminator 620, and the shading plate 630 may be used.

The control unit (not shown) includes a PLC (Programmable Logic Controller) and an image processing device.
The PLC can control the supply unit 20, the first transfer robot 30, the work holding unit 40, the first imaging unit 50, the second imaging unit 60, the second transfer robot 80, the payout unit 90, and other units.

The image processing device (an example of the determination unit) can detect the presence or absence of defects based on the images captured by the first image pickup unit 50 and the second image pickup unit 60, and can determine the quality of the work 12. The presence or absence of defects may be detected by pattern matching or by AI. The image processing apparatus classifies the work 12 into a non-defective product, a defective product, or a re-inspected product that is difficult to distinguish between a non-defective product and a defective product and requires re-inspection based on the presence or absence of detected defects.

The second transfer robot (an example of the second transfer unit) 80 is an orthogonal robot as shown in FIG. 9, and as shown by arrows T3a, T3b, T4, and T5 in FIG. 3, the workpiece whose imaging has been completed. 12 can be taken out from the work holding portion 40 and conveyed to the payout portion 90.

The second transfer robot 80 has a first slider 810, a second slider 820, a third slider (not shown), and a hand 840.
The first slider 810 is guided by a linear motion guide 808 extending in the Y direction at a position higher than the work holding portion 40 and the payout portion 90, and is provided so as to be movable in the Y direction.

The second slider 820 is provided on the first slider 810 and is guided by a linear motion guide extending in the Z direction so as to be movable in the Z direction.

The third slider (not shown) is provided on the second slider 820 and is guided by a linear motion guide extending in the X direction so as to be movable in the X direction.

The hand 840 has an air cylinder 842 and a gripping claw 844.
The air cylinder 842 is provided on a third slider (not shown) so that it can rotate around an axis AX81 extending in the X-axis direction.
The gripping claw 844 can be moved back and forth by the air cylinder 842 and can be opened and closed in a direction intersecting the direction of moving forward and backward.
Therefore, in addition to moving in the X, Y, and Z directions, the gripping claw 844 rotates around the axis AX81 to move forward and backward, and grips the outer edge of the work 12 with each notch 846 formed at the tip. it can.
More specifically, the four gripping claws 844 as a whole move from the state shown in FIG. 9 in the X direction, the Y direction, and the Z direction, or are viewed from the front side, to be specifically described based on the state shown in FIG. The work 12 can be rotated counterclockwise about the rotation axis AX81, or the work 12 opened in the Y direction and gripped can be released.

As shown in FIGS. 1 and 2, the payout unit 90 is arranged on the side opposite to the supply unit 20 with the work holding unit 40 sandwiched from the front, that is, on the left hand side of the image inspection device 10, and is a second. The work 12 is delivered from the transfer robot 80 of the above.

The payout unit 90 has a first payout gravity conveyors 902a and 902b, a second payout gravity conveyor 902c, and a third payout gravity conveyor 902d, in which the work 12 is paid out according to the inspection result.

The first payout gravity conveyors 902a and 902b extend in the X direction and are arranged side by side in two rows. The transport surfaces of the first payout gravity conveyors 902a and 902b are inclined so that their heights decrease from the rear side to the front side (front side of the image inspection device 10), respectively. As shown in FIG. 3, the rear ends of the first payout gravity conveyors 902a and 902b are located in the left direction from the inspection position of the work 12 (for the second transfer robot 80 to pay out the work 12). It is located at a position separated from the slider 810 of 1 in the Y direction in which it moves). The rear end portion serves as a first payout location B1 (see FIG. 2), and the work 12 judged to be a non-defective product is conveyed.
Elevating units 904a and 904b (see FIG. 1) that rise from below the transport surface through the rollers and deliver the work 12 transported by the second transfer robot 80 to the first payout location B1. It is provided.

The second payout gravity conveyor 902c extends in the X direction and is arranged behind the first payout gravity conveyors 902a and 902b. The transport surface of the second payout gravity conveyor 902c is inclined so that the height decreases from the front side to the rear side. The front end of the second payout gravity conveyor 902c is the second payout place B2 (see FIG. 2), and the work 12 determined to be defective is conveyed.
The second payout location B2 is provided with an elevating unit 904c (see FIG. 1) that rises from below the transport surface through the rollers and delivers the work 12 transported by the second transfer robot 80. ing.

The third payout gravity conveyor 902d is arranged side by side with the second payout gravity conveyor 902c. The transfer surface of the third payout gravity conveyor 902d is inclined so that the height decreases from the front side to the rear side. The front end of the third payout gravity conveyor 902d is the third payout location B3 (see FIG. 2), and it is difficult to distinguish between a non-defective product and a defective product, and it is determined that the product needs to be re-inspected. The work 12 is conveyed.
The third payout location B3 is provided with an elevating unit 904d (see FIG. 1) that rises from below the transport surface through the rollers and delivers the work 12 transported by the second transfer robot 80. ing.

Next, the operation of the image inspection device 10 will be described.
The image inspection device 10 operates according to the following steps S1 to S11, and can inspect the work 12 by image inspection. However, if possible, the steps S1 to S11 may be performed in a different order or may be performed in parallel.

(Step S1)
A plurality of works 12 are placed on the front side of the loading gravity conveyors 202a and 202b shown in FIG. Each work 12 moves on the loading gravity conveyors 202a and 202b and reaches the supply location A.
The work 12 that has reached the supply location A is lifted by the round bar-shaped push-up member 204 of the push-up mechanism.
The work 12 lifted by the push-up member 204 is in a floating state from the transport surface.

(Step S2)
The first transfer robot 30 (see FIG. 4) grips the outer peripheral edge of the work 12 floating from the transfer surface and transfers it to the work holding portion 40 as shown by the arrow T1 in FIG.

(Step S3)
After the work 12 is inserted into the tip of the rotary fixed shaft 424a of the first cage 420a (see FIG. 5), the first transfer robot 30 retracts. By closing the opening / closing member 426a, the work 12 is held by the first cage 420a.
In a state where the work 12 is held by the first cage 420a, the central axis AX42 and the central axis of the work 12 substantially coincide with each other.

(Step S4)
The turntable 410 rotates half a turn as indicated by the arrow T2a or the arrow T2b in FIG.
The first cage 420a holding the work 12 moves to the inspection position for performing an image inspection, and the second cage 420b moves to the receiving position where the work 12 is received from the first transfer robot 30. ..

(Step S5)
The second slider 554 of the first imaging unit 50 (see FIGS. 6 to 8) moves from the retracted position on the front side to the rear side, and the first slider 552 descends to move the camera 510 and the illuminator 520. Moves to the imaging position.
On the other hand, the slider 652 of the second imaging unit 60 moves from the retracted position on the rear side to the front side, and the camera 610, the illuminator 620, and the light-shielding plate 630 move to the imaging position.

(Step S6)
The servomotor 422a of the first cage 420a (see FIG. 5) is driven, the rotation fixed shaft 424a rotates at least 360 degrees around the central axis AX42, and imaging by the cameras 510 and 610 shown in FIG. 6 is started. To.
That is, the work 12 held by the first cage 420a rotates around its own central axis, and the cameras 510 and 610 take images of predetermined imaging points over the entire circumference.
In this step S6, the work is not limited to rotating around the central axis of the work itself. If all the predetermined parts to be inspected can be imaged, the work may be rotated around the predetermined axis, and more specifically, the work for imaging all the predetermined parts to be inspected. The posture of is changed.
Therefore, for example, when the work is a mission case, the mission case held in the cage rotates around a preset axis, and all the imaging points predetermined by the camera are imaged.

(Step S7)
An image processing device (not shown) detects the presence or absence of defects based on the captured image. Further, the image processing apparatus determines whether the work 12 is a non-defective product, a defective product, or a re-inspected product that requires re-inspection, based on the defect detection result.
The time required from the start of imaging (step S6) to the determination of the work 12 (this step S7) is, for example, 4.5 seconds.

(Step S8)
The first imaging unit 50 and the second imaging unit 60 each retract to the retracted position.

(Step S9)
The opening / closing member 426a shown in FIG. 5 opens, and the work 12 is opened.

(Step S10)
The second transfer robot 80 pulls out the work 12 from the rotation fixed shaft 424a of the first cage 420a.
After that, the opening / closing member 426a closes, the turntable 410 rotates half a turn around the rotation shaft AX41, the first cage 420a moves to the receiving position where the work 12 is received from the first transfer robot 30, and the subsequent work The second cage 420b holding the 12 moves to the inspection position.
The subsequent work 12 is held by the second cage 420b at the receiving position until the turntable 410 starts to rotate in this step. The operation until the work 12 is held by the second cage 420b is the same as the operation until the work 12 is held by the first cage 420a described above, and thus detailed description thereof will be omitted. ..
In this way, the work 12 held by the first cage 420a is image-inspected, and before the turntable 410 starts to rotate, the first cage 420a and the rotation shaft AX41 are sandwiched between the work 12 and the opposite side. Since the subsequent work 12 is held by the provided second cage 420b, the work 12 is efficiently processed in order.

(Step S11)
Based on the determination result of the image processing device, the second transfer robot 80 transfers the work 12 to the first payout gravity conveyors 902a, 902b, and 2 as indicated by arrows T3a, T3b, T4, and T5 in FIG. Conveyor to either the payout gravity conveyor 902c or the third payout gravity conveyor 902d. That is, the second transfer robot 80 dispenses the work 12 determined to be a non-defective product, a defective product, or a re-inspected product to the first payout place B1, the second payout place B2, or the third payout place according to the judgment result. Transport to location B3.

Therefore, the work 12 determined to be a non-defective product is delivered to the elevating unit 904a or the elevating unit 904b, and is placed on the first payout gravity conveyor 902a or the first payout gravity conveyor 902b on the front side of the image inspection device 10. Move to.
The work 12 determined to be defective is delivered to the elevating unit 904c, placed on the second payout gravity conveyor 902c, and moved to a predetermined location on the rear side.
The work 12 determined to be a re-inspected product is delivered to the elevating unit 904d, placed on the third payout gravity conveyor 902d, and moved to a predetermined location on the rear side.

After that, by repeating the above-mentioned steps S1 to S11, the first cage 420a and the second cage 420b reciprocate between the receiving position and the inspection position, the work 12 is sequentially image-inspected, and the image processing apparatus. It is paid out to the first to third payout places B1 to B3 according to the determination result by.

According to the image inspection device 10 described above, the work holding portion 40 that changes the posture of the work 12, the first imaging unit 50 that images the front surface side of the work 12, and the second imaging that images the back surface side of the work 12. Since the unit 60 is provided, the work 12 can be efficiently image-inspected.

Next, a method of adjusting the image inspection device 10 in advance, particularly a method of adjusting the first imaging unit 50 and the second imaging unit 60 will be described.
In order to operate the image inspection device 10 according to the above-mentioned operation method, adjustment is required in advance. In particular, it is important to adjust the cameras 510, 610, the illuminators 520, 610, and the shading plate 630 to appropriate imaging positions so that a defect image that can be accurately discriminated can be captured.
Therefore, the control unit stores in advance an image of the work 12 capable of discriminating defects such as scratches as a reference image, and the first image pickup unit 50 and the first image pickup unit 50 and the first so that an image close to the reference image can be captured. The image pickup unit 60 of 2 is moved. Whether or not the image is close to the reference image may be determined by pattern matching or by AI.

As described above, in the image inspection device 10, the camera 510 and the illuminator 520 included in the first imaging unit 50 and the camera 610, the illuminator 620 and the shading plate 630 included in the second imaging unit 60 are movably provided. Therefore, it is easy to adjust the imaging positions of the cameras 510 and 610, the illuminators 520 and 620, and the shading plate 630. It is also possible to adjust the imaging position by remote control from a place away from the place where the image inspection device 10 is installed.
Further, in the image inspection device 10, the installation area of the entire device is reduced as compared with the case where the first image pickup unit 50 and the second image pickup section 60 are not movably provided.

Although the embodiments of the present invention have been described above, the present invention is not limited to the above-described embodiments, and all changes in conditions that do not deviate from the gist are within the scope of the present invention.
The work may be rectangular, for example. Further, when the work is a small flat plate that fits in the field of view of the camera, for example, in order for the imaging unit to image the entire work, the work held by the first cage or the second cage is not necessarily used. There is no need to rotate it. However, the posture of the work at the time of imaging can be adjusted by rotating the work by the first cage or the second cage before imaging, and by rotating the work after imaging, the first cage is used. It is possible to adjust the posture of the work when it is delivered to the transport unit of 2.

The first cage and the second cage are not limited to rotating the work, and it is sufficient that the imaging unit can change the posture of the work in order to image the entire inspection target portion of the work.

10 Image inspection device 12 Work 20 Supply unit 30 First transfer robot 40 Work holding unit 50 First imaging unit 60 Second imaging unit 80 Second transfer robot 90 Discharge unit 124 Projections 202a, 202b Gravity conveyor for loading 204 Push-up member 310 Linear movement mechanism 320 Slider 322 Guide 330 Hand 332 Air cylinder 334 Gripping claw 410 Rotating table 412 Air motor 420a First cage 420b Second cage 422a, 422b Servo motor 424a, 424b Rotating fixed shaft 426a, 426b Opening and closing member 428a, 428b Air cylinder 430a Fixing member 432a Holding member 510 Camera 520 Illuminator 550 Moving mechanism 552 First slider 554 Second slider 556 Supporting member 610 Camera 620 Illuminator 630 Shading plate 650 Moving mechanism 652 Slider 656 Supporting member 808 Linear guide 810 First slider 820 Second slider 840 Hand 842 Air cylinder 844 Gripping claws 902a, 902b First payout gravity conveyor 902c Second payout gravity conveyor 902d Second payout gravity conveyor 904a, 904b, 904c, 904d Lifting Unit AX31 Axis AX41 Rotating Axis AX42 Central Axis AX43 Rotating Axis AX81 Axis H124 Hole

Claims (10)

A turntable that rotates around a rotation axis, a first cage that is provided on the turntable and that rotates a workpiece that is an automobile part or an aircraft part held on the turntable around a predetermined first axis, and a turntable. It has a second cage that rotates the held work around a predetermined second axis, and the turntable rotates around the rotation axis, whereby the first cage is said to be the same. A work holding unit that moves from the receiving position for receiving the work to the inspection position and the second cage moves from the inspection position to the receiving position .
A predetermined position on the surface side of the work that moves from a first retracted position that does not interfere with the work holding portion to a first imaging position that images the work at the inspection position and rotates around the first axis. A first imaging unit that captures the first imaging location, and
A predetermined position on the back surface side of the work that moves from a second retracted position that does not interfere with the work holding portion to a second imaging position that images the work at the inspection position and rotates around the first axis. A second imaging unit that captures the second imaging location, and
A determination unit for determining the quality of the work based on the image captured by the first imaging unit and the second imaging unit is provided .
An image inspection device in which the first imaging unit and the second imaging unit capture the first imaging location and the second imaging location over the entire circumference, respectively. In the image inspection apparatus according to claim 1,
The first imaging unit and the second imaging unit have a camera that images the work and a camera, respectively.
An image inspection device including an illuminator that illuminates the work. In the image inspection apparatus according to claim 1,
The first imaging unit and the second imaging unit have a camera that images the work and a camera, respectively.
An illuminator that illuminates the work and
An image inspection device having a moving mechanism for independently moving the camera and the work. In the image inspection apparatus according to claim 1,
A plurality of cameras in which the first imaging unit and the second imaging unit each capture different positions of the work, and
An illuminator that illuminates the work and
An image inspection device having a light-shielding member that blocks ambient light. In the image inspection apparatus according to claim 1,
A plurality of cameras in which the first imaging unit and the second imaging unit each capture different positions of the work, and
An illuminator that illuminates the work and
A light-shielding member that blocks ambient light,
An image inspection device having the plurality of cameras, the illuminator, and a moving mechanism for independently moving the light-shielding member. In the image inspection apparatus according to any one of claims 2 to 5.
An image inspection device in which the first cage rotates the held work by at least 360 degrees around the first axis. In the image inspection apparatus according to claim 6,
A first transport unit that transports the work to the first cage at the receiving position, and
An image inspection device further comprising a second transport unit for transporting the work from the first cage at the inspection position. In the image inspection apparatus according to claim 7,
Further provided with a payout unit provided with first to third payout locations for paying out the work to be conveyed by the second transport unit.
An image inspection device in which the second transport unit transports a non-defective product, a defective product, and a re-inspected product that needs to be re-inspected, respectively, to the first to third payout locations. In the image inspection apparatus according to claim 8,
The first cage has a first rotary fixed shaft that supports the work at a tip and rotates around the first shaft.
An image inspection device in which the second cage has a second rotation fixed shaft that supports the work at a tip portion and rotates around the second axis. In the image inspection apparatus according to claim 8,
The work is a part having a protruding portion.
The first cage is inserted into the protrusion and rotates around the first shaft with a first rotary fixed shaft.
It has a first opening / closing member that opens / closes and rotatably presses the protruding portion inserted into the first rotation fixing shaft.
The second cage is inserted into the protrusion and rotates around the second shaft with a second rotary fixed shaft.
An image inspection device having a second opening / closing member that opens / closes and rotatably presses the protruding portion inserted into the second rotation fixing shaft.

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