JPH0682224A - Inspector for transparent plate-shaped body - Google Patents

Abstract

PURPOSE:To obtain an apparatus which achieves a quick inspection of an outline and a curvature of a transparent plate-shaped body with a simple apparatus requiring no laser light source. CONSTITUTION:Cameras 6 and 8 for inspection and light sources 7 and 9 are arranged in a specified direction with respect to a transparent plate-shaped body 2 having a three-dimensional curved surface such as plate glass carried on an inspection form 1. In the inspection of an outline, the camera 6 is arranged at a position allowing the photographing of the edge of the transparent plate-shaped body 2 and the edge of the inspection type 1 on an extension line of an end face of the transparent plate- shaped body 2. The light source 7 is so arranged in an angle range of 30-50 deg. between the center axis of the camera 6 and the center axis of an optical axis. In the inspection of a curvature, the camera 8 is arranged at a position on a tangent or near the tangent parallel with a normal of an end face of the transparent plate-shaped body 2 among the tangents at the edge of the surface 2 of the transparent plate-shaped body 2 the closest to the inspection form 1 and that allows the photographing of the edge of the transparent plate-shaped body 2 and the edge of the inspection form 1. The light source 9 is arranged within a range where an angle between the center axis of the camera 8 and the center axis of the optical axis is kept 20 deg.-40 deg. to perform an inspection.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION The present invention relates to a vehicle window glass or the like.
The present invention relates to a device for inspecting the outer shape of the peripheral portion and the curvature of a curved surface of a transparent plate, which determines whether or not a transparent plate having a three-dimensional curved surface shape is formed into a desired shape.

[0002]

2. Description of the Related Art As a prior art in a shape inspection method for a transparent plate having a three-dimensional curved surface shape, as disclosed in JP-A-55-89708, there is a method of following the outline of a peripheral edge. One that measures with a plurality of arranged probes, or one that has a position measuring sensor at the tip of a movable arm as shown in Japanese Patent Laid-Open No. 58-198710, and learns the order of measurement positions based on a reference type. Measured by storing and then repeatedly reproducing the stored contents. Further, after projecting a substantially straight light-dark line on an object to be inspected as shown in Japanese Patent Laid-Open No. 3-72206, and imaging and image processing with a shutter camera. It is known that the quality of the bending shape is determined by comparing the inclination obtained by linearly approximating the image of the bright and dark lines with the reference inclination.

However, among the above-mentioned detection methods,
JP-A-55-89708 and JP-A-58-198710.
In any of the above methods, the sensor is a contact type, and it is inevitable that the object is damaged and the sensor itself is worn. In addition, JP-A-3-72206
As for the above, when measuring the inspected object such as the front glass of an automobile that has a deep bend, the accuracy of the measurement deteriorates because it is inspected from a high position above, and there is a possibility of practical problems. In addition to problems, when applied to shape measurement of two curved plates in the unbonded state after bending forming of laminated glass, defects such as chipping at the edge part due to displacement of the two glasses There was a problem of causing.

Regarding the non-contact type, the applicant of the present invention has proposed a curved surface shape measuring method and its apparatus as Japanese Patent Laid-Open No. 1-174907 and a glass edge detecting apparatus as Japanese Patent Laid-Open No. 1-187403. Since the coordinate system is set and the edge of the transparent plate is measured by the position sensor using the laser light source based on this, the inspection is performed by comparing with the virtual curved surface of the design.
The control becomes complicated and the measurement time may be slightly delayed.

The present invention has been made in view of the above circumstances, and an object of the present invention is to provide an apparatus for promptly inspecting the outer shape and curvature of a transparent plate-like body with a simple apparatus, which does not require a laser light source. And

[0006]

The inspection device according to the present invention comprises:
When measuring the outer shape of the transparent plate-shaped body, the transparent plate-shaped body with its edge portion seamed is placed and positioned on an inspection die having an outer shape A (mm) larger than the edge of the target outer shape of the transparent plate-shaped body. In this state, by irradiating the edge portion of the transparent plate-shaped body with light from a light source and imaging the edge portion with a camera for inspection, a device for inspecting the transparent plate-shaped body is provided. A movable outer shape inspection camera, which is arranged at a position where the edge of the transparent plate and the edge of the inspection die can be imaged on almost the extension line of the end face, and the center axis of the camera and the center axis of the optical axis. An outer shape inspection light source that is movable to a position where the angle is in the range of 30 ° to 50 ° and illuminates the seaming portion of the transparent plate and the edge of the inspection die, and the inspection die imaged by the inspection camera Gray signal of edge and edge of transparent plate An image processing device for measuring the distance between the inspection die and the edge of the transparent plate-like body and inspecting the outer shape of the transparent plate-like body by calculating the difference between this distance and A (mm) is provided. When measuring the curvature of the transparent plate-shaped body, the transparent plate-shaped body with the edge portion seamed is placed on the inspection die and positioned, and the light source is applied to the edge portion of the transparent plate-shaped body. In the device for inspecting the transparent plate by irradiating light from the, and imaging the edge portion with the inspection camera, the transparent plate is transparent in the tangent line at the edge of the transparent plate surface closest to the inspection die. A movable curvature inspection camera arranged on a tangent line parallel to the normal line of the end face of the plate-like body or at a position close to this tangent line and at a position where the edge of the transparent plate-like body and the edge of the inspection die can be imaged. And the central axis of the camera and its optical axis Degree is 20 ° ~
A curvature inspection light source that is movable within a range of 40 ° to a position where the light illuminates the seaming portion of the transparent plate and the edge of the inspection die, and the inspection die edge imaged by the inspection camera. An image processing device for inspecting the curvature of the transparent plate by calculating the distance between the inspection die and the transparent plate based on the grayscale signal of the edge of the transparent plate is provided. However, it is preferable that the transparent plate with the edge portion seamed is placed and positioned on an inspection die having an outer shape A (mm) larger than the edge of the target outer shape of the transparent plate, and the transparent plate is positioned. In an apparatus for inspecting a transparent plate-like object by irradiating the edge part of the plate-like object with light from a light source and imaging the edge part with an inspection camera, the edge of the transparent plate-like object is almost on an extension line. The edge of the transparent plate A movable outer shape inspection camera disposed at a position where an edge of the mold can be imaged, and an angle formed by the center axis of the camera and the center axis of the optical axis is in the range of 30 ° to 50 °, and the transparent plate-shaped body. A light source for external shape inspection that can be moved to a position where it illuminates the seaming part and the edge of the inspection die,
Among the tangents on the edge of the transparent plate-like body closest to the inspection type, on the tangent parallel to the normal to the end face of the transparent plate-like body or at a position close to this tangent, the edge of the transparent plate-like body and the inspection type Of the movable curvature inspection camera arranged at a position where the edge of the camera can be imaged, and the angle formed by the central axis of the camera and the central axis of the optical axis is in the range of 20 ° to 40 °, and the light is transparent. The seaming portion of the plate-like body and the curvature inspection light source that can be moved to a position that illuminates the edge of the inspection die are integrated into the robot hand, and the inspection die edge and the transparent plate-like body imaged by the external inspection camera The distance between the inspection die and the edge of the transparent plate is measured from the grayscale signal of the edge of the transparent plate, and the difference between this interval and A (mm) is calculated to inspect the outer shape of the transparent plate and for curvature inspection. Inspection-type edges and transparent images captured by the camera It is more preferable to include an image processing device for inspecting the curvature of the transparent plate by calculating the interval between the inspection die and the transparent plate based on the grayscale signal of the edge of the bright plate.

[0007]

The inventors of the present invention arrange the seaming transparent plate-like body by disposing the inspection camera and the light source in a specific direction with respect to the edge of the transparent plate-like body having a three-dimensional curved surface shape such as plate glass. It has been found that the edge portion can be detected, and as a result, the outer shape and the curvature of the transparent plate can be inspected. In the case of the outer shape inspection, A (mm) is larger than the edge of the target outer shape of this transparent plate. With the external inspection camera mounted and positioned on the external inspection mold, the external inspection camera is on the extension line of the end face of the transparent plate (strictly speaking, the external shape obtained by subtracting A on each side from the external shape of the inspection mold is the target. It should be on the extension line of the end face of the transparent plate having this target outline, but the difference from the end face of the actual manufactured transparent plate is very small. So either may be used as a reference In addition, the edge of the transparent plate and the edge of the inspection die are arranged at a position where an image can be picked up, and the angle formed by the central axis of the camera and the central axis of the optical axis is in the range of 30 ° to 50 °, In the case of curvature inspection, the transparent plate-like body is replaced with the inspection die by arranging the light source for external shape inspection at a position that illuminates the seaming part of the transparent plate-like body closest to the inspection die and the edge of the inspection die. The tangent line at the edge of the transparent plate-like body that is closest to the inspection die with the curvature inspection camera placed (positioned on the edge of the transparent plate-like body having the target designed outer shape). It should be on the tangent line, but since the difference with the tangent line at the edge of the actual transparent plate-shaped body produced is very small, either may be used as the reference). A transparent plate-like shape on or near the tangent parallel to the normal. And the edge of the inspection die are placed at positions where an image can be picked up, and the angle between the central axis of the camera and the central axis of the optical axis is in the range of 20 ° to 40 °, and the light of the transparent plate member By arranging the curvature inspection light source in a position that irradiates the end face and the edge of the inspection die, the reflected light of the seaming portion is used to separate the edge of the transparent plate and the edge of the inspection die by each inspection camera. It is possible to detect.

In this case, if at least a portion of the mounting surface of the inspection die that is larger than the transparent plate-shaped member is processed to suppress black reflection, the transparent plate-shaped member will be imaged by the external shape inspection camera. The amount of reflection between the seaming portion and the inspection type greatly differs, and the boundary portion can be easily detected.

Next, based on the signal picked up by the external shape inspection camera, the image processing device measures the distance between the edges of the inspection die and the transparent plate, and the difference between this distance and A (mm) is calculated. Then, the outer shape of the transparent plate is inspected depending on whether or not the difference is within the allowable range, and based on the signal captured by the curvature inspection camera, the image processing apparatus determines whether the inspection die and the transparent plate are The distance between the edges is measured, and this distance is the curvature, and the curvature of the transparent plate can be inspected depending on whether this value is within the allowable range.

It should be noted that the target design outline is obtained by subtracting the length A, which is also called the offset distance, from the inspection die, and this offset distance is trapezoidal, for example, in the case of glass for automobiles. There is an offset distance for each side, and the offset distances of the upper side, the lower side, and the side sides may actually be different, but these are represented as A.

[0011]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below with reference to the drawings. FIG. 1 is a schematic side view showing an inspection apparatus of the present invention, FIG.
FIG. 3 is an enlarged view of an essential part showing the positional relationship between the inspected part, the inspection camera and the light source in the embodiment of the present invention, and FIGS. 3 and 4 show the light and shade levels imaged by the outer shape inspection camera and the curvature inspection camera, respectively. It is the figure shown corresponding to the edge part of an inspection type and a transparent plate-like object.

First, the inspection device will be described. As shown in FIG. 1, a portion that is A (mm) larger than the target designed outer shape of the transparent plate, which is inclined and fixed in advance at a predetermined angle α with respect to the horizontal plane, and is at least larger than the transparent plate. Is an inspection mold 1 that has been treated to suppress black reflection
, Two transparent plate-like bodies 2 having a three-dimensional curved surface shape such as automobile window glass, which are transferred and positioned on the inspection die 1 by a transfer device (not shown), are mounted on the inspection die 1 for 6-axis articulated handling. A CCD as a contour inspection camera 6 is attached to the robot hand 5 at the tip of the movable arm 4 of the robot 3.
A camera, a spot type incandescent lamp as the light source 7 for external shape inspection, a CCD camera as the camera 8 for curvature inspection, and a spot type incandescent light bulb as the light source 9 for curvature inspection are attached and fixed. The outputs of the outer shape inspection camera and the curvature inspection camera are input to the image processing apparatus 10. The robot can be moved to any position on the three-dimensional curved surface by the controller 11.

Explaining the case of inspecting an arbitrary edge of the transparent plate-like body by such an inspection apparatus, the robot 3 is driven and the robot hand 5 shown in FIG. It is moved to the position shown.

At this time, the contour inspection camera 6 is substantially parallel to the extension line E of the end face of the transparent plate body 2, that is, in the direction perpendicular to the extension line S of the transparent plate body surface at the edge of the transparent plate body. At the position where the edge of the transparent plate-like body 2 and the edge of the inspection die can be imaged, the outer shape inspection light source 7 forms an angle θ ₁ between the central axis G _{1 of the} camera and the central axis of the optical axis of 30 °.
The curvature inspection camera 8 is located at a position where the light irradiates the end face of the transparent plate 2 and the edge 1 _{E of the} inspection die within a range of 50 °, and the curvature inspection camera 8 is almost transparent to the inspection die. A curvature inspection light source is located on a tangent line S at the edge of the body surface (which coincides with the central axis K ₁ of the camera 8 in this example) and at a position where the edge of the transparent plate and the edge of the inspection die can be imaged. 9
Is the angle θ ₂ formed by the center axis K _{1 of the} camera and the center line K ₂ of the optical axis thereof is in the range of 20 ° to 40 °, the light of which is the seaming portion 2 _L of the transparent plate and the edge of the inspection die. They are arranged at positions that irradiate 1 _E , respectively.

With such an arrangement, first, the light source for external shape inspection is turned on (the light source for curvature inspection is turned off), and when the light is applied to the end face of the transparent plate-like body and the inspection die edge 1 _E , the portion is turned on. An image is picked up by the outer shape inspection camera 6, and a grayscale signal as shown in FIG. 3 is obtained. In this figure, the seamed portion at the end face portion of the transparent plate-like body is reflected from other portions, and a peak P _G having a width corresponding to the width of the seaming appears,
Since the reflected light is drastically reduced at the edge of the inspection die, the image processing apparatus 10 calculates the distance B (mm) between the inspection die and the edge of the transparent plate-shaped object from this signal, and further the target transparent design. The difference B-A between the outer shape of the plate-like body and the difference A (mm) between the inspection die is calculated, and the quality is inspected depending on whether it is within the allowable range.

Next, the curvature inspection light source 9 is turned on (the outline inspection light source 6 is turned off), and when the light irradiates the seaming portion 2 _L of the transparent plate and the edge 1 _{E of the} inspection die, the portion is curved. An image is picked up by the inspection camera 8 and a grayscale signal as shown in FIG. 4 is obtained. In this figure, the reflection due to the inspection type is drastically reduced at the edges, the seamed portions at the end face portions of the two transparent plate-like bodies are reflected from the other portions, and a peak P having a width corresponding to the width of the seaming is obtained. _K1 , P _K2
Appears, the image processing apparatus 10 calculates the distance C (mm) between the inspection die and the transparent plate, that is, the curvature, and further inspects whether the value C is within the allowable range.

The above-described inspection is performed along the entire circumference of the transparent plate-like body in the order taught, and the outer shape inspection camera 6, the outer shape inspection light source 7, and the curvature inspection incorporated in the robot hand 5 are instructed. The inspection camera 8 and the curvature inspection light source 9 are moved to perform a plurality of necessary points to complete the inspection.

The dimensions and curvature data measured by the image processing apparatus 10 may be stored in a personal computer (not shown) to judge pass / fail, displayed on a monitor display unit, stored and used as management information. The information may be immediately fed back to the molding process which is the previous process.

Although the preferred embodiments have been described above, the present invention is not limited to these, and various applications are possible. A robot for driving the sensor hand needs a robot having six or more degrees of freedom in order to precisely inspect a transparent plate having a three-dimensional curved surface as in the embodiment, but a planar transparent plate. A robot having five or less degrees of freedom can also be used when inspecting a body or when the inspection accuracy may be rough. Further, not only the robot integrally manufactured, but also the ones in which the driving devices for the respective axes are separately manufactured and combined,
An independent inspection device may be provided by another robot (in this case, when measuring the curvature, the condition that the outer shape of the inspection die is larger than the transparent plate-like body by A (mm) is not necessary. Depending on the size, whichever is larger, whichever is larger), if it is integrally incorporated as in the embodiment, it is possible to inspect the outer shape and the curvature alternately only by controlling the switching of the lamp, and the moving time of the robot hand is increased. It is preferable because it saves money and shortens the inspection time. In addition, by incorporating an ultrasonic sensor into the robot hand and measuring the surface shape, it may be possible to measure curved shapes such as doubles.In this case, the outer shape and curvature are inspected by one robot, It has the merit of being able to measure duffing.

Although the movement trajectory of the robot hand has already been taught, a detailed description is omitted.
Once the position information data has been taught, it is stored and stored in a personal computer, etc. for each type of curved transparent plate that is the object to be inspected, and when changing the type of production, just specify the type name and the measurement position of the robot hand by the personal computer etc. If the information can be automatically set, it is not necessary to teach each time, which is preferable.

The object to be inspected can be applied not only to plate glass but also to transparent resin and the like. Of course, in addition to a curved transparent plate having a three-dimensional shape, a flat shape can be used. In addition to a plurality of plates, a single plate can of course be inspected.

Regarding the camera for capturing the edge information,
A two-dimensional area sensor using a CCD is preferable, but a one-dimensional camera may be used to store signals and perform two-dimensional processing.

The inspection die and the object to be inspected positioned on the inspection die are tilted and fixed at a predetermined angle α with respect to the horizontal plane, but the inclination angle α is zero degrees, that is, the measurement is performed in a horizontal state. Is also possible.

[0024]

As described above, according to the present invention, since the measurement is performed by the inspection camera in the non-contact method, the object to be inspected is not scratched and the detection sensor may be worn. In addition, since it is not necessary to perform inspection by setting a coordinate system such as three-dimensional and comparing it with a virtual curved surface in design, control is simple and the inspection time can be shortened. Further, since it is not necessary to use a laser light source and the inspection can be performed with an ordinary light source, the cost can be reduced.

[Brief description of drawings]

FIG. 1 is a schematic side view showing an inspection device of the present invention.

FIG. 2 is an enlarged view of an essential part showing the positional relationship between the inspected part, the inspection camera, and the light source in the embodiment of the invention.

FIG. 3 is a diagram showing light and shade levels picked up by an outer shape inspection camera in association with an inspection die and an edge of a transparent plate.

FIG. 4 is a diagram showing a gray level captured by a curvature inspection camera in association with an edge of a transparent plate.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Inspection type 2 Transparent plate 3 Robot 5 Robot hand 6 External inspection camera 7 External inspection light source 8 Curvature inspection camera 9 Curvature inspection light source 10 Image processing device

Claims (3)

[Claims] 1. A transparent plate-shaped body having an edge portion seamed from the edge of a target contour of the transparent plate-shaped body by A (mm).
With the transparent plate-shaped body placed and positioned in an inspection die having a large outer shape, the transparent plate-shaped body is irradiated with light from a light source, and the inspection camera captures the image of the edge part. In an apparatus for inspecting, a movable outer shape inspection camera arranged at a position substantially on the extension line of the end surface of the transparent plate and capable of imaging the edge of the transparent plate and the edge of the inspection die, The angle between the central axis of the camera and the central axis of the optical axis is in the range of 30 ° to 50 °, and the external inspection light source is movable to a position that illuminates the seaming portion of the transparent plate and the edge of the inspection die. Then, the interval between the edge of the inspection die and the transparent plate is measured from the gray signal of the edge of the inspection die and the edge of the transparent plate imaged by the inspection camera, and the difference between this interval and A (mm) is calculated. An image processing device that calculates and inspects the outer shape of a transparent plate An apparatus for inspecting a transparent plate, characterized in that it is equipped with a table. 2. A transparent plate-shaped body having an edge portion seamed thereon is placed and positioned on an inspection die, and the edge portion of the transparent plate-shaped body is irradiated with light from a light source, and the inspection camera is used to carry out the above. In a device that inspects a transparent plate by imaging the edge part, on the tangent line parallel to the normal line of the end face of the transparent plate among the tangents at the edge of the transparent plate surface closest to the inspection die A movable curvature inspection camera disposed at a position close to the tangent line and at a position where the edge of the transparent plate and the edge of the inspection die can be imaged, and the central axis of the camera and the central axis of the optical axis. The angle between the angle of 20 ° to 40 °, the curvature inspection light source movable to a position where the light irradiates the seaming portion of the transparent plate and the edge of the inspection die, and the inspection camera. The edge of the imaged inspection type and the edge of the transparent plate An apparatus for inspecting a transparent plate, comprising an image processing device for inspecting the curvature of the transparent plate by calculating the distance between the inspection die and the transparent plate from the gray level signal . 3. A transparent plate-shaped body having an edge portion seamed from the edge of the target contour of the transparent plate-shaped body by A (mm).
Inspection of the transparent plate-like object by irradiating the edge part of the transparent plate-like object with light from a light source and placing the image on the edge part with an inspection camera while being placed and positioned on an inspection die having a large outer shape And a movable external shape inspection camera disposed at a position where an edge of the transparent plate and the edge of the inspection die can be imaged on a substantially extended line of the end surface of the transparent plate, and the camera. An angle between the central axis of the optical axis and the central axis of the optical axis is in the range of 30 ° to 50 °, and the external inspection light source is movable to a position that illuminates the seaming portion of the transparent plate and the edge of the inspection die. , Of the tangents on the edge of the transparent plate that is closest to the inspection type, on the tangent parallel to the normal to the end face of the transparent plate or at a position close to this tangent, and inspect the edge of the transparent plate The transfer is placed at a position where the edge of the mold can be imaged. A movable curvature inspection camera and an angle formed by the center axis of the camera and the center axis of the optical axis are 2
In the range of 0 ° to 40 °, a curvature inspection light source that can be moved to a position where the light illuminates the seaming portion of the transparent plate and the edge of the inspection die is integrally incorporated into the robot hand, The distance between the edge of the inspection die and the edge of the transparent plate is measured from the grayscale signal of the edge of the inspection die and the edge of the transparent plate imaged by the inspection camera.
In addition to inspecting the outer shape of the transparent plate by calculating the difference between, the distance between the inspection mold and the transparent plate is determined from the grayscale signal of the edge of the inspection plate and the edge of the transparent plate imaged by the curvature inspection camera. An inspection device for a transparent plate-shaped object, comprising an image processing device for calculating and inspecting the curvature of the transparent plate-shaped object.