JPH11101622A - Crimp-style terminal inspecting device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To obtain much information from the image of a crimp section and to make accurately inspectable the quality of the crimped state of the crimp section, by providing an image processing device conducting the position measuring process for inspecting whether core wires are protruded or not and the inspecting process. SOLUTION: A lighting system 7 radiates light toward a crimp section 1b, and a television camera 3 picks up the image of the crimp section 1b. An image processing device 4 applies the position measuring process and inspecting process to the image of the crimp section 1b to inspect the quality of the crimp section 1b. In the position measuring process, the horizontal position, vertical position, and inclination of a highlight section are obtained from the image of the highlight section, a horizontal measuring line, and a vertical measuring line, and a defect such as the protrusion of core lines is judged. In the inspecting process, a measuring area set around the image of the crimp section 1b in advance is corrected based on the position and inclination of the highlight section obtained in the position measuring process, and the number of picture elements with the prescribed density in the corrected measuring area is counted to detect a defect.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a crimp terminal inspecting apparatus, and is useful when applied to a crimp terminal inspecting apparatus for inspecting, by image processing, the quality of a crimped state of a crimped portion crimped to an end of a wire by image processing. .

[0002]

2. Description of the Related Art FIG. 23A is a plan view showing a state in which a crimp terminal is crimped to an end of an electric wire, and FIG.
FIG. 3A is a sectional view taken along line AA of FIG.

As shown in FIG. 23, the crimp terminal 1 is a metallic member including a connecting portion 1a, a crimping portion 1b, and a fixing portion 1c. The connection portion 1a is a portion to be connected to a terminal of an electric device, and its shape is not limited to a ring shape as shown in the figure, but varies depending on various crimp terminals. On the other hand, the crimping portion 1b is connected to the core wire 2a at the end of the electric wire 2 by an automatic pressing machine or the like.
The crimping process is performed at a portion where the cross-sectional shape becomes two mountain shapes. Although the size differs depending on various crimp terminals, the shape is uniform. The fixing portion 1c is a portion that is crimped and fixed to the covering material 2b at the end of the electric wire 2 by an automatic pressure contact device or the like.

Conventionally, when inspecting the crimping state of the crimping portion 1b of the crimping terminal 1 by image processing, generally,
The crimping section 1b is imaged by an imaging means such as a television camera, and the image at this time is image-processed by the image processing means to determine whether the crimping state is good or bad. Specifically, a silhouette image of the crimping section 1b captured by the imaging unit is taken into an image processing apparatus, and the image processing apparatus performs image processing on the silhouette image to determine whether the crimping state is good or bad. Was.

[0005]

However, in the above-mentioned conventional crimp terminal inspection apparatus, image processing is performed based on a silhouette image. Therefore, the information obtained by this is only the outer shape information of the crimp portion 1b, and the information of the image is obtained. The amount is small.
For this reason, for example, some of the core wires 2a are
In the case where it extends outside and extends to the periphery of the silhouette portion (crimp portion 1b), the crimp failure can be detected, but the crimp failure in the silhouette portion cannot be detected. That is, when some core wires protruding from the crimping portion 1b are wrapped around the crimping portion 1b, or when metal pieces or wire scraps are attached to the crimping portion 1b, the crimping failure is detected. I couldn't. For this reason, there is a disadvantage that an accurate inspection cannot be performed.

Further, by irradiating the inspection object with light from the imaging direction of the imaging means by the illumination means, and taking in the reflected image of the inspection object at this time into the image processing means via the imaging means, many images can be obtained. There is an inspection device for obtaining information, but when this inspection device is applied to the inspection of the crimp terminal 1, a change in gloss of the crimped metal portion (the crimp portion 1b) is erroneously determined to be defective. There was a disadvantage.

Accordingly, the present invention has been made in view of the above prior art, and provides a crimp terminal inspection apparatus which can obtain a large amount of image information from an image of a crimp section and can accurately inspect the crimp state of the crimp section for good or bad. That is the task.

[0008]

Means for Solving the Problems A first method for solving the above problems is described below.
The crimp terminal inspection device of the present invention is a crimp terminal inspection device that inspects, by image processing, a crimp state of a crimp portion crimped on a core wire of an end of an electric wire, and irradiates light to the crimp portion to form a surface of the crimp portion. Illumination means for generating a band-shaped highlight portion, imaging means for imaging the crimping portion in a state where the highlight portion is generated on the surface of the crimping portion by the illumination means, As the image processing based on the image, the horizontal position, the vertical position, and the inclination of the highlight portion are obtained from the image of the highlight portion and the horizontal measurement line and the vertical measurement line, and at this time, the crimping portion Position measurement processing for inspecting whether or not the core wire protrudes from the surface of the surface, and based on the horizontal position, the vertical position, and the inclination of the highlight portion obtained in the position measurement processing. Inspection for correcting a preset measurement area around the image of the crimping section, counting pixels of a predetermined density in the corrected measurement area, and examining whether or not the core wire protrudes around the crimping section. And image processing means for performing the processing.

In the crimp terminal inspection apparatus according to a second aspect of the present invention, in the crimp terminal inspection apparatus according to the first aspect, in the position measurement processing, the position measurement of the highlight portion is performed by measuring the position of the lateral measurement line to the high position. It is characterized in that the writing unit is sequentially moved by a predetermined interval in the vertical direction of the light unit and is performed a plurality of times.

A crimp terminal inspection apparatus according to a third aspect of the present invention is the crimp terminal inspection apparatus according to the first invention, wherein the background of the crimp terminal is set to a black background when the position measurement process is performed.
When the inspection process is performed, a background replacement unit is provided that sets the background of the crimp terminal to a background of an intermediate color.

In a fourth aspect of the present invention, there is provided the crimp terminal inspection apparatus according to the first invention, wherein the illumination means comprises:
Light is applied to the crimping section from two places to generate four highlights on the surface of the crimping section. In the position measurement process of the image processing means, the four highlights are used. A process of calculating the horizontal position, the vertical position, and the inclination is performed on the image of the part, and the horizontal position of any one of the four highlight parts,
The vertical position and the inclination are set as reference data, and the inspection processing of the image processing means is configured to perform processing based on the reference data.

A fifth aspect of the present invention is the crimp terminal inspection apparatus according to the first invention, wherein the illumination means comprises:
Light is applied to the crimping section from two places to generate four highlights on the surface of the crimping section. In the position measurement process of the image processing means, the four highlights are used. The measurement is skipped until the measurement length of the section reaches the reference length, and as a result, if the positional relationship between the four highlight sections is normal, the horizontal position obtained at this time,
The vertical position and the inclination are set as reference data, and the inspection processing of the image processing means is configured to perform processing based on the reference data.

A crimp terminal inspecting apparatus according to a sixth aspect of the present invention is a crimp terminal inspecting apparatus for inspecting, by image processing, a crimping state of a crimping portion crimped on a core wire at an end of an electric wire, and irradiating the crimping portion with light. Illuminating means for generating a strip-shaped highlight on the surface of the crimping section, and imaging means for imaging the crimping section with the highlighting generated on the surface of the crimping section by the illuminating means. As image processing based on the image obtained by the imaging means, a horizontal position and an inclination of the highlight portion are obtained from the image of the highlight portion and a horizontal measurement line, and the image processing is performed based on the horizontal position. A measurement area surrounding the end of the image of the crimping section is generated, and in this measurement area, the vertical position of the crimping section is determined by pattern matching based on the shape data of the end of the crimping section. Position measurement processing, and corrects a measurement area set in advance around the image of the crimping section based on the horizontal position, the vertical position, and the inclination obtained in the position measurement processing. An image processing means for performing an inspection process of counting pixels of a predetermined density and inspecting the presence or absence of the core wire protruding around the crimping portion is provided.

Therefore, according to the crimp terminal inspecting apparatus of the first invention, the metal piece or the wire dust adheres to the surface of the crimp portion, or the core wire protruding from the crimp portion winds around the surface of the crimp portion. In such a case, in the position measurement processing, the horizontal position of the highlight portion is determined from the image of the highlight portion and the horizontal measurement line and the vertical measurement line.
It can be determined as defective by detecting the vertical position and the inclination at the stage of obtaining the inclination.

In the case where the core wire protruding from the crimping portion extends around the crimping portion, it is determined in the inspection process that the position of the highlight portion obtained in the position measurement process in the horizontal direction and the vertical direction is determined. Based on the position and the inclination, the measurement area set in advance around the image of the crimping section is corrected, and the number of pixels of a predetermined density in the corrected measurement area is detected to detect the defect and determine that it is defective.

Further, according to the crimp terminal inspection apparatus of the second invention, the position measurement processing of the highlight portion is performed by sequentially moving the position of the horizontal measurement line by a predetermined interval in the vertical direction of the highlight portion. By performing this operation, even if there is unevenness in the horizontal direction of the highlight portion, the position of the vertical end of the highlight portion can be accurately detected without being affected by the unevenness.

Further, according to the crimp terminal inspection apparatus of the third invention, the background of the crimp terminal is switched between the black background and the intermediate color background by the background exchange means when performing the position measurement processing and when performing the inspection processing. , A background color suitable for each process is obtained.

Further, according to the crimp terminal inspection apparatus of the fourth invention, the position measurement processing for obtaining the horizontal position, the vertical position, and the inclination is performed on the four highlight images,
Since the horizontal position, the vertical position, and the inclination of any one of the four highlight parts are used as the reference data, even if the highlight part has a dullness, at least one of the highlight parts is dull. If the highlight portion is normal, the inspection processing can be reliably performed using the position measurement data of the highlight portion as reference data.

Further, according to the crimp terminal inspection apparatus of the fifth invention, the position measurement is skipped until the measurement length of the four highlight portions becomes the reference length, and as a result, the four highlight portions are measured. If the positional relationship of the parts is normal, the horizontal position, the vertical position, and the inclination obtained at this time are used as the reference data. For example, even if all four highlight parts have dullness, If it can be confirmed that the positional relationship between the four highlights is normal, the inspection processing can be performed reliably using the position measurement data at this time as reference data.

Further, according to the crimp terminal inspection apparatus of the sixth invention, in the measurement area generated based on the horizontal position obtained from the image of the highlight portion and the horizontal measurement line,
Since the vertical position of the press-bonded portion is obtained by pattern matching, even if there is a change in the gloss of the press-bonded portion, that is, even if the highlight portion is not clear due to dullness or the like, the vertical position is not affected by this. Direction position can be measured.

[0021]

Embodiments of the present invention will be described below in detail with reference to the drawings.

<First Embodiment> FIG. 1 is a configuration diagram of a crimp terminal inspection apparatus according to a first embodiment of the present invention. As shown in FIG. 1, a television camera 3 as an image pickup means is disposed above a crimp terminal 1 (crimp portion 1b) crimped to a core wire 2a at an end of the electric wire 2. Is connected to an image processing apparatus 4 as an image processing means. The image processing device 4 performs position measurement processing and inspection processing as image processing. The lighting device 7 is provided above the crimping portion 1b.
Is provided, and the crimping portion 1b is
Is irradiated with light. On the other hand, an intermediate color background 5 is provided below the crimping portion 1b.

Therefore, as will be described in detail later, in this crimp terminal inspection apparatus, the crimping section 1b is imaged by the television camera 3 in a state where the crimping section 1b is irradiated with light by the illumination device 7, and the crimping section 1b at this time is imaged. The image processing device 4 performs position measurement processing and inspection processing on the image (1), thereby inspecting whether the crimping portion 1b has a good or bad crimping condition.

FIG. 1 shows the crimp terminal inspection apparatus.
This will be described in detail with reference to FIG. 2 is an explanatory view showing a state of the crimp terminal clamped by the automatic pressure contacting machine, FIG. 3 is an explanatory view showing a state where a highlight portion is generated in a crimp portion of the crimp terminal, and FIG. 4 is a large size. , FIG. 5, FIG. 6, FIG. 7, and FIG. 8 are illustrations showing a method of position measurement processing by an image processing apparatus, FIG. 9, FIG. And FIG. 12 is an explanatory diagram showing an inspection processing method by the image processing apparatus.

As shown in FIG. 11, in the image processing apparatus 4, measurement areas 11, 12, and 12 are provided around the image of the crimping portion 1b.
Inspection processing is performed by setting 13, 14, 15, 16, 17, 18, and 19 (details will be described later). When the crimping portion 1b is crimped to the core wire 2a at the end of the electric wire 2, as shown in FIG. In order to clamp the electric wire 2 below the crimping part 1b in the clamping device 8 of the automatic pressure contacting machine, the front and rear direction of the crimping terminal 1 (FIG.
Although the position of the crimp terminal 1 in the figure is constant, the horizontal position of the crimp terminal 1 in the figure is tilted as shown by the dashed line in FIG. Therefore, the state becomes unstable and becomes unstable.

Therefore, first, as shown in FIG.
The position of the crimping portion 1b is measured by using the highlight portions 21a and 21b generated on the surface of b. That is, as described above, although the size of the crimping portion 1b differs depending on the type of crimping terminal, the crimping portion 1b has a uniform shape.
In the normal case, the highlight portions 21a and 21b can be stably generated one by one on the right side and the left side by irradiating light from the lighting device 7 in a normal state.

Accordingly, in the present crimp terminal inspection apparatus, the crimping section 1b is imaged by the television camera 3 in a state where the highlight sections 21a and 21b are generated on the surface of the crimping section 1b, and the image processing device 4 The position of the crimping portion 1b is measured based on the image of the crimping portion 1b (highlight portions 21a, 21b) (position measurement processing). Subsequently, the image processing device 4 corrects the measurement areas 11 to 19 based on the position information of the crimping section 1b obtained in the position measurement processing, and performs an inspection of the crimping state (inspection processing). Details of the position measurement processing and the inspection processing by the image processing device 4 are as follows.

(1) Position measurement processing As described above, the crimp terminal 1 clamped by the automatic pressure contacting machine
There is a shift in the left-right direction, but no shift in the front-rear direction.
Therefore, the horizontal position of the highlight portion is measured by the horizontal measurement line, and then the vertical position of the highlight portion is measured by the vertical measurement line. Specifically, the following processing is performed.

Measurement of Lateral Position (Position in X-Axis Direction in Image Captured by TV Camera) As shown in FIG. 3, two horizontal measurement lines W 1 and W 2
And the coordinates of the intersection between the image and the right and left ends of the images of the highlight portions 21a and 21b are obtained. That is, as shown in FIG. 5A, the coordinates (X1, Y1), (X2, Y2), (X3,
Y3), (X4, Y4), (X5, Y5), (X6, Y
6), (X7, Y7) and (X8, Y8) are obtained. However, the Y coordinate is uniquely determined by setting the horizontal measurement lines W1 and W2. Therefore, the X coordinate is measured here.

The horizontal measurement lines W1 and W2 are set so as to be positioned at the center of the image of the crimping portion 1b when the position of the crimping portion 1b is normal without tilting left and right. However, since the inspection is performed in the field of view of one TV camera 3, as shown in FIGS. 4A and 4B, the crimping terminal 1 on the screen 22 is different between the large crimp terminal 1 and the small crimp terminal 1. Since the image position 1b is different, the positions of the horizontal measurement lines W1 and W2 are set according to the type (size) of the crimp terminal 1.

Next, from the (X, Y) coordinates obtained based on the horizontal measurement lines W1, W2, the inclination θ of the highlight portions 21a, 21b (that is, the crimping portion 1b) is calculated by the following equation.

Θ1 = tan ⁻¹ {(Y1-Y5) / (X1-X5)} θ2 = tan ⁻¹ {(Y2-Y6) / (X2-X6)} θ3 = tan ⁻¹ ｛(Y3-Y7) / (X3-X7)｝ θ4 = tan ^-1 {(Y4-Y8) / (X4-X8)}

Measurement of Vertical Position (Y-axis Direction in Image Captured by TV Camera) As shown in FIG. 5B, based on the (X, Y) coordinates and the inclination θ obtained in the above-described horizontal position measurement. Thus, a vertical measurement line W3 is generated, and measurement in the Y-axis direction is performed using the vertical measurement line W3.

That is, the starting point of the vertical measurement line W3 is a coordinate obtained by adding ΔX (preset value) to the X coordinate (X1) measured by the horizontal measurement line W1. That is,
The (X, Y) coordinates of the start point of the vertical measurement line W3 are coordinates (XC1, YC1) obtained by the following equation.

XC1 = X1 + ΔX YC1 = Y1

Starting from these coordinates (XC1, YC1), the length L1
The vertical direction measurement line W3 is generated. Then, the coordinates (X9, Y9) of the intersection between the vertical measurement line W3 and the upper end of the image of the highlight portion 21a are obtained. Note that the coordinates (X
2, Y2) and the inclination θ2, the vertical measurement line W3
Can also be generated.

The same processing as described above is performed on the image of the right highlight portion 21b to generate a vertical measurement line W4, and the vertical measurement line W4 and the upper end of the image of the highlight portion 21b are (X10, Y1)
0).

However, in the case where there are irregularities on the left or right side of the images of the highlight portions 21a and 21b in the horizontal direction, it is necessary to accurately measure the position of the crimping portion 1b in one position measurement. Can not. For example, as shown in FIG. 6A, when there is a concave portion 21a-1 on the left end side of the highlight portion 21a, and the horizontal measurement line W2 is located in the concave portion 21a-1, Measurement line W1, W2
Of the intersection of the image with the left end of the highlight portion 21a (X,
Y) When the inclination is obtained from the coordinates, an inclination larger than the actual inclination of the highlight portion 21a is obtained, and as a result, the vertical measurement line W3 is inclined more than the actual inclination of the highlight portion 21a. become. For this reason, the position (coordinates) of the upper end of the highlight portion 21a cannot be accurately measured.

In order to accurately measure the positions of the upper ends of the highlight portions 21a and 21b even when there are irregularities on the left or right end sides of the highlight portions 21a and 21b,
As shown in FIG. 6B, the horizontal measurement lines W1, W2
Is shifted to a coordinate position obtained by adding ΔY (a preset value) to the Y coordinates Y1 and Y5, and the same measurement as above is performed again. When such measurement is performed several times, for example, as shown in the figure, the concave portion 21 is formed on the left end side of the image of the highlight portion 21a.
Even when there is a-1, the upper end position (coordinates) of the highlight portion 21a can be accurately detected.

Subsequently, the same measurement as above is performed below the highlight portions 21a and 21b. At this time, the vertical positional relationship between the horizontal measurement lines W1 and W2 is reversed.
That is, as shown in FIG. 7, on the opposite side of the horizontal measurement line W1 with respect to the horizontal measurement line W1 (on the upper side of the horizontal measurement line W1), the interval ΔY ′ between the horizontal measurement lines W1 and W2 is equal. The horizontal measurement line W2 'is set so as to be an interval, and the lower end positions of the highlight portions 21a and 21b are measured using the horizontal measurement line W2' and the horizontal measurement line W1.

Thus, finally, the highlight portion 21
a, coordinates of the upper end of (21a) (X9, Y9), (X10, Y
10) and coordinates (X11, Y11) at the lower end, (X12,
Y12). That is, the lengths of the highlight portions 21a and 21b can be obtained.

Then, during the position measurement processing as described above, the following inspection was performed.

If a metal piece or electric wire debris is attached to the surface of the crimping portion 1b, the measured length of the highlight portion 21a or 21b becomes short, so that it can be determined that the portion is defective. Also, as shown in FIG. 8, when the core wire 2a-1 protruding from the crimping portion 1b is wrapped around the surface of the crimping portion 1b, it can be similarly determined to be defective. That is,
Metal pieces and wires attached to the surface of the crimping portion 1b, crimping portion 1b
2a-1 and the like wound around the surface of the
In order to give a density difference to 1a or 21b, it is detected at the stage of the position measurement.

Further, the data (X, Y, θ) representing the position of the crimping portion 1b has been obtained by the measurement up to this point. Therefore, next, the data (X,
Inspection processing is performed based on (Y, θ).

(2) Inspection process As shown in FIG. 9, the core wire 2a protruding from the crimping portion 1b
When -2 extends around the crimping portion 1b in a bent state, when light is applied to the core wire 2a-2 by the illumination device 7, the base end portion 2a- of the core wire 2a-2 with respect to the television camera 3 is displayed. At 2A, light is specularly reflected, and at the tip end portion 2a-2B of the core wire 2a-2, light is not reflected. For this reason, as shown in FIG. 10, the base end side portion 2a-2 of the core wire 2a-2.
The image of A is white, and the image of the distal end portion 2a-2B is black.

Therefore, in order to detect the protruding core line 2a-2, the background 10 is set as an intermediate color and a density difference from the background 10 is obtained. For example, assuming that black-white is 0-255 in a grayscale image, black: 0, white: 255, and intermediate color: about 100, and a density difference can be obtained. Specifically, the following processing is performed.

As shown in FIG. 11, measurement areas 11, 12, 13, 14, and 14 set in advance around the image of the crimping portion 1b.
The positions of 15, 16, 17, 18, and 19 are corrected based on the data (X, Y, θ) measured in the above-described position measurement processing, and the measurement areas 11 to 11 corresponding to the positions of the crimping portions 1b are corrected.
19 is generated. Then, the density is set in advance for each of the measurement areas 11 to 19, the number of pixels having this specific density in each of the measurement areas 11 to 19 is counted, and if this count value is within the preset judgment value, it is good. Is determined, and if it is equal to or greater than the determination value, it is determined to be defective.

For example, in the measurement areas 16 to 19, since the background 5 is an intermediate color, the number of pixels having a density of 0 to 50 and 150 to 255 is counted. As a result, if normal,
That is, if there is no protruding core line in the measurement areas 16 to 19, the density of all the pixels in the measurement areas 16 to 19 is about 100, and the histogram is as shown in FIG. The count value of the number of pixels having a density of 255 is 0, which is within the determination value, and is determined to be good.

On the other hand, when the core wire 2a-2 protruding from the crimping portion 1b appears in any of the measurement areas 16 to 19, the image of the core wire 2a-2 becomes black or white in the measurement area. Alternatively, pixels having a density of 150 to 255 appear, and the count value of the number of pixels having the density is equal to or greater than the determination value, and is determined to be defective.

Therefore, according to the crimp terminal inspecting apparatus according to the first embodiment, the metal pieces and the wire scraps adhere to the surface of the crimp portion 1b, or the core wires 2a-2 protruding from the crimp portion 1b are connected to the crimp portion 1b. If they are wrapped around the surface of the object, these are taken into the highlight part 2 in the position measurement process.
1a, 21b and horizontal measurement lines W1, W2
(W2 ') and the vertical measurement lines W3, W4 are detected at the stage of obtaining the horizontal position, the vertical position, and the inclination of the highlight portions 21a, 21b, and can be determined to be defective.

When the core wire protruding from the crimping portion 1b extends around the crimping portion 1b,
In the inspection process, a preset measurement area around the image of the crimping portion 1b is corrected based on the horizontal position, the vertical position, and the inclination of the highlight portions 21a, 21b obtained in the position measurement process, and the corrected measurement is performed. It is detected by counting the number of pixels of a specific density in the area, and can be determined to be defective.

That is, a lot of information can be obtained from the image of the crimping portion 1b, and the quality of the crimping condition of the crimping portion 1b can be accurately inspected.

Further, the position measurement of the highlight portions 21a, 21b is performed by measuring the horizontal measurement lines W1, W2 (or W
2 ′) is set at a predetermined interval ΔY in the vertical direction of the highlight portion.
By moving the highlight portions 21a and 21b only several times, even if there are irregularities in the horizontal direction of the highlight portions 21a and 21b, the vertical ends (upper and lower ends) of the highlight portions 21a and 21b are not affected by the irregularities. ) Is accurately detected and the crimping part 1
It is possible to accurately inspect the quality of the crimping condition b.

The above-described position measurement is effective when the highlight portions 21a and 21b generated in the crimping portion 1b are clear and stable. However, actually, the position measurement depends on the metal material of the crimping terminal 1. Has relatively weak light reflection,
Since the surface of the crimping portion 1b does not have a clean mountain-like curve depending on the contact pressure machine, the highlight portions 21a and 21b may not clearly appear on the surface of the crimping portion 1b.
Therefore, in the following second, third, and fourth embodiments, a crimp terminal inspection apparatus that can cope with such a case will be described.

<Second Embodiment> FIG. 13 is a configuration diagram of a crimp terminal inspection apparatus according to a second embodiment of the present invention. In addition,
The crimp terminal inspection apparatus according to the second embodiment is to mechanically change the background color of the crimp terminal between when performing the position measurement process and when performing the inspection process. Therefore, hereinafter, this point will be described in detail, and other functions are the same as those of the crimp terminal inspection apparatus according to the first embodiment, and thus description thereof will be omitted.

In the inspection processing using the measurement areas 11 to 19, the background needs to be an intermediate color. However, if the position measurement processing is performed with the background of the intermediate color, the highlight sections 21a and 2
If 1b is not so clear, highlight portions 21a, 2
Since the density difference between the portion 1b and the portions 22a and 22b other than the highlight portion is substantially equal to the density difference between the portions 22a and 22b other than the highlight portion and the background, it is difficult to measure the position of the highlight portion. I can no longer do it.

Therefore, in the crimp terminal inspection apparatus according to the second embodiment, a black background 10 is provided between the intermediate color background 5 and the crimp terminal 1 as shown in FIG. The left end of the black background 10 in the figure is gripped by a gripper 6b provided at the tip of a piston rod 6a of the cylinder 6, and the piston rod 6a expands and contracts, and the same position as the rear position of the crimp terminal 1 It can be moved to a position outside the position. For this reason, the background color of the crimp terminal 1 can be switched between black and an intermediate color between when the position measurement process is performed and when the inspection process is performed.

That is, at the time of the position measurement processing, the background level of the crimp terminal 1 is set to black (background 10) by moving the background 10 behind the crimp terminal 1 by the cylinder 6 so that the background density level can be reduced. After the end of the position measurement process (at the time of the inspection process), the background 1 is again applied by the cylinder 6.
By moving 0 to a position deviated from the rear position of the crimp terminal 1, the background color of the crimp terminal 1 can be set to an intermediate color (background 5).

Therefore, according to the crimp terminal inspection apparatus according to the second embodiment, the black background and the intermediate color background are exchanged between when performing the position measurement processing and when performing the inspection processing. A background color suitable for processing is obtained.

In the position measurement process, the background color of the crimp terminal 1 can be changed to black to lower the density level of the background.
Even if a and 21b are not so clear, the highlight portions 21a and 21b and the portions 22a and 2 other than the highlight portions
2b, and the portions 22a, 22 other than the highlight portion.
Since the density difference between 2b and the background 10 (black) is different, the position measurement of the highlight portions 21a and 21b can be performed.

It is also conceivable to replace the background and change the background color for different stations during the position measurement processing and the inspection processing. However, in this method, the crimp terminal 1 is moved from one station to the other. There is a possibility that the position of the crimp terminal 1 is shifted when the terminal is moved to the first station, which is not desirable.

The means for replacing the background is not limited to the one using the cylinder as described above, but may be any as long as the black background and the intermediate color background can be appropriately replaced. For example, as shown in FIG. 14 (a) or (b), the intermediate color background 5 and the black background 10 are rotated around a horizontal axis 31 or a vertical axis 32 by a motor (not shown), As shown in c), by driving the roller 33 by a motor (not shown), the endless belt-shaped background 36 is circulated, and the background 3 is rotated.
Alternatively, the intermediate color side 36a and the black side 36b of No. 6 may be exchanged.

<Third Embodiment> FIG. 15 is a block diagram of a crimp terminal inspection apparatus according to a third embodiment of the present invention, and FIG. 16 shows a state where four highlight portions are generated in a crimp portion. FIG. 17 is an explanatory diagram of a position measurement process based on four highlight portions, and FIG. 18 is an explanatory diagram of another position measurement process based on four highlight portions. Embodiment 3
The crimp terminal inspection device according to the above is characterized by performing the position measurement process based on the four highlights, therefore, this point will be described in detail below, other functions are described in the above embodiment Since it is the same as the crimp terminal inspection apparatus according to the first embodiment, the description is omitted.

In the crimp terminal inspection apparatus according to the third embodiment, as shown in FIG. 15, two lighting devices 7 and 37 are provided above the crimp terminal 1, and these lighting devices 7 and 37 are arranged. By irradiating light to the crimping portion 1b from two places by the 37, as shown in FIG. 16, a total of four highlight portions 41 are provided, two on the right and left sides of the surface of the crimping portion 1b.
a, 41b, 41c, and 41d.

In the image processing apparatus 4, the images of these four highlight portions 41a to 41d are
A position measurement process as shown in FIG.

That is, as shown in FIG. 17, the position measurement processing is performed on the images of the four highlight portions 41a to 41d by using the horizontal measurement lines W1 and W2 as in the first embodiment. Do. At this time, for example, three highlight portions 4
The images 1a, 41b and 41d have dullness 41a-1 and 4
1b-1 and 41d-1, and one highlight portion 41
Assuming that only c has no dullness and is normal, in the position measurement processing for the images of the highlight portions 41a, 41b, and 41d, the dullnesses 41a-1, 41b-1, and 41d are obtained.
Due to the influence of -1, the measurement length of the highlight portions 41a, 41b, and 41d is reduced, and in the position measurement processing on the image of the highlight portion 41c, the measurement length of the highlight portion 41c becomes a normal length. Therefore, in this case, the measurement data (X, Y, θ) of the horizontal position, the vertical position, and the inclination of one normal highlight portion 41c is used as reference data,
Perform inspection processing.

That is, in the position measurement process of the image processing device 4, a process of calculating the horizontal position, the vertical position, and the inclination is performed on the images of the four highlight portions 41a to 41d.
In the inspection processing of the image processing apparatus 4, the horizontal position, the vertical position, and the inclination of any one of the normal highlight portions 41a, 41b, 41c, or 41d among the four highlight portions are used as reference data. Processing is performed based on the reference data.

Therefore, even if the highlight portion has a dullness, if at least one of the four highlight portions 41a to 41d is normal, the position measurement data of this highlight portion is used as a reference. Inspection processing can be performed reliably as data. Note that accurate inspection processing cannot be performed when all the highlight portions have dullness, but the probability is reduced by using four highlight portions as described above.

Alternatively, as shown in FIG.
Is the reference length L (that is, the length of a normal highlight portion).
2, and in the position measurement process of the image processing device 4, for example, the highlight portions 41a to 41d have the dullness 41a.
−1, 41b-1, 41c-1, and 41d-1, if the measured length of the highlight portions 41a to 41d is shorter than the reference length L2, the highlight portions 41a to 41d
The measurement is skipped until the measurement length of 1d becomes the reference length L2. That is, the dullness 41a-1 to 41d-
1 is skipped and the upper end positions of the highlight portions 41a to 41d are measured. The lower end positions of the highlight portions 41a to 41d are measured in the same manner.

Then, the four highlight portions 41a to 41
If the positional relationship of b is normal, the horizontal position, vertical position and inclination measurement data (X, Y,
θ) is used as reference data, and the inspection process of the image processing device 4 performs processing based on this reference data.

Therefore, for example, four highlight portions 41a
Dullness 41a-1, 41b-1, 41
Even when there are c-1 and 41d-1, if the positional relationship between the four highlight portions 41a to 41b can be confirmed to be normal, the inspection processing is surely performed using the position measurement data at this time as reference data. It can be carried out.

<Embodiment 4> FIG. 19 is an explanatory diagram showing a method of position measurement processing (horizontal measurement processing) by an image processing apparatus of a crimp terminal inspection apparatus according to Embodiment 4 of the present invention, and FIG. 20 is large. FIG. 21A and FIG. 21B are explanatory views showing a horizontal measurement line and a measurement area in a crimp terminal having a small size and a crimp terminal having a small size, and FIGS. 21A and 21B are side views showing a state when the crimp terminal is crimped to an end of an electric wire. FIG. 22 is an explanatory view showing a method of inspection processing by the image processing apparatus.
It should be noted that the crimp terminal inspection apparatus according to the fourth embodiment is characterized in that pattern matching is performed in the position measurement processing in the image processing apparatus. Therefore, the image processing will be described below. The overall configuration of the inspection device is the same as that of the crimp terminal inspection device of the third embodiment (FIG. 13), and thus the description is omitted.

The image processing apparatus of the crimp terminal inspection apparatus according to the fourth embodiment performs the following position measurement processing and detection processing.

(1) Position Measurement Processing As described in the first embodiment, the crimp terminal 101 shown in FIG.
In the state where the electric wire 102 is clamped below the position, there is a shift in the left-right direction, but no shift in the front-rear direction (see FIG. 2). The shape of the connection portion 101a varies depending on the crimp terminal, but the crimp portion 101b crimped to the core wire 102a of the electric wire 102 has a uniform shape although the size varies depending on the type of the crimp terminal.

Then, the horizontal position of the highlight portion (that is, the compression portion) is measured by the horizontal measurement line, and then the vertical position of the compression portion is measured by pattern matching.
Specifically, the following processing is performed.

Measurement of Horizontal Position (X-axis Direction in Image Captured by Television Camera) This horizontal position measurement is performed in the same manner as in the first embodiment. That is, as shown in FIG. 19, two horizontal measurement lines W1, W2 and highlight portions 103a, 103b, 10
3c and 103d, the coordinates (X
1, Y1), (X2, Y2), (X3, Y3), (X
4, Y4), (X5, Y5), (X6, Y6), (X
7, Y7) and (X8, Y8).

The horizontal measurement lines W1 and W2 are
When the position of 03b is not inclined right and left and is normal, the crimping portion 10
It is set to be located at the center of the image of 3b. However, since the inspection is performed in the field of view of one TV camera, FIG.
As shown in FIGS. 0 (a) and (b), the image position of the crimping portion 101b on the screen 104 differs between the large size crimping terminal 103 and the small size crimping terminal 103. The positions of the horizontal measurement lines W1 and W2 are set in accordance with.

Next, from the (X, Y) coordinates obtained based on the horizontal measurement lines W1, W2, the inclination θ of the highlight portions 21a, 21b (that is, the crimping portion 1b) is calculated by the following equation.

Θ1 = tan ⁻¹ {(Y1-Y5) / (X1-X5)} θ2 = tan ⁻¹ {(Y2-Y6) / (X2-X6)} θ3 = tan ⁻¹ ｛(Y3-Y7) / (X3-X7)｝ θ4 = tan ^-1 ｛(Y4-Y8) / (X4-X8)｝ θ = (θ1 + θ2 + θ3 + θ4) / 4

Measurement of Vertical Position (Y-axis Direction in Image Captured by Television Camera) As shown in FIG. 20, the highlight portions 103a, 103b, 103c, and 10 obtained in the above-described horizontal position measurement
From the horizontal position (X coordinate) of 3d (that is, the crimping portion 101b), a measurement area 105 for measuring the vertical position of the crimping portion 101b is generated so as to surround the lower end portion of the image of the crimping portion 101b in the drawing. . Note that the measurement area 105 may be generated on the upper end side of the crimping portion 101b in the drawing.

Then, in this measurement area 105,
The vertical position of the crimping portion 101b is obtained by pattern matching based on the shape data of the end portion of the crimping portion 101b.

The shape of the end of the crimping portion 101b is taught in combination when teaching the above-mentioned lateral measurement lines W1 and W2. Since the inspection is performed in the field of view of one television camera, the image position of the crimping portion 101b on the screen 104 differs depending on the size of the crimping terminal 101 as shown in FIGS. The shape data of the end of the crimping portion 101b is set in accordance with the type (size) of the crimping section.

As shown in FIG. 21, the ends of the crimping portion 101b are crimping portions 101b-1 and 101b-2 so that a crimping effect can be obtained. The caulking portion may be present at one end, the other end, or both sides of the crimping portion.

By the above measurement, the reference position (X, Y, θ) of the crimp terminal 101 has been obtained.

(2) Inspection Processing This inspection processing is performed in the same manner as in the first embodiment. That is, as shown in FIG. 22, measurement areas 111, 112, 113, and 11 set in advance around the image of the crimping portion 101b.
4, 115, 116, 117, 118 and 119 are obtained by measuring the data (X,
(Y, θ) to generate measurement areas 111 to 119 corresponding to the position of the crimping portion 1b. Then, the density is set in advance for each of the measurement areas 11 to 19, the number of pixels having a specific density in each of the measurement areas 111 to 119 is counted, and if this count value is within the preset judgment value, it is determined that the pixel is good. The determination is made, and if it is equal to or greater than the determination value, it is determined to be defective.

For the measurement areas 116 to 119, the background is an intermediate color (intermediate density).
Only pixels having upper and lower density values such as 255 are counted. At this time, if normal, the density histogram becomes as shown in FIG. 12, and the pixel count value becomes 0.
On the other hand, when an image of the core wire 102a, which is the cause of the defect, appears in any of the measurement areas 116 to 119, the image becomes white or black, so that the pixel count value becomes other than 0, and the defect is detected.

Therefore, according to the crimp terminal inspection apparatus according to the fourth embodiment, the highlight portions 103a, 103b, 1
03c and 103d and horizontal measurement lines W1 and W2
In the measurement area 105 generated based on the lateral position obtained from
In order to obtain the vertical position 1b, even if there is a change in the gloss of the crimping portion 101, that is, the highlight portion 1
Even if 03a, 103b, 103c, and 103d are not clear, the vertical position of the crimping portion 101b can be measured without being affected by this.

That is, when the vertical position is measured using the vertical measurement line as in the first embodiment, erroneous measurement may occur due to dullness of the highlight portions 103a, 103b, 103c, and 103d. However, in the fourth embodiment, since the vertical position is measured by pattern matching, the highlight units 103a, 103b, 1
Erroneous measurement due to dullness of 03c and 103d is eliminated.

[0089]

As described above in detail with the embodiments of the present invention, according to the crimp terminal inspection apparatus of the first invention, metal pieces and wire scraps adhere to the surface of the crimp portion, In the case where the protruding core wire is wrapped around the surface of the crimping part, in the position measurement processing, these are taken out of the image of the highlight part and the horizontal measurement line and the vertical measurement line. A defect can be determined by detecting the horizontal position, the vertical position, and the inclination at the stage of obtaining the inclination.

If the core wire protruding from the crimping portion extends to the periphery of the crimping portion, this is determined by comparing the horizontal position and the vertical position of the highlight portion obtained by the position measurement process in the inspection process. The measurement area set in advance around the image of the crimping section is corrected based on the inclination and the inclination, and the number of pixels having a predetermined density in the corrected measurement area is detected to detect the defective area and determine that it is defective.

That is, a lot of information can be obtained from the image of the crimping portion, and the quality of the crimping condition of the crimping portion can be accurately inspected.

According to the crimp terminal inspection apparatus of the second invention, the position measurement of the highlight portion is performed a plurality of times by sequentially moving the position of the horizontal measurement line by a predetermined interval in the vertical direction of the highlight portion. Thus, even if there is unevenness in the horizontal direction of the highlight portion, the position of the vertical end of the highlight portion can be accurately detected without being affected by the unevenness.

Further, according to the crimp terminal inspection apparatus of the third invention, the background of the crimp terminal is exchanged between the black background and the intermediate color background when performing the position measurement processing and when performing the inspection processing. A background color suitable for each process is obtained. At the time of the position measurement processing, the background color of the crimp terminal can be changed to black to lower the density level of the background. Therefore, even if the highlight portion generated in the crimp portion is not so clear, The density difference between the portion other than the light portion and the density difference between the portion other than the highlight portion and the background (black) is different, and the position of the highlight portion can be measured.

Further, according to the crimp terminal inspection apparatus of the fourth invention, the position measurement processing for obtaining the horizontal position, the vertical position, and the inclination is performed on the four highlight images.
Since the horizontal position, the vertical position, and the inclination of any one of the four highlight parts are used as the reference data, even if the highlight part has a dullness, at least one of the highlight parts is dull. If the highlight portion is normal, the inspection processing can be reliably performed using the position measurement data of the highlight portion as reference data.

Further, according to the crimp terminal inspection apparatus of the fifth invention, the position measurement is skipped until the measurement length of the four highlight portions reaches the reference length, and as a result, the four highlight portions are measured. If the positional relationship of the parts is normal, the horizontal position, the vertical position, and the inclination obtained at this time are used as the reference data. For example, even if all four highlight parts have dullness, If it can be confirmed that the positional relationship between the four highlights is normal, the inspection processing can be performed reliably using the position measurement data at this time as reference data.

Further, according to the crimp terminal inspection apparatus of the sixth invention, in the measurement area generated based on the horizontal position obtained from the image of the highlight and the horizontal measurement line,
Since the vertical position of the press-bonded portion is obtained by pattern matching, even if there is a change in the gloss of the press-bonded portion, that is, even if the highlight portion is not clear due to dullness or the like, the vertical position is not affected by this. Direction position can be measured. That is, erroneous measurement due to dullness of the highlight portion or the like is eliminated.

The crimp terminal inspection is automated by the crimp terminal inspection apparatus according to the first, second, third, fourth, fifth or sixth aspect of the present invention, so that the operation can be performed for 24 hours. In addition, there is no variation in the inspection result by a person, mistakes (overlooked), mistakes due to fatigue, and the like, so that the quality is improved, and the trace of the inspection data can be automatically performed.

[Brief description of the drawings]

FIG. 1 is a configuration diagram of a crimp terminal inspection apparatus according to Embodiment 1 of the present invention.

FIG. 2 is an explanatory view showing a state of a crimp terminal clamped by an automatic pressing machine.

FIG. 3 is an explanatory diagram showing a state when a highlight portion is generated in a crimp portion of a crimp terminal.

FIG. 4 is an explanatory diagram showing images of crimping portions of a crimp terminal having a large size and a small size.

FIG. 5 is an explanatory diagram illustrating a method of position measurement processing by the image processing apparatus.

FIG. 6 is an explanatory diagram showing a method of position measurement processing by the image processing apparatus.

FIG. 7 is an explanatory diagram showing a method of position measurement processing by the image processing device.

FIG. 8 is an explanatory diagram illustrating a method of position measurement processing by the image processing apparatus.

FIG. 9 is an explanatory diagram illustrating an inspection processing method performed by the image processing apparatus.

FIG. 10 is an explanatory diagram illustrating an inspection processing method performed by the image processing apparatus.

FIG. 11 is an explanatory diagram illustrating a method of an inspection process performed by the image processing apparatus.

FIG. 12 is an explanatory diagram illustrating an inspection processing method performed by the image processing apparatus.

FIG. 13 is a configuration diagram of a crimp terminal inspection apparatus according to Embodiment 2 of the present invention.

FIG. 14 is a configuration diagram of various background exchange units.

FIG. 15 is a configuration diagram of a crimp terminal inspection apparatus according to Embodiment 3 of the present invention.

FIG. 16 is an explanatory diagram showing a state when four highlight parts are generated in the crimping part.

FIG. 17 is an explanatory diagram of a position measurement process based on four highlight portions.

FIG. 18 is an explanatory diagram of another position measurement process based on four highlight portions.

FIG. 19 is an explanatory diagram showing a method of position measurement processing (lateral measurement processing) by the image processing device of the crimp terminal inspection device according to Embodiment 4 of the present invention.

FIG. 20 is an explanatory diagram showing a horizontal measurement line and a measurement area in a large size crimp terminal and a small size crimp terminal.

21A and 21B are a side view and a cross-sectional view illustrating a state where the crimp terminal is crimped to the end of the electric wire.

FIG. 22 is an explanatory diagram illustrating a method of an inspection process performed by the image processing apparatus.

23A is a plan view showing a state in which a crimp terminal is crimped to an end of an electric wire, and FIG. 23B is a cross-sectional view taken along line AA of FIG.

[Explanation of symbols]

DESCRIPTION OF SYMBOLS 1 Crimping terminal 1a Connection part 1b Crimping part 1c Fixed part 2 Electric wire 2a Core wire 2a-1, 2a-2 Protruded core wire 2b Coating material 3 TV camera 4 Image processing device 5, 10, 36 Background 6 Cylinder 6a Piston rod 6b Clamping tool 7, 37 Lighting device 8 Clamping device 11, 12, 13, 14, 15, 16, 17, 18, 1
9 Measurement areas 21a, 21b, 41a, 41b, 41c, 41d Highlight part 31 Horizontal axis 32 Vertical axis 33 Roller 101 Crimping terminal 101a Connection part 101b Crimping part 101c Fixed part 102 Electric wire 102a Core wire 103a, 103b, 103c, 103d Highlight Part 105 Measurement area 111, 112, 113, 114, 115, 116, 1
18, 119 Measurement area L1 Length of vertical measurement line L2 Reference length W1, W2, W2 'Horizontal measurement line W3, W4, W5, W6 Vertical measurement line

Claims (6)

[Claims] 1. A crimp terminal inspection device for inspecting, by image processing, a crimping state of a crimping portion crimped on a core wire of an end of an electric wire, wherein the crimping portion is irradiated with light, and a band-shaped surface is formed on the surface of the crimping portion. Illuminating means for generating a highlight portion; imaging means for imaging the crimping portion in a state where the highlighting portion is generated on the surface of the crimping portion by the illuminating means; and an image obtained by the imaging means. As the image processing based on, the horizontal position, the vertical position and the inclination of the highlight portion are obtained from the image of the highlight portion and the horizontal measurement line and the vertical measurement line. A position measurement process for inspecting the presence or absence of protrusion of the core wire, and the crimping portion based on a horizontal position, a vertical position, and an inclination of the highlight portion obtained in the position measurement process. Inspection processing of correcting a preset measurement area around the image of the image, counting pixels of a predetermined density in the corrected measurement area, and inspecting whether or not the core wire protrudes around the crimping portion. And a crimp terminal inspection apparatus comprising: 2. The crimp terminal inspection apparatus according to claim 1, wherein in the position measurement processing, the position measurement of the highlight portion is performed by setting a position of the horizontal measurement line in a vertical direction of the highlight portion. A crimp terminal inspection apparatus characterized in that the crimp terminal inspection apparatus is configured to be moved a plurality of times while sequentially moving by an interval. 3. The crimp terminal inspection apparatus according to claim 1, wherein a background of the crimp terminal is set to a black background when the position measurement process is performed, and a background of the crimp terminal is set to an intermediate color background when the test process is performed. A crimp terminal inspection device, comprising: a background exchange means. 4. The crimp terminal inspection apparatus according to claim 1, wherein the illumination unit irradiates the crimp unit with light from two places to generate four highlights on the surface of the crimp unit. In the position measurement process of the image processing means, a process of calculating a horizontal position, a vertical position, and an inclination is performed on the images of the four highlight portions, and the four highlight portions are processed. The horizontal position, the vertical position, and the inclination of any one of the normal highlight portions are set as reference data, and the inspection processing of the image processing means is configured to perform processing based on the reference data. A crimp terminal inspection device characterized by the above-mentioned. 5. The crimp terminal inspection device according to claim 1, wherein the illumination unit irradiates the crimp unit with light from two places to generate four highlight portions on the surface of the crimp unit. And in the position measurement process of the image processing means, the measurement is performed while skipping the measurement length of the four highlight portions until the measurement length becomes the reference length. As a result, the four highlight portions are measured. If the positional relationship is normal, the horizontal position, the vertical position, and the inclination obtained at this time are used as reference data, and the inspection processing of the image processing means performs processing based on the reference data. A crimp terminal inspection device, characterized in that: 6. A crimp terminal inspection device for inspecting, by image processing, a crimping state of a crimping portion crimped on a core wire of an end of an electric wire, wherein the crimping portion is irradiated with light, and a band-like surface is formed on a surface of the crimping portion. Illuminating means for generating a highlight portion; imaging means for imaging the crimping portion in a state where the highlighting portion is generated on the surface of the crimping portion by the illuminating means; and an image obtained by the imaging means. As the image processing based on the image, the horizontal position and the inclination of the highlight portion are obtained from the image of the highlight portion and the horizontal measurement line, and the measurement surrounding the end of the image of the crimping portion is performed based on the horizontal position. Generate an area, and in this measurement area,
A position measurement process for determining the vertical position of the crimping portion by pattern matching based on the shape data of the end portion of the crimping portion, and the crimping based on the horizontal position, the vertical position, and the inclination determined in the position measurement process. Correct the measurement area set in advance around the image of the part, count the pixels of a predetermined density in the corrected measurement area,
A crimp terminal inspecting apparatus comprising: an image processing means for performing an inspection process for inspecting whether or not the core wire protrudes around the crimp portion.