JPS62274245A - Surface inspection device for discoid component - Google Patents

Abstract

PURPOSE:To improve productivity and to attain accurate inspecition by setting the mask image of a sectional pattern to be inspected, photographing a specific part within a constant angle range about the center axis, and inputting a reference image signal and an image signal to be inspected and deciding whether or not the image is normal. CONSTITUTION:A discoid component 90 to be inspected is set on a rotary inspection table 10 equipped with a turntable 12R, a roll bearing 12B, and a frame 11F and when a start switch is turned on, the functions of an AND part 41, a comparative addition part 43, a rotation command part 45, and a decision part 47 are made effective and the component 90 is rotated by a specific angle around the center axis with a rotation command outputted by a controller 40 consisting of a computer 430 and input/output interfaces 420 and 440. When a mask image setting device 20 sets the mask image of the sectional pattern to be inspected and outputs the reference image signal and a television camera 3 outputs the image signal to be inspected, the controller 40 performs mask matching between the mask image and television image, ANDs the brightness data of the superposed part, and compares and adds a threshold value to decide whether or not there is a flaw, so that the result is displayed on a CRT display 70.

Description

Detailed Description of the Invention 3. Detailed Description of the Invention [Industrial Field of Application] The present invention provides a disc-shaped part in which the surface of the disc-shaped part is imaged and the scratches etc. on the surface can be inspected from the image. The present invention relates to a surface inspection device.

[Prior Art] Conventionally, a disc rotor (hereinafter simply referred to as a workpiece), which is a part of an automobile's III vJ device, has been subjected to an inspection process such as an appearance inspection, a surface accuracy inspection, a dimensional inspection, etc. after completing a predetermined processing process. Various tests were being conducted. Among these inspections, the inspection for the presence or absence of scratches on the surface of the workpiece involves the workpiece setting process in which the workpiece is placed on a surface plate so that it is in contact with one side, and the other side is visually checked for the presence or absence of bolts. Visual process to confirm,
The process of removing the workpiece from the surface plate was carried out sequentially by the worker.

[Problems to be solved by the invention] However, the work in each of these steps is repetitive work,
Visual inspection for scratches and the like requires concentration of nerves, so workers become fatigued after a certain amount of work time. Therefore,
There is a high possibility that work efficiency will deteriorate or that scratches may be overlooked.

[Purpose of the Invention] However, in order to improve the efficiency of this work and eliminate the possibility of overlooking scratches, robots should be used to perform this repetitive work.
It is preferable to take readings using a sensor and make a determination using a combination sensor, etc.

Therefore, an object of the present invention is to provide a surface inspection device for a disk-shaped component that inspects this single tool.

[Means for solving the problem 1: Ki-ni's surface inspection device for disc-shaped parts is a rotating inspection table that holds a disc-shaped part to be inspected and rotates the disc-shaped part by a predetermined angle around the central axis of the disc-shaped part. a mask image setting device that sets a fan-shaped mask image to be inspected and outputs a reference image signal; and a mask image setting device that sets a fan-shaped mask image to be inspected and outputs a reference image signal; a television camera that imitates the surface of a predetermined portion including a small portion within a range and outputs an image signal to be inspected, and inputs a reference image signal and an image signal to be inspected from the mask image setting device and the television camera, respectively; a control device for determining the quality of the surface condition of the disk-shaped component; a logical product operation unit that performs a logical product of the R1 degree data of corresponding points of the mask image and the superimposed portion of the predetermined portion; a comparison controller that counts the number of positives or O's in comparison with a threshold; and a rotation controller that outputs a rotation command signal that rotates the rotating inspection table by the predetermined angle after the predetermined portion is shadowed. It is characterized by being comprised of a command section and a determination section that outputs a pass/fail determination signal indicating pass or fail determination when the value of the comparison/addition section is equal to or greater than a certain value.

The concept of the surface inspection apparatus for disk-shaped parts of the present invention is shown in the block diagram of FIG.

The surface inspection device for a pressed, disk-shaped component is comprised of a rotary inspection table 10, a mask image setting device 20, a television camera 30, and a control device 40.

The rotating inspection table 10 is a device that holds a disk-shaped component to be inspected and rotates the disk-shaped component at a predetermined angle about its central axis. That is, the feature of this rotary inspection table 10 is that in order to inspect the inspection surface of this disk-shaped component,
The rotation is stopped while the television camera 30 casts a 1ffl shadow, and when this shadow is completed, it is rotated so that the next inspection area can be illuminated.

The number of inspection areas into which oil at a predetermined angle, that is, one rotation, is divided depends on the resolution of the television camera 30 and its arrangement;
It is preferable to determine by ll. For example, the number of inspection areas may be 8, 12, 16, etc. Note that holding here means setting the disc-shaped component 90 at a position M such that the inspection surface of the disc-shaped component can be kept stably facing the photographing section of the television camera 30, which will be described later. Therefore, the form of this holding differs depending on the relative position with respect to the television camera 3o. For example, when the television camera 30 is set upward, it is sufficient to simply place the disc-shaped component 90 on the rotary inspection table 10, but when the television camera 20 takes pictures from the side or diagonally, this disc-shaped component 9
It is necessary to hold it with a clamp device or the like so that it does not fall when it rotates. This rotating inspection table 10
As a drive source, a well-known actuator such as a stepping motor, a DC motor, or an air motor can be used.

The mask image setting device W120 is a device that sets a fan-shaped mask image to be inspected and outputs a reference image. This fan-shaped mask image is set so that the entire area of the disk-shaped component can be efficiently divided and inspected. The shape of this prototype is set according to the shape of the disc-shaped component to be inspected.

The inside and outside of the mask image are set to be divided by two types of digital values. This setting may be set in hardware or software.

The television camera 30 photographs a predetermined portion of the surface of the disc-shaped component to be inspected held on the rotary inspection table, including a fan-shaped portion within a certain angle range from the central axis, and outputs an image signal to be inspected. This is what is output. That is, 1. This television camera 30 is characterized in that it photographs at least the shape of a fan-shaped portion b from the surface to be inspected. This unit area is an area determined according to the accuracy to be inspected. For example, this unit area can be set to 100 μm, 110 μm, etc.

If the surfaces to be inspected are both the front surface and the sleeping area, it is desirable to use two television cameras that inspect the front surface and the back surface, respectively.

Here, as the TA section of the television camera 30, a retractor tube or a solid-state II imager is used.

The control device 40 is a device that inputs a reference image signal and an image signal to be inspected from the mask image setting device and the television camera, respectively, and determines whether the surface condition of the disk-shaped component is good or bad. This control device! ff40 is theory I! ! A product calculation unit 41;
It is composed of a comparison and addition section 43, a rotation command section 45, and a determination section 47.

The AND calculation unit 41 combines the mask image set by the mask image setting device V with the image of the predetermined portion captured by the television camera, and superimposes the mask image and the predetermined portion. This is a device that calculates the logical product of brightness data of corresponding points in a part. The purpose of calculating this logical product is to determine which parts of the surface of the disc-shaped part are scratched and which parts are not. For example, when the data of each point in the internal frI region of the mask image is set to 1, the uneven part of the surface of the disk-shaped part is 0,
When the normal part is a positive value other than O, the partial part becomes 0 by calculating this logical product.

These values of the internal area, eccentric part, and normal part of the mask image are O
Whether to set it to 1 or 1 may be determined depending on the conditions of the Illml device, television camera, etc. at that time, as long as the presence or absence of scratches on the disc-shaped component can be inspected.

The comparison and addition unit 43 compares the value of each logical product obtained by the logical product calculation unit with a threshold value, and calculates the number of positive or O values as 1.
It is a device that monitors This count is performed to determine the presence or absence of scratches. For example, when inspecting the surface of a disc-shaped part by dividing it into 16 parts #1 to #16, the value counted in #1 is divided into 16 parts #1 to #16.
The addition method of the adding section 43 is based on the initial value of the disk-shaped section. C can be determined depending on the inspection conditions.

Rotation command i! ! The IK/15 is a device that outputs a rotation command signal to rotate the rotary inspection table by a certain angle after the predetermined portion is photographed.

The determining unit 47 is a device that outputs a quality determination signal indicating whether the product is acceptable or not when the value of the abrading unit is equal to or greater than a certain value l1lI. In other words, the determining unit 47 inputs the signal from the adding unit 43 and determines the presence or absence of scratches on the disc-shaped component 90.
This is means for outputting the determination result.

For example, a comparator, a counter, a microcomputer, or the like can be used as the logical product operation section 41, the comparison/addition section 43, the rotation command section 45, and the determination section 47.

[Operation] A disk-shaped part to be inspected is set on this rotating inspection table,
When the start switch of the surface inspection device is turned on, the rotary inspection table rotates the disk-shaped component to be inspected held therein by a predetermined angle around the central axis of the disk-shaped component.

Mask image setting S sets a vertical fan-shaped mask image and outputs a reference image signal. The TV camera is
The surface of a predetermined portion of the surface to be inspected of the disc-shaped component held on the rotary inspection table, including a fan-shaped portion within a certain angle range from the central axis, is photographed and an image signal to be inspected is output.

υ) The (l device inputs a reference image signal and an image signal to be inspected from the mask image setting device and the television camera, respectively, and determines the quality of the surface condition of the disk-shaped component. That is,
The logical product calculation section is the mask image! & Mask the mask image set by the setting device and the image of the predetermined portion taken by the television camera, and calculate the logical product of the a-degree data of the corresponding points of the overlapping portion of the mask image and the predetermined portion. And the comparison IXI calculation part nose section -1! l! The value of each logical product obtained by the calculation unit is compared with a threshold value, and the number of positive or O results obtained is counted. Then, after the predetermined portion is photographed, the rotation command unit outputs a rotation command signal to rotate the rotary inspection table by the certain angle. -h
, the determination unit determines when the value of the comparison nose unit is equal to or higher than a certain value,
It outputs a pass/fail mark and a constant fh number indicating whether it is pass or fail.

[Example 1] Hereinafter, the surface inspection apparatus for a disk-shaped component of the present invention will be described in detail based on a specific example.

This surface inspection device for disk-shaped parts is applied as a surface inspection table for disk rotors used in υJ motion devices of automobiles, and its configuration is shown in the block diagram of FIG. The surface inspection device for disk-shaped parts includes a rotating inspection table 10, a mask image setting gAilff 20, a television camera 30, a control device 40, and a CRT display 70 that is coupled to the device of the present invention and displays the determination results.
and a robot device 80.

This rotary inspection table 10 has a disk rotor 91 to be measured.
A rotating table 12R on which the rotating table 12R is placed, a rolling bearing 12B that rotatably holds the shaft of the rotating table 12R, a frame 11F that holds this rolling bearing 12B, a base 11B that holds this frame 11F, and this rotating table 12R. The motor is comprised of a stepping motor 13 which applies rotational force through a joint 13C, and a stepping seven-stage drive device which is a circuit for driving this stepping motor 13.

This mask image setting device 20 incorporates a mask image setting section capable of setting a fan-shaped shape and image signals from a television camera 30, which will be described later, and stores them in correspondence with brightness.
It consists of an image memory and an image memory. Note that this image memory can store 256×256 pieces of data, with one data and 8 pit data per frame.

In this image memory, one screen is composed of 256 pixels vertically by 256 pixels horizontally, and one pixel can store 256 gradations of light and shade. Note that 1 pixel corresponds to 1 unit area, and 0 in the workpiece.
．． It corresponds to 4mm x 0.4mm.

This television camera 3o has a surface of the disc rotor 91,
It is composed of a front camera 31 that decoys the back surface, and a back camera 33. Each television camera 31, 33 is a monochrome type device using a COD device. In addition, these television cameras can be zoomed by signals from the control system FF140, which will be described later. The area can be adjusted.

This control I device 40 has logic l[l! A microcomputer 430 (hereinafter, referred to as a) having the functions of a product calculation section 41, a comparison processing section 43, a rotation command section 45, and a determination section 47
It is abbreviated as 30. ), an input interface 4201 and an output interface 440.

A CRT display 70 is connected to the Miiff of the present invention so that the determination results from the control lJ device can be displayed.

The ``0bot installation''ei80 inputs the control signal from the computer 430 via the output interface 440, and transfers the good disc rotor and the defective disc rotor to the good product conveyor, respectively, according to the l!, lJ Ill Shingetsu. The defective products are sorted and loaded onto a conveyor.This robot device is a well-known robot device, but a description of its configuration will be omitted.

Note that the external input device 85 shown in the figure includes a limit switch and a photo sensor.

The device of this embodiment is configured as described above.

The operation of the apparatus of this embodiment will be described below with reference to the flowchart of FIG. 3 showing the program executed by the computer 430.

The computer 430 starts execution from step 100 when the overtime switch of the &1lIO device 40 is turned on.

In this step, the computer 430 sets the parameters X,
Initialize the value of G.

The parameter X is a threshold value for extracting defective pixels from one inspection area of the disc rotor 91. The parameter G is a standard value for determining whether the disc rotor 91 is defective when the number of extracted defective pixels exceeds 2. In the case of this embodiment,
The initial settings are 85 and G-3.

In steps 102 and 106, the surface condition of the divided inspection area is inspected. and step 108.1
At 10.112, the state of the inspection area on the back surface of this disk-shaped component 90 is inspected.

This step 104.110 is performed by the television camera 31.3 according to the flowchart shown in the subroutine of FIG.
This is a step of processing data from images of the front side and the back side to be detected respectively from step 3.

This 48th flowchart will be explained.

In step 129, the microcomputer 430 corrects the misalignment between the input image of the prototype inspection part and the mask image, and performs position alignment.

In step 130, the input image and the mask image (in the shape of a sector 25 shown in FIG. 5) are calculated for each pixel.

Addresses are defined in the order shown in the figure) IN 1! I! The product is calculated and data outside the inspection area is replaced with non-defective data. This situation is shown in FIGS. 5 to 9.

Here, Fig. 5 shows the area of the fan-shaped part to be inspected.
It is shown as a value, and the inside of the inspection area is ``1'',
Areas other than this are indicated by "0".

Figure 6 shows an image input from the television camera 31 (or 33), where the brightness of each point is 8-pit data (O
255, the brightness of the darkest point is defined as oltl, and the brightness of the brightest point is defined as 255), and the area to be inspected is shown in a fan shape.

FIG. 7 shows a state in which the brightness of each point shown in FIG. 6 is set to 0, regardless of the brightness of the part outside the fan shape. This is to ensure that the luminance chain in the non-inspection area becomes 0 when calculating the logical product to be described later.

FIG. 8 shows a state in which the logical product of the brightness of each point is calculated in the fan-shaped inspection area in FIG. 5 and the actual brightness area in FIG. 7. Then, the number of points whose value is 1 in the inspection area is to be counted. FIG. 9 is a diagram showing the definition of points on a CRT display, where the upper left corner is o.

Oo address, upper right corner is 0OFFfi address, lower left corner is FF
16 each with oO address and lower right corner as FFFF address
It is shown in decimal notation.

Step 132 transfers the image data within the inspection area to step 1.
This is a step of performing binarization processing using a threshold value X set as 00.

Step 134 is a step in which the number of defective pixels in the lijm data after binarization is incremented by 1.

The program then returns to the main program.

Steps 106 and 112 are steps for determining the size of the number of defective pixels that have been combined so far and the criterion (aG) for determining pass/fail.

In the case of this embodiment, the size difference is at least 0.5 in area.
The aim is to be able to always detect flaws larger than mrn'. That is, since the 11i element is 0.4 mm, 0.4X0.4XG≦0.5・−・・−(1) Formula (1)
GLtG≦3.125.

Therefore, if the criterion G is set to 3 (number of pixels),
Scratches larger than 0.5 mm2 can always be detected. In this embodiment, G is initialized in this manner.

When it is determined that there is a flaw in steps 106 and 112, the process goes to step 192, where a determination is made that the IBM is damaged (NG), and the determination result is output to the robot device 80.
The robot device 8o places the inspected disk rotor on the defective product conveyor.

When it is determined in this step that there is no flaw 711, in step 116 the computer outputs a control signal to operate the stepping motor 13 in order to rotate the disk rotor 91 so that the next inspection area can be inspected.

Then, the repeat routine of swiping up 116 to 102 is executed until it is determined in step 114 that all inspection areas (divided into 16 areas in this embodiment) have been inspected. The entire inspection area is inspected, step 114
If it is determined that there is no scratch on the disc rotor 91, step 190 is performed. and the judgment result is output to the robot device 80.
The robot device 80 places the inspected disk rotor 91 on a non-defective product conveyor.

[Effects of the Invention] According to the present invention, a surface inspection device for a disk-shaped component includes a rotary inspection table that holds a disk-shaped component to be inspected and rotates the disk-shaped component by a predetermined angle about the central axis of the disk-shaped component; A mask image @ setting device that sets a fan-shaped mask image to be inspected and outputs a reference image signal; A television camera that darkens the surface of a predetermined portion including a fan-shaped portion and outputs an image signal to be inspected; the mask image setting device inputs a reference image signal and an image signal to be inspected from the television camera, respectively; and a control device that determines the quality of the surface condition of the shaped part, and the control V device masks the mask image set by the mask image setting device and the image of the predetermined portion taken by the television camera. a logical AND calculation unit that calculates the logical product of the brightness data of the corresponding points of the mask image and the superimposed portion of the predetermined portion; I! a comparison and addition unit that compares the product value with a threshold value and counts the number of positives or O's; and a rotation command signal that rotates the rotary inspection table by the certain angle after the predetermined portion is positive. A rotation command part that outputs a rotation command part that outputs a value of etc., can be inspected quickly and without error by the operator without visual inspection or the like. Further, the operation of the robot device can be controlled using the signal from the determination section, and the inspection process for disk-shaped parts can be automated, thereby improving the productivity of the inspection process. can.

According to the present invention, a surface inspection device for a disk-shaped component includes a rotary inspection table having a stepping motor, two television cameras using COD devices, a mask image setting device, a control 11 device, and a CR1-deC device. By configuring the sprayer and the robot device, and by configuring the logical product operation section, the comparison addition section, the rotation command section, and the determination section of the above-mentioned microcomputer, (1) By simply setting the disc rotor on the rotating inspection table once, both sides of the disc rotor can be inspected at the same time.

(2) Control using image memory and microcomputer] The presence or absence of scratches can be inspected faster than the device itself, and the results can be output to another FDL or displayed on a CRT display.

(3) Furthermore, by dividing one revolution of the disc rotor into 16 inspection areas, inspection results can be output, displayed, and categorized at the time when it is determined that there is a flaw.

(4) Also, the robot device transfers the inspected disk rotors to the respective transport conveyors depending on whether they are good or defective. Because it is integrated, inspection can be performed without manual intervention as in the past, and productivity can be improved, accurate inspection can be performed, and inspection errors can be completely eliminated.

[Brief explanation of the drawing]

FIG. 1 is a block diagram showing the concept of a surface inspection apparatus for a disk-shaped component according to a specific embodiment of the present invention. FIG. 2 shows a disc-shaped part (
1 is a block diagram of surface inspection of a disc rotor. 3 and 4 are flowcharts 1 and 4 showing programs executed by the microcomputer used in the same embodiment. - It is. 5 to 8 are explanatory diagrams of the work contents of the flowchart 11 shown in FIG. 4, FIG. 5 is a mask image, FIG. 6 is an input image, and FIG. 7 is an O
The image with the value, Figure 8, is the theory of brightness yI! It is a figure which calculated the product. FIG. 9 is an explanatory diagram of the position setting of the fan-shaped portion used in the same embodiment. 10...Rotating inspection table

Claims (2)

[Claims] (1) A rotating inspection table that holds a disc-shaped part to be inspected and rotates it by a predetermined angle around the central axis of the disc-shaped part, a fan-shaped mask image to be inspected, and outputs a reference image signal. A mask image setting device is used to photograph a predetermined portion of the surface of the disk-shaped component held on the rotary inspection table, including a fan-shaped portion within a certain angle range from the central axis, and generate an image signal to be inspected. a control device that inputs a reference image signal and an image signal to be inspected from the mask image setting device and the television camera, respectively, and determines whether the surface condition of the disk-shaped component is good or bad; The device performs mask matching between a mask image set by the mask image control device and an image of the predetermined portion taken by the television camera, and calculates luminance data of corresponding points of the overlapping portion of the mask image and the predetermined portion. a logical product calculation unit that calculates a logical product; a comparison and addition unit that compares each logical product value obtained by the logical product calculation unit with a threshold value and counts the number of positive or zero results; a rotation command unit that outputs a rotation command signal to rotate the rotary inspection table by the certain angle after a predetermined portion is photographed; and a pass/fail unit that indicates pass or fail when the value of the comparison and addition unit is equal to or greater than a certain value. 1. A surface inspection device for a disc-shaped component, comprising: a determination section that outputs a determination signal. (2) The surface inspection device for a disk-shaped component according to claim 1, wherein two television cameras are provided and each takes pictures of the front side and the back side of the disk-shaped component.