JPWO2019146074A1 - Image processing device, adhesive state inspection device and adhesive state inspection method for adhesive state inspection of laminated cores - Google Patents

Abstract

PROBLEM TO BE SOLVED: To reduce a work load of an operator and to perform an accurate and stable inspection of an adhesive state of a laminated core. An image data input processing unit (66) for inputting image data of adhesive surfaces of two adjacent steel plates, and an adhesive region in which the adhesive is present on each adhesive surface from the image data of each adhesive surface. Adhesion of the laminated core based on the evaluation target region obtained by superimposing the adhesive region extraction unit 68 and the adhesive region of each adhesive surface extracted by the adhesive region extraction unit with the same adhesive positional relationship with each other. It has an adhesive state evaluation unit 70 that evaluates the state, and an evaluation information output processing unit 72 that outputs information related to the evaluation of the adhesive state by the adhesive state evaluation unit 70. [Selection diagram] Fig. 3

Description

The present invention relates to an image processing device, an adhesive state inspection device, and an adhesive state inspection method for inspecting the adhesive state of a laminated core.

As a rotor and a stator of an electric motor, those using a laminated core in which a plurality of steel plates are bonded with an adhesive are known (for example, Patent Document 1).

Conventionally, in the inspection of the adhesive state of the laminated core, in the completed laminated core, two steel plates that are bonded to each other and adjacent to each other are peeled off from each other, and an operator covers a region where an adhesive exists on the adhesive surface of the two steel plates. Is performed by visual inspection to confirm visually.

JP-A-2009-124828

Visual inspection of the adhesive state of the laminated core imposes a heavy work load on the operator, requires experience, and it is difficult to stably inspect the adhesive state accurately.

An object to be solved by the present invention is to reduce the work load on the operator so that the inspection of the adhesive state of the laminated core can be performed accurately and stably.

The image processing device for inspecting the adhesive state of the laminated core according to one embodiment of the present invention is an image processing device for inspecting the adhesive state of the laminated core in which a plurality of steel plates are bonded by an adhesive, and is adjacent to the image processing device. Adhesive in which the adhesive is present on each adhesive surface from the image data input processing unit that inputs the image data of the adhesive surfaces of the two matching steel plates to each other and the image data of each adhesive surface of the two steel plates. It is given as a sum set of the two adhesive regions obtained by superimposing the adhesive region extraction unit for extracting the region and the adhesive region of each adhesive surface extracted by the adhesive region extraction unit on the corresponding positions. It has an adhesive state evaluation unit that evaluates the adhesive state of the laminated core based on the evaluation target region, and an evaluation information output processing unit that outputs information regarding the evaluation of the adhesive state by the adhesive state evaluation unit.

According to this configuration, the inspection of the adhesive state of the laminated core reduces the work load on the operator and is performed accurately and stably.

In the image processing apparatus for inspecting the adhesive state of the laminated core, preferably, the adhesive state evaluation unit evaluates the adhesive state of the laminated core based on the area of the evaluation target region.

According to this configuration, the adhesive state of the laminated core is accurately evaluated based on the adhesive area.

In the image processing apparatus for inspecting the adhesive state of the laminated core, preferably, the adhesive state evaluation unit evaluates the adhesive state of the laminated core based on the diameter of the circle circumscribing the evaluation target region.

According to this configuration, the evaluation of the adhesive state of the laminated core is accurately performed by the diameter of the circle circumscribing the evaluation target region.

In the image processing apparatus for inspecting the adhesive state of the laminated core, preferably, a plurality of application positions of the adhesive are set in advance on the adhesive surface of each of the steel plates in an island shape, and the adhesive state evaluation unit is used for each application. The area of the evaluation target region of the adhesive region existing at the position is calculated, and the adhesive state is evaluated based on the total area of the evaluation target regions at the plurality of coating positions.

According to this configuration, the evaluation of the adhesive state of the laminated core is accurately performed by the total value of the adhesive areas.

In the image processing apparatus for inspecting the adhesive state of the laminated core, preferably, the adhesive state evaluation unit extracts each shape feature portion of the two steel plates from the image data and uses the shape feature portion as the shape feature portion. It includes a positional relationship correction unit that corrects the adhesive positional relationship of the adhesive region based on the above.

According to this configuration, even if the adhesive positional relationship of the adhesive region is physically deviated, the deviation is eliminated by image processing, and the evaluation target region is generated with high accuracy.

The laminated core adhesion state inspection device according to one embodiment of the present invention is an device that inspects the bonding state of a laminated core in which a plurality of steel plates are bonded by an adhesive, and is linearly oriented by a fixed linear guide rail. A linear table that can be guided and moved, a linear table drive device that moves the linear table in the linear direction, two rotary tables rotatably provided on the linear table around an axis perpendicular to the linear table, and the above. A rotary table drive device that rotates each of the two rotary tables, two cameras that individually photograph the adhesive surface of each steel plate placed on the two rotary tables, and adhesion according to the above-described embodiment. It has an image processing device for state inspection, and the image data input processing unit of the image processing device inputs image data from each of the two cameras.

According to this configuration, the inspection of the adhesive state of the laminated core is performed accurately and stably by reducing the work load on the operator.

The adhesive state inspection device for the laminated core preferably further includes an ultraviolet irradiation device that irradiates an imaged region of the adhesive surface with each camera with ultraviolet rays.

According to this configuration, the bonded region is clearly photographed, and the inspection accuracy of the bonded state is improved.

The method for inspecting the adhesive state of a laminated core according to one embodiment of the present invention is a method for inspecting the adhesive state of a laminated core in which a plurality of steel plates are adhered by an adhesive, and two of the two adjacent sheets are adhered to each other. The step of peeling the steel plates from each other, the step of photographing the adhesive surfaces of the two peeled steel plates with a camera, and the adhesive on each of the adhesive surfaces from the image data of the adhesive surfaces obtained by the photographing. It is given as a sum set of the two adhesive regions obtained by superimposing the adhesive regions of the extracted adhesive surfaces at the corresponding positions on the step of extracting the adhesive region in which the adhesive is present by an image processing device. It includes a step of evaluating the adhesive state of the laminated core based on the evaluation target region and a step of outputting information on the evaluation of the adhesive state.

According to this inspection method, the adhesive state of the laminated core is accurately evaluated.

In the method for inspecting the adhesive state of the laminated core, preferably, the step of peeling the two steel plates from each other is performed after the adhesive is cured.

According to this inspection method, in the step of peeling the two steel plates, the adhesive does not flow and the adhesive state of the laminated core is accurately evaluated.

In the above method for inspecting the adhesive state of the laminated core, when a plurality of adhesive regions are present on the adhesive surface in an island shape, the step of evaluating the adhesive state is individually for each adhesive region or collectively for a plurality of adhesive regions. May be done.

According to this inspection method, the inspection of the adhesive state is efficiently performed.

In the method for inspecting the adhesive state of the laminated core, preferably, the step of evaluating the adhesive state evaluates the adhesive state of the laminated core based on the area of the evaluation target region.

According to this inspection method, the adhesive state of the laminated core is accurately evaluated based on the adhesive area.

In the method for inspecting the adhesive state of the laminated core, preferably, the step of evaluating the adhesive state evaluates the adhesive state of the laminated core based on the diameter of the circle or ellipse circumscribing the evaluation target region.

According to this inspection method, the adhesive state of the laminated core is accurately evaluated by the diameter of the circle circumscribing the evaluation target region.

In the method for inspecting the adhesive state of the laminated core, preferably, each of the steel plates has a plurality of application positions of the adhesive set in advance on the adhesive surface in an island shape, and the step of evaluating the adhesive state is performed at the plurality of the application positions. The adhesive state is evaluated based on the total area of the evaluation target area.

According to this inspection method, the evaluation of the adhesive state of the laminated core is accurately performed based on the total value of the adhesive areas.

In the method for inspecting the adhesive state of the laminated core, preferably, the shape feature portions of each of the two steel plates are extracted from the image data, and the adhesion positional relationship of the bond region is corrected based on the shape feature portions. Includes the process of

According to this inspection method, even if the adhesive positional relationship of the adhesive region is physically deviated, the deviation is eliminated by image processing, and the evaluation target region is generated with high accuracy.

In the method for inspecting the adhesive state of the laminated core, preferably, a fluorescent agent is added to the adhesive, and each of the adhesive surfaces is photographed under ultraviolet irradiation.

According to this inspection method, the adhesive region is clearly photographed, and the inspection accuracy of the adhesive state is improved.

According to the present invention, the inspection of the adhesive state of the laminated core is performed accurately and stably by reducing the work load on the operator.

Front view showing the first embodiment of the adhesion state inspection apparatus for laminated cores according to the present invention. Top view showing the adhesion state inspection apparatus of the laminated core of Embodiment 1. A block diagram showing an embodiment of an image processing apparatus for inspecting the adhesive state of a laminated core according to the present invention. Explanatory drawing of steel plate peeling process of adhesive state method of laminated core by this invention Explanatory drawing which shows Embodiment 1 of the adhesion state inspection method by this invention Explanatory drawing which shows Embodiment 2 of the adhesion state inspection method by this invention Top view showing Embodiment 3 of the adhesion state inspection apparatus of a laminated core according to this invention. Front view showing the adhesion state inspection apparatus of the laminated core of the third embodiment. Explanatory drawing which shows Embodiment 3 of the adhesion state inspection method by this invention Top view showing another embodiment of the adhesion state inspection apparatus of the laminated core by this invention. Top view showing another embodiment of the adhesion state inspection apparatus of the laminated core by this invention. Top view showing another embodiment of the adhesion state inspection apparatus of the laminated core by this invention. Top view showing another embodiment of the adhesion state inspection apparatus of the laminated core by this invention. Perspective view showing another embodiment of the adhesion state inspection apparatus of the laminated core by this invention.

Hereinafter, Embodiment 1 of the adhesion state inspection device for the laminated core according to the present invention will be described with reference to FIGS. 1 and 2.

It has two linear guide rails 12 fixed to the lower frame 10 of the apparatus and extending parallel to each other in the X-axis direction. On the linear guide rail 12, one linear table 14 is provided which is arranged so as to straddle the two linear guide rails 12 and is guided by the linear guide rail 12 and can move in the X-axis direction (linear direction). There is.

A ball nut 16 is fixed to the bottom of the linear table 14. A ball screw shaft 18 extending in the X-axis direction is rotatably attached to the lower frame 10. The ball screw shaft 18 is screw-engaged with the ball nut 16 and is rotationally driven by a servomotor 20 attached to the lower frame 10.

In this way, the servomotor 20, the ball screw shaft 18, and the ball nut 16 form a linear table driving device, and linearly move the linear table 14 in the X-axis direction.

The linear table 14 is provided with a first rotary table 22 and a second rotary table 24 at the same position in the X-axis direction so as to be rotatable around a vertical axis A. On the first rotary table 22 and the second rotary table 24, two steel plates 102 and 104 of the laminated core 100 (see FIG. 4) to be inspected are placed one by one with the adhesive surfaces 102A and 104A facing upward, respectively. It is placed in a state of being positioned by the positioning pins 26 and 28. The steel plates 102 and 104 and their adhesive surfaces 102A and 104A will be described later.

Servo motors 30 and 32 forming a rotary table drive device are connected to the lower portions of the first rotary table 22 and the second rotary table 24. The servomotors 30 and 32 drive the first rotary table 22 and the second rotary table 24 by dividing and rotating them at predetermined rotation angles.

The servomotors 20, 30, and 32 are driven and controlled by a table control device 36 such as an NC control device.

The upper frame 38 of the apparatus includes the adhesive surface of the first camera 40 for photographing the adhesive surface 102A of the steel plate 102 placed on the first rotary table 22 and the adhesive surface 104 of the steel plate 104 placed on the second rotary table 24. A second camera 42 for photographing 104A is attached.

The first camera 40 and the second camera 42 are digital cameras having the same high gradation as each other, and the first rotary table 22 and the second rotary table 24 are divided and rotationally driven by the servomotors 30 and 32 at predetermined rotation angles. As a result, a plurality of coating positions B preset in an island shape at predetermined intervals in the circumferential direction of the adhesive surfaces 102A and 104A are sequentially provided with the same optical characteristics (lens characteristics) for each coating position B. Take a picture. The first camera 40 and the second camera 42 are connected to the image processing device 60 by cables 44 and 46, and the image data of the adhesive surfaces 102A and 104A obtained by photographing are transmitted to the image processing device 60.

A monitor 62 with a touch panel and a printer 64 are connected to the image processing device 60.

The upper frame 38 is provided with an ultraviolet lamp 48 that irradiates the imaged area of the adhesive surface 102A by the first camera 40 with ultraviolet rays and an ultraviolet lamp 50 that irradiates the imaged area of the adhesive surface 104A by the second camera 42 with ultraviolet rays.

Next, the details of the image processing apparatus 60 will be described with reference to FIG.

The image processing device 60 is composed of a computer, and when the computer executes a program, the image data input processing unit 66, the adhesion region extraction unit 68, the adhesion state evaluation unit 70, and the evaluation information output processing unit 72 are combined. Embodied by software.

The image data input processing unit 66 inputs image data with a plurality of pixels for each coating position B of the adhesive surfaces 102A and 104A from each of the first camera 40 and the second camera 42. When the image data output by the first camera 40 and the second camera 42 is multi-valued, the image data input processing unit 66 binarizes the image data with the same threshold value for each pixel. As a result, for example, the pixel in which the adhesive is not photographed is binarized to "0", and the pixel in which the adhesive is photographed is binarized to "1". The binarization threshold is set to a predetermined value by the monitor 62 with a touch panel. The image data input processing unit 66 includes temporary storage units 65 and 67 by a frame memory or the like for storing the image data of the adhesive surfaces 102A and 104A binarized for each pixel.

The adhesive region extraction unit 68 is based on the image data of the adhesive surfaces 102A and 104A stored in the temporary storage units 65 and 67 of the image data input processing unit 66, and the adhesive region C (FIG. 5) in which the adhesive is present at each coating position B. , See FIG. 6) is extracted for each coating position B.

The adhesive state evaluation unit 70 superimposes the adhesive regions C at each coating position B extracted by the adhesive region extraction unit 68 on the corresponding positions, and evaluates the evaluation target region D (FIGS. 5 and 6) obtained by the superposition. The adhesive state of the laminated core 100 is evaluated based on (see).

The evaluation information output processing unit 72 outputs information regarding the evaluation of the adhesive state by the adhesive state evaluation unit 70 to the monitor 62 with a touch panel, the printer 64, or the like.

Next, the first embodiment of the adhesive state inspection method carried out by the adhesive state inspection device according to the above-described first embodiment will be described with reference to FIGS. 4 and 5 in addition to FIGS. 1 to 3.

As shown in FIG. 4A, the laminated core 100 to be inspected is one in which a plurality of steel plates 102 and 104 are adjacent to each other and adhered to each other by an adhesive, and the plurality of steel plates 102 and 104 are laminated. Is. In the steel plates 102 and 104, a plurality of adhesive application positions (adhesive points) B are set in advance on the adhesive surfaces 102A and 104A in an island shape at intervals in the circumferential direction. The adhesive may be an epoxy resin-based adhesive to which a fluorescent agent has been added.

In the inspection of the adhesive state, first, as shown in FIG. 4B, the upper two steel plates 102 and 104 of the laminated core 100, which are completed as a product by curing the adhesive, are three upper layers. Peeling from the steel plate 106 of the eye (peeling step) is performed. This peeling may be done manually by the operator or by an automated peeling device.

Next, the two peeled upper steel plates 102 and 104 are peeled off from each other as shown in FIG. 4C so that the adhesive surfaces 102A and 104A of the steel plates 102 and 104 are on the upper surface. The first steel plate 102 is turned upside down. The peeling of the steel plates 102 and 104 from each other may be performed manually by an operator or may be performed by an automated peeling device.

As shown in FIG. 2, the steel plate 102 is placed on the first rotary table 22 in a state of being positioned by the positioning pin 26 with the adhesive surface 102A facing upward. As shown in FIG. 2, the steel plate 104 is placed on the second rotary table 24 in a state of being positioned by the positioning pin 28 with the adhesive surface 104A facing upward.

In the placement of the two steel plates 102 and 104, the coating positions B of the adhesives are those of the steel plate 102 and those of the steel plate 104, which were joined to each other before peeling, and are the first rotary table. 22 and the second rotary table 24 are arranged so as to be in the same position. The same position on the first rotary table 22 and the second rotary table 24 refers to a position directly below each of the first camera 40 and the second camera 42, and the same coating positions B of the bonded steel plates 102 and 104 are provided. It is the position to be located.

In this state, the first camera 40 and the second camera 42 simultaneously photograph the coating position B of the adhesive surface 102A and the coating position B of the adhesive surface 104A that were joined to each other before the peeling (imaging step). It is said. The coating position B is photographed by the first camera 40 and the second camera 42 by the ultraviolet lamps 48 and 50 so that the area where the adhesive exists can be clearly photographed because the adhesive contains a fluorescent agent. It is performed under the irradiation of ultraviolet rays.

The image data of the coating position B of the adhesive surfaces 102A and 104A by the first camera 40 and the second camera 42 is input to the image data input processing unit 66 of the image processing device 60, and preprocessing such as binarization is performed. It is stored in the temporary storage units 65 and 67 of the image data input processing unit 66.

The image data of the coating position B of the adhesive surfaces 102A and 104A stored in the temporary storage unit is sent to the adhesive region extraction unit 68, and as shown in FIGS. 5A and 5B, each coating position is shown. Extraction of the adhesive region C in which the adhesive is present in B (extraction step) is performed. The adhesion region C may be extracted by extracting pixels having a value of "1" if the image data is binarized. Since the steel plate 102 at the time of shooting is flipped from the state of being laminated and bonded (see FIG. 4C), the image of the bonding surface 102A of the steel plate 102 is as shown in FIG. 5C. , Image processing that flips left and right is performed.

This left-right reversal image processing may be performed on the image data of either one of the adhesive surfaces 102A and 104A, and the left-right reversal image processing may be performed as a pre-step of extraction of the adhesive region C.

Next, an image process (synthesis process) in which the adhesive region C at the coating position B of the adhesive surface 102A and the adhesive region C at the coating position B of the adhesive surface 104A are overlapped with each other with the same adhesive positional relationship by the adhesive state evaluation unit 70. Is done. As shown in FIG. 5D, this superposition gives an evaluation target given as a union of the adhesive region C at the coating position B of the adhesive surface 102A and the adhesive region C at the coating position B of the adhesive surface 104A. Region D is generated. The union is obtained by sequentially performing the OR operation of each pixel. Thus, the evaluation target region D is defined by the outer contour of both adhesive regions C after superposition.

Here, the same adhesive positional relationship refers to those having corresponding positions and having been bonded to each other before peeling. The adhesive state evaluation unit 70 extracts the shape feature portions of the two steel plates 102 and 104 from the image data of the adhesive surfaces 102A and 104A, and based on the extracted shape feature portions, the adhesion positional relationship of the adhesive region C. Includes a positional relationship correction unit that corrects.

This superposition is performed by the shape feature portions of the two steel plates 102 and 104, for example, from the image data obtained by photographing the adhesive surfaces 102A and 104A by the first camera 40 and the second camera 42 in the adhesive state evaluation unit 70. , The edge portion of the magnetic pole tooth is extracted, and the positional relationship between the adhesive region C at the coating position B of the adhesive surface 102A and the adhesive region C at the coating position B of the adhesive surface 104A is corrected by image processing based on the edge portion. Is done.

As a result, there is a deviation (physical deviation) between the adhesive region C at the coating position B of the adhesive surface 102A and the adhesive region C at the coating position B of the adhesive surface 104A on the first rotary table 22 and the second rotary table 24. However, this is solved by image processing, and the evaluation target area D is generated with high accuracy.

Then, the adhesive state evaluation unit 70 calculates a circle (ellipse) F circumscribing the evaluation target region D as shown in FIG. 5 (E), and as shown in FIG. 5 (F). , The major axis diameter G of the circle F is calculated, and if the major axis diameter G is a predetermined threshold value, "OK" is determined, and if the major axis diameter G is less than the predetermined threshold value, "NG" is determined. I do. In this way, the adhesive state evaluation unit 70 performs the adhesive state evaluation step. The threshold value in the evaluation process can be variably set by the monitor 62 with a touch panel according to the required adhesive strength.

As a result, the evaluation of the adhesive state of the laminated core 100 is accurately performed by the major axis diameter G, reducing the work load on the operator.

This determination result is a graphic of the evaluation target area D, the circle F, and the major axis diameter G as shown in FIG. 5 (F) by the screen display processing by the evaluation information output processing unit 72 as the information output process. The screen is displayed on the monitor 62 with a touch panel. The region E where the adhesive region C at the coating position B of the adhesive surface 102A and the adhesive region C at the coating position B of the adhesive surface 104A overlap may be displayed on the screen in a different color from the non-overlapping region. Further, this determination result may be printed on paper by the printer 64 together with the figures of the evaluation target area D, the circle F, and the major axis diameter G by the print output processing by the evaluation information output processing unit 72. Further, these evaluation information may be written in an external storage device such as a memory card (not shown).

As a result, the evaluation of the adhesive state of the laminated core 100 is performed accurately by the adhesive area while reducing the work load of the operator.

In the evaluation of the adhesive state by the major axis diameter G, the major axis diameter G is calculated in the same manner at all the coating positions B existing in the island shape, and the total number of "OK" and "NG" for each of the adhesive surfaces 102A and 104A. It may be done by the total number of ".

Next, the second embodiment of the adhesive state inspection method carried out by the adhesive state inspection apparatus according to the first embodiment will be described with reference to FIGS. 4 and 6 in addition to FIGS. 1 to 3.

From the peeling step shown in FIG. 4 to the overlay image processing (synthesis processing) shown in FIG. 6D, the same as in the first embodiment is performed.

In the second embodiment, as an evaluation step, the adhesive state evaluation unit 70 performs a process of converting the evaluation target area D into a minute matrick H as shown in FIG. 6 (E), and the evaluation target is evaluated by the matrick H. The area J of the area D is calculated, and if the area J is a predetermined threshold value, the determination of "OK" is performed, and if the area J is less than the predetermined threshold value, the determination of "NG" is performed. This threshold value can also be variably set by the monitor 62 with a touch panel according to the required adhesive strength.

As a result, the evaluation of the adhesive state of the laminated core 100 is performed accurately by the adhesive area while reducing the work load of the operator.

As shown in FIG. 6F, this determination result is obtained by screen display processing by the evaluation information output processing unit 72 as an information output process, together with a graphic showing the area J of the evaluation target area D, and a monitor with a touch panel 62. It may be displayed on the screen. Further, this determination result may be printed on paper by the printer 64 together with a figure showing the area J of the evaluation target area D by the print output process by the evaluation information output processing unit 72. Further, these evaluation information may be written in an external storage device such as a memory card (not shown).

In the evaluation of the adhesive state by the area J, the area J is calculated in the same manner at all the coating positions B existing in the island shape, and the total number of "OK" and the total number of "NG" for each of the adhesive surfaces 102A and 104A. Or it may be done by their total area.

In addition to the major axis diameter G and the area J, the adhesion state evaluation unit 70 evaluates the adhesion state by the diameter of the inscribed circle, the average diameter of the inscribed circle or the inscribed circle at a plurality of coating positions B, and the outer circumference of the evaluation target area D. It may be done by the circumference of. Further, the adhesive state may be evaluated based on the area of the region E where the adhesive region C at the coating position B of the adhesive surface 102A and the adhesive region C at the coating position B of the adhesive surface 104A overlap.

Next, the third embodiment of the adhesive state inspection device will be described with reference to FIGS. 7 and 8. The inspection device according to the third embodiment is used for inspecting the adhesive state of a laminated core of a type in which one laminated plate is formed by a combination of a plurality of divided core pieces for each magnetic pole tooth.

The apparatus for inspecting the adhesion state of the laminated core according to the third embodiment has one table 80 in a fixed arrangement and a camera 82 fixedly arranged above the table 80.

The two core pieces 110 and 112 are placed side by side on the table 80 as seen in FIG. 7, with the adhesive surfaces 110A and 112A facing upward and positioned by the positioning pin 84, respectively. The camera 82 takes a one-shot shot of the entire adhesive surfaces 110A and 112A of the two core pieces 110 and 112 on the table 80 with the shooting range (shooting area) L.

The two core pieces 110 and 112 are those that were adhered to each other by an adhesive and then peeled off after the adhesive was cured, as in the first embodiment, and both adhesive surfaces 110A and 112A. One of the core pieces 110 and 112, for example, the core piece 110, is turned upside down so that

The adhesive state inspection device for the laminated core according to the third embodiment has a simple structure because only one table 80 is required, the table 80 and the camera 82 are fixedly arranged, and the movable mechanism and the driving device are not included.

Next, the third embodiment of the adhesive state inspection method carried out by the adhesive state inspection apparatus according to the third embodiment will be described with reference to FIG. Also in the adhesion state inspection method of the third embodiment, an image processing device equivalent to the image processing device 60 shown in FIG. 3 is used.

The entire adhesive surfaces 110A and 112A of the two core pieces 110 and 112 on the table 80 are photographed by the camera 82. The image data of the adhesive surfaces 110A and 112A of the two core pieces 110 and 112 obtained by the photographing is trimmed by the image data input processing unit 66 as shown in FIGS. 9A and 9B. It is divided into an adhesive surface 110A and an adhesive surface 112A by processing.

The divided image data is sent to the adhesive region extraction unit 68, and the adhesive region C in which the adhesive is present is extracted at each coating position (extraction step). The adhesion region C may be extracted by extracting pixels having a value of "1" if the image data is binarized. Since the core piece 110 at the time of shooting is flipped from the state of being laminated and bonded (see FIG. 4C), the image of the bonding surface 110A of the core piece 110 is shown in FIG. 9C. In this way, image processing that flips left and right is performed.

Next, the adhesive state evaluation unit 70 performs image processing in which the adhesive region C at each coating position on the adhesive surface 110A and the adhesive region C at each coating position on the adhesive surface 112A are overlapped with each other with the same adhesive positional relationship. This image processing is collectively performed on a plurality of adhesive regions C existing in each core piece, and is defined by the outer contour of the adhesive region C after superposition as shown in FIG. 9 (D). The evaluation target area D is generated. Here, the same adhesive positional relationship refers to those having corresponding positions and having been bonded to each other before peeling. The evaluation of the adhesive state based on the evaluation target area D may be performed for each core piece in the same manner as in the above-described first or second embodiment.

As another embodiment of the adhesion state inspection device, when the photographing range L of the camera 82 is smaller than that of the third embodiment and only one core piece can be photographed, it is shown in FIGS. 10A and 10B. As described above, the core pieces 110 and 112 on the table 80 may be replaced one by one manually or by a robot arm or the like.

When the shooting range L of the camera 82 is small, the two core pieces 110 and 112 placed on the table 80 are shuttled to the table 80 as shown in FIGS. 11A and 11B. The shooting range L with respect to the table 80 may be changed by moving the camera or moving the camera shuttle as shown in FIGS. 12A and 12B. In addition to the shuttle movement, the table 80 may be rotationally moved as shown in FIGS. 13A and 13B. As shown in FIGS. 14A and 14B, the table 80 is turned upside down by the rotating shaft 86, the core piece 110 is mounted on the front surface 80A of the table 80, and the core piece is mounted on the back surface 80B of the table 80. The 112 may be mounted, and the two core pieces 110 and 112 may be photographed by inverting the front and back of the table 80.

The present invention has been described above with respect to preferred embodiments thereof, but as can be easily understood by those skilled in the art, the present invention is not limited to such embodiments and deviates from the gist of the present invention. It can be changed as appropriate as long as it does not.

The step of peeling the two bonded steel sheets is preferably performed after the adhesive is completely cured, but this is not essential and may be performed before the adhesive is completely cured or in a semi-cured state. .. In order to inspect the adhesive state with high accuracy and reliability, it is important that the position of the adhesive does not shift and the shape of the adhesive region C does not change before and after the peeling.

The evaluation of the adhesive state may be performed at the coating position K provided on each magnetic pole tooth shown in FIG. 2 in the same manner as in the coating position B described above. The coating position K may be performed by photographing each magnetic pole tooth. The evaluation of the bonded state may be performed based on the diameter of the circle inscribed in the evaluation target region D.

The laminated core is not limited to the stator core of the electric motor, but may be the stator core of the rotary electric machine, the rotor core, the iron core of the transformer, or the like.

In addition, not all of the components shown in the above embodiments are indispensable, and they can be appropriately selected as long as they do not deviate from the gist of the present invention.

10: Lower frame 12: Linear guide rail 14: Linear table 16: Ball nut 18: Ball screw shaft 20: Servo motor 22: 1st rotary table 24: 2nd rotary table 26: Positioning pin 28: Positioning pin 30: Servo motor 32: Servo motor 36: Table control device 38: Upper frame 40: First camera 42: Second camera 44: Cable 46: Cable 48: Ultraviolet lamp 50: Ultraviolet lamp 60: Image processing device 62: Monitor with touch panel 64: Printer 65: Temporary storage unit 66: Image data input processing unit 67: Temporary storage unit 68: Adhesive area extraction unit 70: Adhesive state evaluation unit 72: Evaluation information output processing unit 80: Table 80A: Front surface 80B: Back surface 82: Camera 84: Positioning pin 86: Rotating shaft 100: Laminated core 102: Steel plate 102A: Adhesive surface 104: Steel plate 104A: Adhesive surface 106: Steel plate 110: Core piece 110A: Adhesive surface 112: Core piece 112A: Adhesive surface B: Coating position C: Adhesion Area D: Evaluation target area E: Overlapping area F: Circle G: Major axis diameter H: Matrick J: Area K: Coating position L: Imaging range

Claims (15)

An image processing device for inspecting the bonding state of a laminated core in which a plurality of steel plates are bonded by an adhesive.
An image data input processing unit that inputs image data of the adhesive surfaces of two adjacent steel plates to each other,
An adhesive region extraction unit that extracts an adhesive region in which the adhesive is present on each adhesive surface from the image data of each adhesive surface of the two steel plates.
The laminated core is based on an evaluation target region given as a union of both adhesive regions obtained by superimposing the adhesive regions of the respective adhesive surfaces extracted by the adhesive region extraction unit at corresponding positions. Adhesive state evaluation unit that evaluates the adhesive state of
An image processing device for inspecting the adhesive state of a laminated core having an evaluation information output processing unit that outputs information related to evaluation of the adhesive state by the adhesive state evaluation unit. The image processing apparatus for inspecting the adhesive state of the laminated core according to claim 1, wherein the adhesive state evaluation unit evaluates the adhesive state of the laminated core based on the area of the evaluation target region. The image processing apparatus for inspecting the adhesive state of the laminated core according to claim 1, wherein the adhesive state evaluation unit evaluates the adhesive state of the laminated core based on the diameter of a circle circumscribing the evaluation target region. In each of the steel plates, a plurality of application positions of the adhesive are set in advance on the adhesive surface in an island shape.
The adhesion state evaluation unit calculates the area of the evaluation target area of the adhesion region existing at each coating position, and evaluates the adhesion state based on the total area of the evaluation target areas at the plurality of coating positions. Item 2. The image processing apparatus for inspecting the adhesive state of the laminated core according to Item 1. The adhesion state evaluation unit includes a positional relationship correction unit that extracts each shape feature portion of the two steel plates from the image data and corrects the adhesion positional relationship of the adhesion region based on the shape feature portion. The image processing apparatus for inspecting the adhesive state of the laminated core according to any one of claims 1 to 4. A device that inspects the bonding state of a laminated core in which multiple steel plates are bonded by an adhesive.
A linear table that can be moved in a linear direction by a fixed linear guide rail,
A linear table drive device that moves the linear table in the linear direction,
Two rotary tables rotatably provided around the axis perpendicular to the linear table, and
A rotary table drive device that rotates each of the two rotary tables,
Two cameras that individually photograph the adhesive surface of each steel plate placed on the two rotary tables, and
The image processing apparatus for the adhesion state inspection according to any one of claims 1 to 5 is provided.
The image data input processing unit of the image processing device is an adhesion state inspection device for laminated cores that inputs image data from each of the two cameras. The adhesive state inspection device for a laminated core according to claim 6, further comprising an ultraviolet irradiation device that irradiates an imaged region of the adhesive surface with each camera with ultraviolet rays. It is a method of inspecting the adhesive state of a laminated core in which multiple steel plates are bonded by an adhesive.
The process of peeling off two adjacent steel plates that are bonded to each other and
A process of photographing each adhesive surface of the two peeled steel plates with a camera, and
A step of extracting an adhesive region in which the adhesive is present on each adhesive surface from the image data of each adhesive surface obtained by photographing by an image processing device, and
The adhesive state of the laminated core is evaluated based on the evaluation target region given as the union of the two adhesive regions obtained by superimposing the adhesive regions of the extracted adhesive surfaces at the corresponding positions. Process and
A method for inspecting the adhesive state of a laminated core, which comprises a step of outputting information on evaluation of the adhesive state. The method for inspecting the adhesive state of a laminated core according to claim 8, wherein the step of peeling the two steel plates from each other is performed after the adhesive has hardened. The step according to claim 8 or 9, wherein a plurality of the adhesive regions are present on the adhesive surface in an island shape, and the step of evaluating the adhesive state is individually performed for each of the adhesive regions or a plurality of the adhesive regions are collectively performed. Adhesion condition inspection method for laminated cores. The method for inspecting the adhesive state of a laminated core according to any one of claims 8 to 10, wherein the step of evaluating the adhesive state evaluates the adhesive state of the laminated core based on the area of the evaluation target region. The adhesive state of the laminated core according to any one of claims 8 to 10, wherein the step of evaluating the adhesive state evaluates the adhesive state of the laminated core based on the diameter of the circle or ellipse circumscribing the evaluation target region. Inspection methods. In each of the steel plates, a plurality of application positions of the adhesive are set in advance on the adhesive surface in an island shape.
The method for inspecting the adhesive state of a laminated core according to any one of claims 8 to 10, wherein the step of evaluating the adhesive state evaluates the adhesive state based on the total area of the evaluation target regions at the plurality of coating positions. .. Any one of claims 8 to 13, which includes a step of extracting each shape feature portion of the two steel plates from the image data and correcting the adhesion positional relationship of the bond region based on the shape feature portion. The method for inspecting the adhesive state of the laminated core according to the item. The method for inspecting the adhesive state of a laminated core according to any one of claims 8 to 14, wherein a fluorescent agent is added to the adhesive and each of the adhesive surfaces is photographed under ultraviolet irradiation.

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