KR101400672B1 - Auto equipment and method for the surface inspect of gear rim - Google Patents

Abstract

The present invention relates to an apparatus and method for automatically inspecting appearance of a recliner, and an object thereof is to provide a method and apparatus for automatically detecting a surface defect occurring at a bent portion of a base, And an apparatus for automatic inspection of appearance of a recliner for enabling full inspection. To this end, the apparatus for automatically inspecting the appearance of a base for a recliner according to the present invention includes: a slope supply unit 100 for sequentially discharging a slope; A first conveying means (200) for conveying the edge, which is sequentially discharged from the edge supplying portion (100), to the next process; An attitude detecting unit (300) for detecting an erroneous posture by receiving a slope conveyed by the first conveying unit (200); A second conveying means (400) for conveying the base laid on the posture detecting portion (300) to the next process; The turntable 510 is rotated in accordance with the orientation information detected by the orientation detecting unit 300 to rotate the rotation axis, and the side projection 11 and the side recessed portion 12) for acquiring image information for a test operation; Defective article discharging means (600) for discharging the erroneous material to the defective article carrying case when it is determined that the erroneous condition supplied to the inspection unit (500) is defective; Good product discharge means (700) for transferring the reference plane to the next process when it is determined that the guide provided to the inspection unit (500) is good; And an inspection controller 800 having a function of analyzing the image information obtained by the inspection unit 500 and determining whether or not the flag is bad.

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention [0001] The present invention relates to an apparatus for automatically inspecting appearance of a recliner,

[0001] The present invention relates to an apparatus and method for automatically inspecting appearance of a vehicle, and more particularly, to a system and method for automatically inspecting a surface defect occurring at a bent portion of a base, which is a component of a recliner for adjusting a backrest angle of a vehicle seat, And more particularly, to an apparatus and method for automatically inspecting appearance of a recliner.

Generally, the recliner is installed on the side of the seat so as to be positioned between the seat and the backrest constituting the seat of the car so that the user can freely adjust the inclination of the seat back.

Such a recliner has a complex structure such as a lever, a gear, and a spring. The lever is operated to allow the gears to be engaged or disengaged from each other to adjust the inclination of the backrest, and the backrest is fixed .

As a main component of the recliner to provide the above function, a period is used, and such a cycle is made through a press process of several stages.

As described above, in the case of a rough surface which is manufactured through various stages of press processing, surface flaws may occur in the bending portion due to wear and deformation of the metal mold used in the press process and processing problems, , The durability of the recliner is deteriorated. Therefore, it is required to inspect the quality of the manufactured basis.

However, in the case of the surface flaw formed in the bent portion of the curved surface, there is no suitable inspection apparatus for inspecting the surface defect even though the visual inspection is not carried out in the past. Therefore, Not only the time required for the inspection work is long, but also the reliability of the inspection work is also inferior.

SUMMARY OF THE INVENTION The present invention has been made in view of the above problems, and it is an object of the present invention to enable high-speed detection judgment of surface flaws generated in a bending portion of a curved line, And an apparatus for automatically inspecting appearance of a recliner for inspecting a recliner.

According to an aspect of the present invention, there is provided an apparatus for automatically inspecting an appearance of a recliner according to the present invention, the apparatus comprising: a slant supply unit for sequentially discharging a slant; A first conveying means (200) for conveying the edge, which is sequentially discharged from the edge supplying portion (100), to the next process; An attitude detecting unit (300) for detecting an erroneous posture by receiving a slope conveyed by the first conveying unit (200); A second conveying means (400) for conveying the base laid on the posture detecting portion (300) to the next process; The turntable 510 is rotated in accordance with the orientation information detected by the orientation detecting unit 300 to rotate the rotation axis, and the side projection 11 and the side recessed portion 12) for acquiring image information for a test operation; Defective article discharging means (600) for discharging the erroneous material to the defective article carrying case when it is determined that the erroneous condition supplied to the inspection unit (500) is defective; Good product discharge means (700) for transferring the reference plane to the next process when it is determined that the guide provided to the inspection unit (500) is good; And an inspection controller 800 having a function of analyzing the image information obtained by the inspection unit 500 and determining whether or not the flag is defective.

In addition, the method for automatically inspecting the appearance of a base line for a recliner according to the present invention includes the steps of: sequentially supplying a base line to the orientation detecting unit 300 (S100); A step (S200) of photographing an image of a baseball supplied to the posture detecting unit 300 and detecting a posture of the baseball; A step S300 of sending the stimulus detected by the posture to the checking unit 500; The turntable 510 may be rotated in response to the orientation of the turntable 510 based on the orientation information detected at step S200 by the inspector 500, (S400); After rotating the turntable 510 to the origin position, the image of the side projections 11 and the side incisions 12 is photographed while the turntable 510 is rotated to acquire image information for the inspection operation Step S500; A step S600 of determining whether the flag is defective using the image information obtained in the step S500; If it is determined in step S600 that the flag is bad, step S700 is performed to discharge the flag to the defect loader. And a step (800) of, if it is determined in step S600 that the acceleration step is a positive product, transferring the base plane to the next step. In step S200, the plane image of the base plane supplied to the orientation detection unit (300) (S211); Detecting a center point P1 of the background using the photographed image in step S211 (S212); Detecting a semicircular protrusion using the photographed image through step S211, obtaining a center point P2 of the detected semicircular protrusion and a straight line of the semicircular protrusion, S213; A step (S214) of calculating a distance between the center point (P1) of the initial curve and a straight line; If the distance calculated in step S214 is within a predetermined allowable range, it is determined that the product is a good product. And a step S216 of calculating the position angle of the semicircular protrusion from the center point P1 of the initial point and the center point P2 of the semicircular protrusion.

According to the present invention having the above-described characteristics, it is possible to automate all of the series of operations for carrying out the visual inspection, sorting the good products according to the inspection results, and transferring the selected good products to the next work process, , And it is possible to perform full inspection of the curve by enabling quick inspection.

1 is a plan view of a curve,
2 is a plan view schematically illustrating the structure of an automatic skeleton appearance inspection apparatus according to a preferred embodiment of the present invention,
3 is a plan view showing the structure of the first transfer means according to the present invention,
4 is a plan view showing a structure of a position alignment table of a posture detecting unit according to the present invention,
5 is a view showing an example of a second conveying means according to the present invention,
6 is a plan view showing a structure of a turntable according to the present invention,
7 is a side view showing the structure of a turntable according to the present invention,
8 is a plan view showing a structure of a reject means according to the present invention,
9 is a side view showing a positional relationship between the discharge jig and the turntable according to the present invention,
10 is a plan view showing a structure of a good article discharging means according to the present invention,
11 is a flowchart showing a process sequence of an inspection method according to the present invention,
FIG. 12 is a flow chart showing a method of detecting an orientation of a base curve according to the present invention,
13 is a diagram for explaining the principle of detecting the orientation of a base with the semicircular protrusions,
FIG. 14 is a diagram for explaining the principle of detecting five points of a circle to detect a base point attitude;
FIG. 15 is a diagram for explaining the principle of detecting the orientation of a base line using a lot mark,
16 is a view showing a state in which a surface defect is detected through image processing and analysis,
17 is a view showing the result of the inspection.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings. In the following description of the present invention, a detailed description of known functions and configurations incorporated herein will be omitted when it may make the subject matter of the present invention rather unclear.

Figure 1 shows a plan view of the principle.

The present invention relates to an apparatus for inspecting the appearance quality of a curve by inspecting a surface flaw formed in a side projection 11 of a girder 10 and a bent portion of a side inlet 12 of a part used in a recliner of a vehicle, The image of each of the side projection 11 and the side incision 12 is photographed and processed and analyzed to judge whether or not the flag is defective. And inspections, as well as automated fault detection and emission.

For reference, two side projections 11 and two side recesses 12 are formed in the base, and the side projections 11 and the side recesses 12 are alternately formed at intervals of about 90 [ .

In addition, six circular protrusions 13, 14, 15, 16, 17 and 18 are formed on the upper surface of the base, and one circular protrusion has a semicircular shape. Hereinafter, a semicircular protrusion It is referred to as a semicircular protrusion 13.

FIG. 2 is a plan view schematically showing a structure of an automatic skeleton appearance inspection apparatus according to a preferred embodiment of the present invention.

The apparatus for automatically inspecting the appearance of the recliner according to the present invention includes a priming supply unit 100, a first transfer unit 200, a posture detection unit 300, a second transfer unit 400, an inspection unit 500, ), A good-quality discharging means 700, and an inspection controller 800.

The slope supply unit 100 sequentially discharges slopes. Since the guide feeder 100 is a part feeder that is already widely used, a detailed description of the guide feeder 100 will be omitted.

3 is a plan view showing the structure of the first transfer means according to the present invention.

2 and 3, the first transporting unit 200 transports the guiding protrusion 10, which is sequentially discharged from the guiding supply unit 100, to the attitude detecting unit 300.

The first conveying unit 200 includes a first conveyor 210 installed to extend from the initial feeding unit 100 to the posture detecting unit 300 and a second conveyor 210 installed to be adjacent to the first conveyor 210. [ And a first sensor 220 for detecting a rotation of the conveyor 210 by the first conveyor 210.

The first sensor 220 generates a signal by sensing a period on the first conveyor 210. When a signal is continuously generated from the first sensor 220 over a predetermined time, In this case, the inspection controller 800 stops operation of the guiding feeder 100 and the first conveyor 210 because the flag is full and can not be conveyed any further.

FIG. 4 is a plan view showing a structure of a position alignment table of a position detection unit according to the present invention.

Referring to FIGS. 2 and 4, the posture detecting unit 300 detects the posture of the forehead by receiving the forehead from the first conveying unit 200.

The posture detecting unit 300 includes a position alignment table 310 for receiving a plane transmitted by the first transfer means 200 and a position detecting unit 310 for detecting a plane image of a plane 1 camera 320, a first illumination 330 for providing illumination for smooth shooting, and a second sensor 340 for sensing whether or not there is a bow within the orientation detection unit 300.

The alignment table 310 is formed with slopes 311 and 312 for allowing the slope 10 supplied by the first transfer means 200 to be always aligned at a predetermined position. The inclined surfaces 311 and 312 are formed of two inclined surfaces 311 and 312 formed in the alignment table 310 to have a symmetrical structure with respect to each other.

According to this structure, the inclined surfaces 311 and 312 allow the side surface of the inclined surface 10 to be inclined with respect to the inclined surfaces 311 and 312 in the process of moving the inclined surfaces 10, which are to be inserted into the aligning table 310, And the position where the side face of the base comes to contact with the two inclined faces 311 and 312 is the alignment position of the base.

In this way, the plane image of the initial plane is acquired using the first camera 320 in a state in which the alignment is placed in the alignment table 310, and the obtained image is processed and analyzed by the inspection controller 800, The posture is detected.

On the other hand, the above-mentioned geometry of the semicircular protrusions 13 is an entry angle of the semicircular protrusions 13 obtained through the positional information of the semicircular protrusions 13 (shown in FIG. 1) Is obtained by detecting an angle with respect to which direction it is located from the center of the curve.

5 is a view showing an example of a second conveying means according to the present invention.

Referring to FIGS. 2 and 5, the second conveying unit 400 conveys the slope placed on the alignment table 310 to the inspection unit 500.

The second conveying means 400 may be a known robot arm or may be constituted by a clamping device 410 having a plurality of fingers 411 which move along the rail 420 while holding the curve have. Of course, it is a matter of course that other known transfer devices can be used.

2 and 5 show a second conveying means 400 including a clamping device 410 moving along the rail 420. The inspection device 800 of the clamping device 410 And the slope is transferred to the inspection section.

FIG. 6 is a plan view showing the structure of the turntable according to the present invention, and FIG. 7 is a side view showing the structure of the turntable according to the present invention.

Referring to FIGS. 2, 6 and 7, the inspection unit 500 receives the guiding frame 10 conveyed by the second conveying unit 400 and rotates the guiding frame, And acquires image information for inspection of the background.

The inspection unit 500 includes a turntable 510, a first origin sensor 520, an elevation means 530, a second camera 540, a second illumination 550, and a third sensor 560.

The turntable 510 has a structure in which the turntable 510 rotates about a vertical axis S1 by being driven by a motor 511 and moves upward and downward by an elevating means 530. [

The center protrusion 512 is inserted into a hole formed in the central portion of the base, and a circular protrusion 16 (shown in FIG. 1) positioned at the center of the five circular protrusions formed on the base is formed on the top surface of the turntable 510 And an outer protrusion 513 is formed to be engaged with the bottom surface.

In addition, the turntable 510 has a circular planar structure as a whole, and has a linear portion 510a formed on both sides thereof, and is formed in a structure similar to a elliptical shape. The linear portion 510a of the turntable 510 protrudes toward the outer side of the turntable 510. As a result,

In this structure, when the turntable 510 is lowered by the elevating means 530, both sides of the protrusion 10 protruding outward of the turntable 510 are connected to the defective-product discharging means 600 or the good- Is separated from the turntable (510) while being interfered with any of the means (700), and is conveyed by the defective article discharge means (600) or conveyed by the good article discharge means (700).

When the turntable 510 is lowered in a state in which the discharge jig of the defective article discharging means 600 is positioned at the vertically lower portion of the turntable 510 for discharging the erroneous condition determined to be defective, Is separated from the turntable 510 while being interfered with the discharge jig, and the thus separated base is placed on the discharge jig. Thereafter, the discharge jig is moved to discharge the circularity .

On the other hand, when the turntable 510 is lowered to transfer the flag determined as good goods to the next process, the turntable 510 is inserted into the central portion of the second conveyor provided in the good product discharging means 700, The two sides are separated from the turntable 510 while being interfered with the second conveyor, and such separated circumferences are placed on the second conveyor and transferred to the next process.

The turntable 510 is rotated based on the attitude information detected by the attitude detecting unit 300, and is provided with the rotation from the second conveying unit 400.

The center protrusion 512 and the outer protrusion 513 are formed on the top surface of the turntable 510 and the outer protrusion 513 is formed as a circular protrusion 16 ), It is possible to always arrange the curve in a constant posture. Therefore, the turntable 510 is rotated based on the detected attitude information, so that the outer protrusion 513 is always coupled with the circular protrusion 16 located at the center.

The first origin sensor 520 senses that the turntable 510 is rotated to the home position of the turntable 510 when the turntable 510 rotates. As described above, the turntable 510 rotates at an arbitrary angle in accordance with the orientation of the baseball, and consequently, the positions of the baseballs placed on the turntable 510 are different from each other. Therefore, it is necessary to adjust the posture of the turntable 510 to have a predetermined posture before the image is captured.

When the turntable 510 rotates to adjust the posture of such a curve and the turntable 510 is located at a position corresponding to the first origin sensor 520 and a signal is generated from the first origin sensor 520 The rotation of the turntable 510 is stopped, and this position becomes the origin of the turntable 510. [

The elevating means 530 is installed at a lower portion of the turntable 510 to move the turntable 510 up and down. The elevating means 530 may be a known cylinder.

At this time, the cylinder is installed at the bottom of the turntable 510 to raise the turntable 510 at the time of supplying the primitive, and to lower the turntable 510 when the inspection of the primitive is completed.

The second camera 540 is composed of two units and is disposed to be adjacent to the turntable 510 so that the side projecting portion 11 (shown in FIG. 1) and the side fitting portion 12 (shown in FIG. 1) (Not shown).

The second illumination 550 is positioned to be adjacent to the second camera 540 to provide illumination.

The third sensor 560 is disposed adjacent to the turntable 510 to detect a rotation of the third sensor 560 on the turntable 510 to generate a signal.

The inspection unit 500 configured as described above includes a first inspection unit 500-1 provided on one side of the orientation detection unit 300 and a second inspection unit 500-2 provided on the other side of the orientation detection unit 300. [ At this time, the first inspection unit 500-1 and the second inspection unit 500-2 are respectively connected to the turntable 510, the first origin sensor 520, the elevation unit 530, the second camera 540, 550, and a third sensor 560, and is configured to have substantially the same structure, and each inspection operation is independently performed.

Accordingly, when a problem occurs in any one of the first inspection unit 500-1 or the second inspection unit 500-2, or when the inspection operation is delayed, it is possible to perform a continuous inspection operation on the basis of the remaining inspection unit And the two inspection units 500 are operated together, so that the inspection operation can be performed more quickly.

When the first inspection unit 500-1 and the second inspection unit 500-2 are installed on both sides of the posture detection unit 300 as described above, the second conveyance unit 400 receives the signal sensed by the third sensor 560 And the control unit 800 controls the second conveying unit 400. The inspection unit 800 controls the second conveying unit 400 based on the first conveying unit 400,

FIG. 8 is a plan view showing a structure of a reject means according to the present invention, and FIG. 9 is a side view showing a positional relationship between a discharge jig and a turntable according to the present invention.

Referring to FIGS. 2, 8, and 9, the defective article discharging means 600 discharges the erroneous article to the defective article carrying case when it is determined that the erroneous condition supplied to the inspection unit 500 is defective.

The defective article discharging means 600 is composed of a discharging cylinder 610 and a discharging jig 620.

The discharge cylinder 610 moves the discharge jig 620 to the vertical lower portion of the turntable 510 or moves the discharge jig 620 located at the vertical lower portion of the turntable 510 to the outside of the turntable 510, I will.

The discharge jig 620 is elevated by the elevating means 530 and inserted between the turntable 510 located at the top dead center and the second conveyor described later and installed at a suitable height so as to be positioned at the vertical lower portion of the turntable 510 And is coupled to the discharge cylinder 610.

Meanwhile, when the ejection jig 620 moves to the vertical lower portion of the turntable 510, interference with the component occurs, so that the movement of the ejection jig 620 is stopped It becomes impossible.

Accordingly, the discharge jig 620 according to the present invention has a cut-out portion 621 formed at one side thereof to avoid interference between the component disposed under the turntable 510 and the discharge jig 620.

That is, when the discharge jig 620 moves to the vertical lower portion of the turntable 510 to discharge the defective item, the motor or the cylinder, which is provided at the lower portion of the turntable 510, 621 through the discharge jig 620 and through the discharge jig 620.

The cutout portion 621 may be formed in the discharge jig 620 to avoid interference between the turntable 510 and the discharge jig 620. The turntable 510 may be lowered The turntable 510 descends through the cutout portion 621 of the discharge jig 620 and the base placed on the turntable 510 is caught by the discharge jig 620 to be separated from the turntable 510, And is placed on the jig 620.

The discharging jig 620 is discharged outwardly by the operation of the discharging cylinder 610, and the discharging jig 620 is discharged as a defective load.

Fig. 10 is a plan view showing the structure of the good article discharging means according to the present invention.

2 and 10, the good product discharging means 700 is a device for transferring a predetermined grade determined to be good to the next process, and includes a discharge waiting portion 710, a fourth sensor 720, a second conveyor 730, a discharge conveying device 740, a fifth sensor 750, a third conveyor 760, and a sixth sensor 770.

The discharge standby portion 710 is provided at a position spaced apart from the inspection portion 500 to provide a space for temporarily waiting for the process determined to be good.

That is, when inspection is performed simultaneously in the first inspection unit 500-1 and the second inspection unit 500-2, in the process of transferring the periodic emission from each inspection unit to the third conveyor 760, A space is required to temporarily wait for one of the side gratings in accordance with the process order, and this standby space is provided by the discharge standby portion 710.

The fourth sensor 720 is installed in the discharge standby portion 710 to generate a signal by sensing the ground supplied to the discharge standby portion 710. The fourth sensor 720 uses the signal generated from the fourth sensor 720 Thereby determining whether or not there is a period in the discharge standby portion 710.

The second conveyor 730 is installed to extend from the discharge port base 710 from the inspection unit 500.

Meanwhile, the second conveyor 730 includes a chain conveyor having a structure in which a pair of chains 731 and 732 are spaced from each other, and a turntable 510 is inserted down between two chains 731 and 732 spaced from each other .

The turntable 510 is inserted between the two chains 731 and 732 and both sides of the curve laid on the turntable 510 are inserted into the chains 731 and 732 So that the base separating from the turntable 510 is transferred to the discharge standby portion 710 by the second conveyor 730. [

A separation prevention plate 780 is provided on both sides of the second conveyor 730 to prevent separation of the slope from the conveying process. The separation prevention plate 780 includes a first conveyor 210, a third conveyor 210, The conveyor 760 may be installed in the same manner.

The discharge conveying device 740 is a robot arm that is similar to the second conveying device 400 for conveying the slope placed on the discharge standby portion 710 to the third conveyor 760, The clamping device having a plurality of fingers for gripping moves along the rails.

However, the discharging transfer device 740 is composed of two units corresponding to the respective discharge bases 710 waiting for the priming discharged from the first inspection unit 500-1 and the second inspection unit 500-2 .

The fifth sensor 750 is disposed adjacent to the second conveyor 730 and senses a conveyance direction conveyed by the second conveyor 730.

If the fifth sensor 750 generates a continuous sensing signal for a predetermined time or longer, the rotation of the second conveyor 730 can be stopped do.

The third conveyor 760 is provided with an excursion from the discharge conveying device 740 and conveys the excitation to the next process.

The sixth sensor 770 senses a slope input to the third conveyor 760. If the sixth sensor 770 does not detect a starter, the third conveyor 760 can be seen to be capable of inputting a starter. Therefore, the inspection controller 800 controls the discharge conveyor 740 are driven to transfer the origin of the discharge waiting portion 710 to the third conveyor 760. [

The inspection controller 800 (shown in FIG. 2) has a function of controlling the inspection apparatus as a whole, detects an orientation posture using the image information acquired by the posture detection unit 300, And determines whether the flag is bad or not.

A method of performing the appearance inspection of the basis of the automatic appearance inspection apparatus constructed as described above will be described.

11 is a flowchart showing a process sequence of an inspection method according to the present invention.

The method for automatically inspecting appearance of a base circle for a recliner according to the present invention includes the steps of sequentially supplying a base sequence to a posture detecting unit 300 (S100); A step (S200) of photographing an image of a baseball supplied to the posture detecting unit 300 and detecting a posture of the baseball; A step S300 of sending the stimulus detected by the posture to the checking unit 500; The turntable 510 may be rotated in response to the orientation of the turntable 510 based on the orientation information detected at step S200 by the inspector 500, (S400); After the turntable 510 is rotated to the origin position, the turntable 510 is rotated 360 degrees and images of the side projections 11 and the side incisions 12 are photographed, (S500); A step S600 of determining whether the flag is defective using the image information obtained in the step S500; If it is determined in step S600 that the flag is bad, step S700 is performed to discharge the flag to the defect loader. And, if it is determined in step S600 that the excursion is good, transferring the excursion to the next step (800).

The step S100 is a step of sequentially supplying the orientation, which is discharged from the orientation supply unit 100, to the orientation detection unit 300 using the first transfer means 200. [

When the sensing signal is generated from the first sensor 220 for a predetermined time or more in the supply step of the initialization, the driving of the priming supply part 100 and the first conveyor 210 is stopped.

In step S200, the plane image of the background supplied to the orientation detector 300 is photographed, and the posture (entry angle) of the background is detected using the photographed image.

As described above, six circular protrusions are formed in the base, and the position of the base is detected by detecting where the two semi-circular protrusions are located.

More specifically, the base plane conveyed by the first conveyor 210 is introduced into the alignment table 310, and the base plane of the alignment table 310 is inclined with respect to the inclined planes 311 and 312 ) At a constant position.

The second sensor 340 senses the first sensor 340 and generates a signal. When a signal generated by the second sensor 340 is received by the inspection controller 800, The illumination 330 and the first camera 320 are driven to take a plane image of the initial plane.

Meanwhile, the first illumination 330 is composed of a red LED that minimizes the reflection light of the metal.

Meanwhile, the image obtained by the first camera 320 is transmitted to the inspection controller 800, and the inspection controller 800 processes the image to detect the position of the semicircular projection formed at the corresponding base.

Meanwhile, due to the development of image processing and analysis techniques, images are processed and analyzed in various ways to detect the position and size of specific structures in the image, and the position detection of the semicircular protrusions formed on the basis A method for detecting a semicircle-form detection unit that can be detected through general image processing and analysis techniques will be briefly described.

13 is a view for explaining the principle of detecting the orientation of a base using a semicircular protrusion. FIG. 14 is a diagram for explaining the principle of detecting a five-circle Fig. 15 is a view for explaining the principle of detecting the orientation of a base with the use of a lot mark. Fig.

The position detection for semicircular protrusions can be performed by three attitude detection methods.

The first attitude detection method detects an approach angle using a semicircular protrusion, and comprises a step S211 of photographing a plane image of a slope supplied to the attitude detection unit 300; Detecting a center point P1 of the background using the photographed image in step S211 (S212); Detecting the semicircular protrusion 13 by using the photographed image in step S211 and obtaining a center point P2 of the detected semicircular protrusion and a straight line L1 extending along the straight part of the semicircular protrusion S213); A step (S214) of calculating a distance (D) between the center point (P1) of the basis point and the straight line (L1); If the distance D calculated in the step S214 is within the predetermined allowable range, it is determined that the product is a good product. If the distance D is out of the allowable range, it is determined that the product is a different product and the discharge is induced (S215). And a step S216 of calculating the position angle [theta] of the semicircular protrusion from the center point P1 of the initial point and the center point P2 of the semicircular protrusion 13. [

In step S212, since the start point input to the posture detecting unit 300 is always located at a predetermined position, the central part of the captured image is designated as the inspection area S for detecting the center point P1 of the initial point, The center point P1 of the background is detected by analyzing the image of the center hole of the base within the inspection region S. [

In step S213, the center point P2 of the semicircular protrusion is detected from the shape information of the semicircular protrusion detected through processing and analysis of the image, and a straight line L1 corresponding to the rectilinear part provided in the semicircular protrusion is obtained .

The step S214 calculates the distance D between the detected center point P1 and the straight line L1.

In step S215, if the calculated distance D is within the predetermined allowable range, it is determined that the slope to be inspected is correctly inserted. If the distance D is out of the permissible range, It is judged that the input is made and the emission of the corresponding flag is induced.

For reference, since there is a difference in the distance D between the center point P1 and the straight line L1 depending on the type, the distance D is calculated through processing and analysis of the photographed image, By comparing the distance with a previously input permissible range, it is possible to check whether the slope of the slope input to the slope detection unit 300 is correct.

The step S216 is a step of calculating an angle θ at which the semicircular protrusion is located by using the coordinates of the center point P1 of the initial point and the center point P2 of the semicircular protrusion. Through this angle calculation, the position of the semicircular protrusion, that is, the angle of incidence of the base curve, is detected as attitude information.

Such a posture detection method is a method that can be used when semicircular protrusions are detected through processing and analysis of acquired images.

For reference, detection of semicircular protrusions is performed by detecting whether there is a shape that matches a pattern of semicircular protrusions set in advance. In other words, since the shape of the semicircular protrusions formed on the circumference is predetermined, the shape of the semicircular protrusions is determined as a pattern, and the semicircular protrusions are detected by comparing the shape of the protrusions detected in the obtained image with the previously inputted patterns It will be done.

On the other hand, in the process of making the curves, various foreign substances such as dust and oil are adhered to the surface of the curved surface, and the semicircular protrusions may not be detected from the photographed image due to the influence of illumination, Is detected but the straight line L1 is not detected, the following second attitude detection method is used.

The second attitude detection method includes detecting five circles, detecting the attitude using the five circles detected, and photographing the plane image of the excursion supplied to the attitude detection unit 300 (S221); A step S222 of detecting a center point P1 of the background using the photographed image through step S221; A step (S223) of detecting five circles (14, 15, 16, 17, 18) closest to the garden by using the photographed image through step S221; Detecting (S224) a center point P3 of a circle 16 positioned at the center among the five circles detected in step S223; And a position angle of the center point P3 is detected using the coordinates of the center point P3 detected in step S224 and the coordinates of the center point P1 detected in step S222, (Step S225) by adding 180 degrees to calculate the position angle of the semi-circular protrusion.

In step S222, the center point P1 of the base curve is detected in the same manner as S212 described above.

In step S223, five circles (14, 15, 16, 17, 18) closest to the garden are detected through processing and analysis of the photographed image.

In step S224, the center 16 of the circle is detected using the detected position information of the five circles, and the center P3 of the circle is detected.

In step S225, the position of the center point P3, that is, the angle? Is calculated using the coordinates of the center point P3 and the center point P1, and 180 占 is added to the calculated angle to calculate the position of the semicircular protrusion The angle of approach of the curve is detected as attitude information.

Of the five circles detected in the reference, the circle 16 positioned at the center has a symmetrical positional relationship with the semicircular protrusion 13 with respect to the center of the circle, so the angle at which the circle positioned at the center is calculated, Adding 180 degrees to the angle results in an angle corresponding to the position of the semi-circular protrusion.

On the other hand, if semicircular protrusions are not detected through processing and analysis of acquired images, and if 5 circles are not detected, the following third attitude detection method is used.

The third attitude detection method detects an entry angle using a lot mark imprinted on the surface of the base, that is, a step S231 of photographing a plane image of a base plane supplied to the orientation detection unit 300; A step S232 of detecting a center point P1 of the background using the photographed image through step S231; A step S233 of detecting a start angle [theta] l and an end angle [theta] 2 of the lot mark M imprinted on the surface of the root; A step S234 of calculating a central angle [theta] 3 between the start angle [theta] 1 and the end angle [theta] 2 detected through step S233; And a step S235 of adding 180 degrees to the central angle? 3 detected in step S234 to calculate the position angle of the semicircular protrusion.

In step S232, the center point P1 of the initial point is detected in the same manner as S212 described above.

The step S233 detects the start angle? 1 and the end angle? 2 of the lot mark M imprinted on the surface of the initial plane.

For reference, the lot mark M indicating the varieties of the root is stamped in the process of molding with the circular press. The lot mark M is always engraved in the vicinity of the circular protrusion 16 located at the center among the five circular protrusions And its position is always constant.

Accordingly, the position of the lot mark M is detected through the processing and analysis of the acquired image, and the position where the lot mark starts sequentially in the counterclockwise direction within the radius range including the lot mark is detected, Similarly, by detecting the end position of the lot mark, the end angle? 2 is detected.

In step S234, the center angle? 3, which is the center of the detected start angle? 1 and end angle? 2, is calculated.

In step S235, the position of the semicircular protrusion, that is, the entry angle of the base curve is detected as attitude information by adding 180 degrees to the center angle? 3 obtained through the calculation.

The attitude information of the root entered into the posture detecting unit 300 is detected using the three posture detecting methods described above. If the semicircular protrusion is not detected and five circles are not detected, If the lot mark is not detected, it is determined that the lot is different from the type of the period required for inspection, and the discharge is induced.

The step S300 is a step of transferring the background placed on the posture detecting unit 300 to the checking unit 500. [

In step S300, the second conveying unit 400 picks up the ground on the posture detecting unit 300 and moves the inspection unit 500.

If the inspection unit 500 includes the first inspection unit 500-1 and the second inspection unit 500-2, the second conveyance unit 400 may include an inspection controller 500, The control unit 800 controls the inspection unit to which the slope is not inserted.

The step S400 is a step of rotating the turntable 510 according to the detected orientation information.

The motor 511 is driven by the control of the inspection controller 800 in accordance with the orientation information of the base period and the turntable 510 is driven by the ascending / descending means 530, The turntable 510 is rotated by the rotation of the turntable 510 so as to have a posture corresponding to the transporting direction. At this time, the rotation information of the motor 511 is detected by the encoder.

The turntable 510 is fixedly coupled with the center protrusion 512 and the outer protrusion 513 formed on the turntable 510 by the second transporting unit 400.

In step S500, the top and side images of the background are photographed using the second camera 540 while the turntable 510 is rotated to the origin position and then rotated 360 degrees.

Since the turntable 510 is rotated in an irregular posture according to the posture of the forehead conveyed by the second conveying means 400, the turntable 510 is rotated to align the posture of the turntable 510 to have a predetermined posture prior to acquisition of the image. The first origin sensor 520 generates a signal when the turntable 510 is rotated to the home position to stop the rotation of the turntable 510. [

The first origin sensor 520 may be a contact type sensor such as a limit switch or a non-contact type sensor that recognizes a specific mark formed on the turntable 510 and generates a signal.

The second camera 540 is composed of two cameras, and the two cameras are installed at different angles to project images of the upper and side surfaces of the side projecting portion 11 and the side incision portion 12 I take a picture.

Meanwhile, the second illumination 550 for providing illumination upon image capturing by the second camera 540 is composed of a red LED capable of minimizing the reflection light of the metal.

In operation S600, the inspection controller 800 receives the image information obtained by the inspection unit 500, processes and analyzes the image, and determines whether the image is defective or not.

A process of judging whether or not the flag is defective through the processing and analysis of the image will be exemplified and explained. Of course, the method of determining whether the background is bad is not limited to the image processing and analysis method described below, and various image processing and analysis techniques have already been used as described above. As a result, And an analysis technique may be used to determine whether the flag is defective.

The inspection controller 800 detects the surface flaw by analyzing the obtained image so that the image is clearly displayed in black and white and the shade is clearly distinguished.

More specifically, the image information of a monochrome image can be represented by a value of brightness (brightness), and in the case of 8 bits, a pixel can be represented by using a loudspeaker value in the range of 0 to 255. [ That is, 255 is the pixel having the brightest color (white) and 0 is the pixel having the darkest color (black). Therefore, the image taken by each camera can be classified based on the brightness value of each pixel constituting the image.

On the other hand, in the obtained image, the surface flaws generated in the bent portions of the side projection 11 and the side recessed portion 12 are represented by pixels having a lightness value within a certain range according to the illumination state, A surface defect is expressed by a pixel having a lightness value.

In order to clearly reveal the relatively dark surface flaws as described above, the filtering process is performed so that the black-and-white images are more clearly displayed. Then, the black and white images are switched so that the surface flaws are white The image is processed so as to be represented by a pixel having a brightness value.

The surface defect in the inspection region in the processed image is detected.

On the other hand, since the second camera 540 always captures an image at a predetermined position, the surface flaw in the image is always located in the same area, and the area where the surface flaw appears in this way can be set in advance as the inspection area.

FIG. 16 shows an image showing a state in which surface flaws are detected through processing and analysis of the image as described above.

The information of the detected surface flaws (thickness of the flaw, length, width, and width) through processing and analysis of the image as described above is compared with previously inputted reference information to determine whether or not the flag is defective.

In step S700, if it is determined that the flag is determined to be defective, the flag is discharged to the reject box 601, and the discharging cylinder 610 is operated under the control of the inspection controller 800 to stop the discharging jig 620 ).

The discharge jig 620 moves to the vertical lower portion of the turntable 510 by the forward movement of the discharge jig 620.

The motor and the cylinder and the related parts provided below the turntable 510 are inserted through the cutout portion 621 formed in the discharge jig 620 and penetrate the discharge cylinder 610. Therefore, And interference does not occur.

When the turntable 510 is lowered by the operation of the elevating means 530, both sides of the base on the turntable 510 are caught by the discharge jig 620 and separated from the turntable 510, Through the cutout portion 621 of the discharge jig 620, and is inserted into a pair of chains constituting the second conveyor 730.

The ejection jig 620 is moved backward and returned to its original position by the operation of the ejection cylinder 610. When the ejection jig 620 is rotated, It is possible to discharge the root on the discharge jig 620 to the defect loading tray 601 by using the inertia generated in the returning process of the discharge jig 620 or to install a separate discharge guide bar, .

The step S800 is a step of transferring the flag determined to be good to the next process.

The turntable 510 descends and is inserted into the second conveyor 730 by the elevating means 530 in order to transfer the flag determined to be good to the next process.

At this time, opposite sides of the turntable placed on the turntable 510 are separated from the turntable 510 by being caught by the two chains 731 and 732 constituting the second conveyor 730, and the circumference separated from the turntable 510, And is supplied to the discharge standby portion 710 by driving of the discharge port 730.

The inspection controller 800 controls the discharging transfer unit 740 based on the sensing signal of the fourth sensor 720 and the sensing signal of the sixth sensor 770 to generate a counter- And conveyed to the third conveyor 760, and the conveyed to the third conveyor 760 is conveyed to the next process in order to proceed with the post-process such as painting.

As described above, the automatic apparatus for inspecting appearance of a recliner base according to the present invention automates both the insertion, the posture alignment, the inspecting, and the discharge process of the slope, and the two inspectors independently perform inspection This makes it possible to perform high-speed detection judgment, thereby enabling full inspection of all cycles generated through the production line.

It will be understood by those skilled in the art that various changes in form and details may be made therein without departing from the spirit and scope of the invention as defined in the appended claims and their equivalents. Of course, such modifications are within the scope of the claims.

Description of the Related Art
100: sloping supply part 200: first feeding means
210: first conveyor 220: first sensor
300: orientation detecting unit 310: position alignment table
311,312: slope surface 320: first camera
330: first illumination 340: second sensor
400: second conveying means 500: inspector
500-1: First Inspection Section 500-2: Second Inspection Section
510: Turntable 511: Motor
520: first origin sensor 530: elevating means
540: second camera 550: second illumination
560: Third sensor 600: Defective material discharging means
610: Discharge cylinder 620: Discharge jig
621: incision section 700: good product discharge means
710: exhaust vent 720: fourth sensor
730: Second conveyor 740: Feeder for discharging
750: fifth sensor 760: third conveyor
770: sixth sensor 800: inspection controller

Claims (13)

A slope supply unit 100 for sequentially discharging slopes;
A first conveying means (200) for conveying the edge, which is sequentially discharged from the edge supplying portion (100), to the next process;
An attitude detecting unit (300) for detecting an erroneous posture by receiving a slope conveyed by the first conveying unit (200);
A second conveying means (400) for conveying the base laid on the posture detecting portion (300) to the next process;
The turntable 510 is rotated in accordance with the orientation information detected by the orientation detecting unit 300 to rotate the rotation axis, and the side projection 11 and the side recessed portion 12) for acquiring image information for a test operation;
Defective article discharging means (600) for discharging the erroneous material to the defective article carrying case when it is determined that the erroneous condition supplied to the inspection unit (500) is defective;
Good product discharge means (700) for transferring the reference plane to the next process when it is determined that the guide provided to the inspection unit (500) is good; And
And an inspection controller 800 having a function of analyzing the image information obtained by the inspection unit 500 and determining whether or not the flag is bad,
The inspecting unit 500,
A turntable 510 fixed by a rotation of the second conveying unit 400 and rotated by a motor 511 so as to have a posture corresponding to a posture detected by the posture detecting unit 300; A first origin sensor 520 for generating an origin position signal of the turntable 510; An elevating means 530 for moving the turntable 510 up and down; At least one second camera (540) for photographing an image of the background placed on the turntable (510); A second illumination (550) for providing illumination upon imaging by the second camera (540); And a third sensor (560) for detecting whether or not there is an aberration in the inspection unit (500). The method according to claim 1,
The inspection unit 500 includes a first inspection unit 500-1 provided at one side of the posture detection unit 300 and a second inspection unit 500-2 provided at the other side of the posture detection unit 300,
Wherein the second conveying means 400 conveys the slope to the first inspection unit 500-1 or the second inspection unit 500-2 under the control of the inspection controller 800. [ Appearance automatic inspection device of. [2] The apparatus according to claim 1, wherein the first conveying means (200)
A first conveyor 210 installed to extend from the guiding feeder 100 to the attitude detecting unit 300; And
And a first sensor (220) installed to be adjacent to the first conveyor (210) and detecting a base line conveyed by the first conveyor (210). Inspection device. [2] The apparatus according to claim 1,
An alignment table (310) which is provided with an edge to be conveyed by the first conveying means (200);
A first camera (320) for photographing a plane image of the background supplied to the alignment table (310);
A first illumination (330) for providing illumination upon imaging by the first camera (320); And
And a second sensor (340) for detecting whether the alignment table (310) is laid out. The method of claim 4,
Wherein the alignment table (310) is formed with inclined surfaces (311, 312) for guiding the alignment of the alignment table (310) to a predetermined position while being in contact with a side surface of a base to be introduced by the first transfer means (200) Appearance automatic inspection device of the machine tool. delete The apparatus according to claim 1, wherein the defective article discharging means (600)
A discharge cylinder (610) driven by a control signal of the inspection controller (800);
The cutter 621 is installed to move to the vertical lower portion of the turntable 510 by driving the discharge cylinder 610 and prevents interference with the turntable 510 and interference with the cutter. And a discharge jig (620) provided with an opening by the descending operation of the turntable (510). [3] The apparatus according to claim 1,
A discharge vent portion 710 provided at a position spaced apart from the inspection portion 500 to provide a standby space of the initial stage;
A fourth sensor 720 for detecting whether or not there is a slope in the discharge standby portion 710;
A second conveyor 730 installed to extend from the inspection unit 500 to the discharge standby portion 710 and convey the origin of the inspection unit 500 to the discharge standby portion 710;
A discharge conveying device 740 for conveying the bed laid on the discharge waiting portion 710 to the third conveyor 760;
A fifth sensor 750 installed adjacent to the second conveyor 730 to detect a conveyance direction conveyed by the second conveyor 730;
A third conveyor 760 for receiving the slope from the discharge conveying device 740 and transferring the slurry to the next process; And
And a sixth sensor (770) for sensing the ground level of the third conveyor (760) and generating a signal. (S100) of sequentially supplying the stimulus to the posture detecting unit 300;
A step (S200) of photographing an image of a baseball supplied to the posture detecting unit 300 and detecting a posture of the baseball;
A step S300 of sending the stimulus detected by the posture to the checking unit 500;
The turntable 510 may be rotated in response to the orientation of the turntable 510 based on the orientation information detected at step S200 by the inspector 500, (S400);
After rotating the turntable 510 to the origin position, the image of the side projections 11 and the side incisions 12 is photographed while the turntable 510 is rotated to acquire image information for the inspection operation Step S500;
A step S600 of determining whether the flag is defective using the image information obtained in the step S500;
If it is determined in step S600 that the flag is bad, step S700 is performed to discharge the flag to the defect loader. And
If it is determined in step S600 that the flag is a good product, the flag is transferred to the next process (step 800)
The step S200 includes the step S211 of photographing the plane image of the background supplied to the orientation detecting unit 300; Detecting a center point P1 of the background using the photographed image in step S211 (S212); Detecting a semicircular protrusion using the photographed image through step S211, obtaining a center point P2 of the detected semicircular protrusion and a straight line of the semicircular protrusion, S213; A step (S214) of calculating a distance between the center point (P1) of the initial curve and a straight line; If the distance calculated in step S214 is within a predetermined allowable range, it is determined that the product is a good product. (S216) of calculating the position angle of the semicircular protrusion from the center point (P1) of the base circle and the center point (P2) of the semicircular protrusion. The method of claim 9,
The step S300 may include a first checking unit 500-1 located on one side of the orientation detecting unit 300 or a second checking unit 500-2 located on the other side of the orientation detecting unit 300 according to a control signal of the checking controller 800, Wherein the automatic rechecking method for reclining the recliner. delete (S100) of sequentially supplying the stimulus to the posture detecting unit 300;
A step (S200) of photographing an image of a baseball supplied to the posture detecting unit 300 and detecting a posture of the baseball;
A step S300 of sending the stimulus detected by the posture to the checking unit 500;
The turntable 510 may be rotated in response to the orientation of the turntable 510 based on the orientation information detected at step S200 by the inspector 500, (S400);
After rotating the turntable 510 to the origin position, the image of the side projections 11 and the side incisions 12 is photographed while the turntable 510 is rotated to acquire image information for the inspection operation Step S500;
A step S600 of determining whether the flag is defective using the image information obtained in the step S500;
If it is determined in step S600 that the flag is bad, step S700 is performed to discharge the flag to the defect loader. And
If it is determined in step S600 that the flag is a good product, the flag is transferred to the next process (step 800)
The step S200 includes the steps S221 of photographing a plane image of the background supplied to the orientation detecting unit 300; A step S222 of detecting a center point P1 of the background using the photographed image through step S221; (S223) detecting five circles closest to the garden using the photographed image through step S221; Detecting (S224) a center point P3 of a circle located in the middle of the five circles detected in step S223; The position angle of the center point P3 is detected by using the coordinates of the center point P3 detected in step S224 and the coordinates of the center point P1 detected in step S222 and then 180 degrees is added to the detected angle, (S225) of calculating the position angle of the recliner. (S100) of sequentially supplying the stimulus to the posture detecting unit 300;
A step (S200) of photographing an image of a baseball supplied to the posture detecting unit 300 and detecting a posture of the baseball;
A step S300 of sending the stimulus detected by the posture to the checking unit 500;
The turntable 510 may be rotated in response to the orientation of the turntable 510 based on the orientation information detected at step S200 by the inspector 500, (S400);
After rotating the turntable 510 to the origin position, the image of the side projections 11 and the side incisions 12 is photographed while the turntable 510 is rotated to acquire image information for the inspection operation Step S500;
A step S600 of determining whether the flag is defective using the image information obtained in the step S500;
If it is determined in step S600 that the flag is bad, step S700 is performed to discharge the flag to the defect loader. And
If it is determined in step S600 that the flag is a good product, the flag is transferred to the next process (step 800)
The step S200 includes a step S231 of photographing a plane image of a base line supplied to the orientation detecting unit 300; A step S232 of detecting a center point P1 of the background using the photographed image through step S231; A step S233 of detecting a start angle [theta] l and an end angle [theta] 2 of the lot mark M imprinted on the surface of the root; A step S234 of calculating a central angle [theta] 3 between the start angle [theta] 1 and the end angle [theta] 2 detected through step S233; And calculating a position angle of the semicircular protrusion by adding 180 DEG to the center angle (? 3) detected in step S234 (S235).

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