KR102598507B1 - Vision inspection device for painted products - Google Patents

Abstract

The present invention relates to a vision inspection device for painted products that automatically inspects the painted surface while transporting the painted product, and enables easy inspection of the upper and lower surfaces of the painted product by reversing the painted product during the transfer process. A transfer unit that transfers; A first photographing unit installed on a side of the transfer unit to photograph the painted surface of the painted product; Installed on the transfer unit, an inversion unit for inverting the painted product that has passed the first photographing unit; A second photographing unit installed on a side of the transfer unit to photograph the painted surface of the painted product reversed by the inverting unit; A defective product discharge unit installed on the transfer unit and discharging defective products from the painted products that have passed through the first and second capture units out of the transfer unit; and a non-defective product discharge unit installed on the transfer unit and discharging non-defective products from the painted product that has passed through the first and second capture units out of the transfer unit.

Description

Vision inspection device for painted products}

The present invention relates to a vision inspection device for painted products. More specifically, it automatically inspects the painted surface while transporting the painted product, and can easily inspect the upper and lower surfaces of the painted product by reversing the painted product during the transfer process. This relates to a vision inspection device for painted products.

As a conventional technology regarding a vision inspection device, a "vision inspection device for component inspection" is presented in Republic of Korea Patent Publication No. 10-2360140 (registered on February 3, 2022, hereinafter referred to as 'prior art').

The prior art refers to a "camera unit that secures an image image by shooting a video; a case that is formed in the shape of a box with openings at both ends, accommodates the camera unit on the inside, and has an opening area formed on one side facing the shooting direction of the camera unit. Unit; A light source unit disposed in the opening area of the case unit, forming a photographing hole in the photographing direction of the camera unit, and irradiating light toward the center of the photographing hole; And, Installed between the case portion and the light source portion, and sending a forward signal. We present a vision inspection device for component inspection that includes a light source contact unit that moves the light source unit a certain distance when receiving input.

[Document 1] Republic of Korea Patent Publication No. 10-2360140 (registered on February 3, 2022)

The purpose of the present invention is to provide a vision inspection device for painted products that automatically inspects the painted surface while transporting the painted product, and enables easy inspection of the upper and lower surfaces of the painted product by reversing the painted product during the transfer process. do.

The problems to be solved by the present invention are not limited to the problems mentioned. Other technical problems not mentioned will be clearly understood by those skilled in the art from the following description.

In order to solve the above problems, a vision inspection device for a painted product according to an embodiment of the present invention includes a transfer unit for transferring the painted product; A first photographing unit installed on a side of the transfer unit to photograph the painted surface of the painted product; Installed on the transfer unit, an inversion unit for inverting the painted product that has passed the first photographing unit; A second photographing unit installed on a side of the transfer unit to photograph the painted surface of the painted product reversed by the inverting unit; A defective product discharge unit installed on the transfer unit and discharging defective products from the painted products that have passed through the first and second capture units out of the transfer unit; and a non-defective product discharge unit installed on the transfer unit, which discharges non-defective products from the painted products that have passed through the first and second capture units out of the transfer unit.

In an embodiment of the present invention, the transfer unit includes a jig for fixing the painted product; an upper conveyor that transports the jig from front to back; A lower conveyor installed below the upper conveyor and transporting the jig from rear to front; A rear elevator installed behind the upper conveyor and the lower conveyor to transport the jig that has passed through the upper conveyor downward and supply it to the lower conveyor; and a front elevator installed in front of the upper conveyor and the lower conveyor, which transports the jig that has passed through the lower conveyor upward and supplies it to the upper conveyor.

In an embodiment of the present invention, the rear elevator includes two side plates installed to be spaced left and right from each other; A lifting conveyor installed between the two side plates; a linear guide installed to extend vertically between the lifting conveyor and the two side plates, respectively, to support the lifting conveyor so as to be able to raise and lower it; a conveyor lifting unit connected to the lifting conveyor and operating the lifting conveyor to raise and lower; and a conveyor drive unit connected to the lifting conveyor and rotating the lifting conveyor in the forward and reverse directions.

In an embodiment of the present invention, the first photographing unit includes an articulated robot; A vision camera mounted on an end of the articulated robot; and a lighting unit installed to surround the lens of the vision camera.

In an embodiment of the present invention, the inversion portion is installed to face each other to grip the left and right sides of the painted product, respectively, and includes a pair of jaws installed to be mutually opened or narrowed by a cylinder. Two inverted grippers; A rotating frame configured in a square frame shape and installed to surround the two inverted grippers; A frame rotating unit coupled to one side of the rotating frame to rotate the rotating frame; A lifting frame on one side of which is coupled to the frame rotating part and on the other side installed to rotatably support the other side of the rotating frame; and a frame lifting unit connected to the lifting frame to lift and lower the lifting frame.

In an embodiment of the present invention, the jig is configured to fix two or more painted products in the front-to-back direction, and the inversion unit further includes a frame front-back transfer unit that is connected to the frame lift unit and moves the frame lift unit in the front-back direction. .

In an embodiment of the present invention, the defective product discharge unit includes a defective product gripper including a pair of jaws installed to be mutually widened or narrowed by a cylinder; a defective product lifting unit connected to the defective product gripper to lift and lower the defective product gripper; a defective product forward/backward transfer unit connected to the defective product elevator unit and moving the defective product elevator unit forward and backward; a defective product lateral transfer unit connected to the defective product front and rear transfer unit to move the defective product front and rear transfer unit laterally; A repair product discharge conveyor installed to be disposed below the defective product gripper in a state in which the defective product elevating portion moves forward and the defective product forward/backward transfer portion moves laterally, and on which the painted product to be repaired is placed; and a waste product discharge conveyor installed to be disposed below the defective product gripper in a state in which the defective product elevating portion is moved rearward and the defective product forward/backward transfer portion is moved laterally, and on which the painted product to be discarded is placed.

In an embodiment of the present invention, the good product discharge unit includes a good product gripper including a pair of jaws installed to be mutually opened or narrowed by a cylinder; A good product lifting unit connected to the good product gripper to lift and lower the good product gripper; A good product lateral transfer unit connected to the good product elevator unit and moving the good product elevator unit laterally; and a non-defective product discharge conveyor installed to be disposed below the non-defective gripper in a state in which the non-defective product elevating unit is moved laterally, onto which a non-defective painted product is placed.

According to the vision inspection device for painted products of the present invention, the upper surface of the painted product can be inspected by the first photographing unit, and the lower surface of the painted product can be inspected by the second photographing unit while the painted product is inverted by the inverting unit. Since inspection is possible, it has the effect of automatically and easily inspecting the upper and lower surfaces of the painted product.

1 is a perspective view of a vision inspection device for painted products according to an embodiment of the present invention.
Figure 2 is a side view of a vision inspection device for painted products according to an embodiment of the present invention.
Figure 3 is a plan view of a vision inspection device for painted products according to an embodiment of the present invention.
Figure 4 is a perspective view of a rear elevator in a vision inspection device for painted products according to an embodiment of the present invention.
Figure 5 is a perspective view of the first photographing unit in the vision inspection device for painted products according to an embodiment of the present invention.
Figure 6 is a perspective view of the inversion portion in the vision inspection device for painted products according to an embodiment of the present invention.
Figure 7 is a perspective view of a defective product discharge unit in the vision inspection device for painted products according to an embodiment of the present invention.
Figure 8 is a perspective view of a non-defective product discharge unit in a vision inspection device for painted products according to an embodiment of the present invention.

Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the attached drawings.

However, the attached drawings may be exaggerated, omitted, or schematically depicted for the convenience of explanation of key parts, and the terms and names used in the explanation are not defined by dictionary meaning but are implicitly determined by the shape, function, role, etc. of the composition. The description of the direction is determined based on the direction first presented from the initially presented drawing, and the description of the location is determined based on the center of each composition or the center of the circle.

Additionally, detailed descriptions of pre-registered known and common technologies may obscure the point, so they are omitted or replaced with simple symbols or names. In addition, the specific structure, shape, shape, arrangement, size, etc. of the composition that can be identified through the drawings, as well as the operation of the composition and the resulting effects that can be inferred through the drawings, may obscure the point, so detailed explanations are omitted. You can. Additionally, components of each embodiment may be merged with components of one or more other embodiments.

Figure 1 is a perspective view of a vision inspection device for painted products according to an embodiment of the present invention, Figure 2 is a side view of a vision inspection device for painted products according to an embodiment of the present invention, and Figure 3 is a perspective view of a vision inspection device for painted products according to an embodiment of the present invention. It is a top view of a vision inspection device for painted products, Figure 4 is a perspective view of the rear elevator in the vision inspection device for painted products according to an embodiment of the present invention, and Figure 5 is a vision inspection device for painted products according to an embodiment of the present invention. It is a perspective view of the first photographing unit, Figure 6 is a perspective view of the inverted part in the vision inspection device for painted products according to an embodiment of the present invention, and Figure 7 is a perspective view of the defective product discharge section in the vision inspection device for painted products according to an embodiment of the present invention. 8 is a perspective view of the non-defective product discharge unit in the vision inspection device for painted products according to an embodiment of the present invention.

As shown in Figures 1 to 8, the vision inspection device for painted products according to an embodiment of the present invention largely includes a transfer unit 100, a first photographing unit 200, an inversion unit 300, and a second photographing unit 400. ), a defective product discharge unit 500, and a good product discharge unit 600.

On the other hand, the painted product (10, see Figures 4 and 6) applied to the present invention may include parts with painted surfaces among various parts used in vehicles or machines, and may also include various articles with painted surfaces. You can.

The transfer unit 100 transports the painted product 10, and as shown in Figures 1 to 3, the jig 110 for fixing the painted product 10; An upper conveyor 120 that transports the jig 110 from front to back; A lower conveyor 130 installed below the upper conveyor 120 and transporting the jig 110 from rear to front; A rear elevator 140 installed behind the upper conveyor 120 and the lower conveyor 130, which transports the jig 110 that has passed through the upper conveyor 120 downward and supplies it to the lower conveyor 130; And a front elevator 150 installed in front of the upper conveyor 120 and the lower conveyor 130, which transports the jig 110 that has passed through the lower conveyor 130 upward and supplies it to the upper conveyor 120. It consists of ;.

That is, the transfer unit 100 transports the painted product 10 while the jig 110 circulates through the upper conveyor 120, the rear elevator 140, the lower conveyor 130, and the front elevator 150. It is composed.

The jig 110 is configured to fix two or more painted products 10 in the front-back direction.

The upper conveyor 120 and lower conveyor 130 are configured as belt conveyors.

As shown in FIG. 4, the rear elevator 140 includes two side plates 141 installed to be spaced left and right from each other; A lifting conveyor (142) installed between the two side plates (141); A linear guide 143 is installed to extend vertically between the lifting conveyor 142 and the two side plates 141 to support the lifting conveyor 142 so as to be able to be lifted. A conveyor lifting unit 144 connected to the lifting conveyor 142 to lift and lower the lifting conveyor 142; and a conveyor driving unit 145 that is connected to the lifting conveyor 142 and rotates the lifting conveyor 142 in the forward and reverse directions.

The lifting conveyor 142 may be configured as a belt conveyor having a length on which one jig 110 can be placed.

The linear guide 143 may be composed of a known LM guide (linear motion guide).

The conveyor lifting part 144 may be composed of a rodless cylinder installed between the side plate 141 and the lifting conveyor 142.

The conveyor driving unit 145 is composed of a motor capable of forward and reverse rotation.

Ultimately, the rear elevator 140 receives the jig 110 that has reached the rear end of the upper conveyor 120 by rotating in the forward direction while the elevator conveyor 142 is raised, and then the elevator conveyor 142 After descending, the jig 110 is placed on the lower conveyor 130 by rotating in the reverse direction.

Meanwhile, since the front elevator 150 is configured the same as the rear elevator 140, repeated description thereof will be omitted.

The first photographing unit 200 is installed on the side of the transfer unit 100 to photograph the painted surface of the painted product 10. As shown in FIG. 5, it includes an articulated robot 210; A vision camera 220 mounted on the end of the articulated robot 210; and a lighting unit 230 installed to surround the lens of the vision camera 220.

The articulated robot 210 freely moves the vision camera 220 through a plurality of joints, allowing the vision camera 220 to photograph the painted product 10 from various angles.

The vision camera 220 captures the painted product 10 to generate digital image information for determining defects in the painted surface.

The lighting unit 230 is installed to surround the lens of the vision camera 220, allowing uniform illumination to be illuminated in all directions of the vision camera 220.

Two first photographing units 200 may be installed on both sides of the transfer unit 100, respectively.

The inversion unit 300 is installed on the transfer unit 100 to invert the painted product 10 that has passed through the first photographing unit 200 up and down, and as shown in FIG. 6, is moved by a cylinder. An inverted gripper 310 including a pair of jaws installed to be mutually widened or narrowed; A rotating frame 320 configured in a square frame shape and installed to surround the inverted gripper 310; A frame rotation unit 330 coupled to one side of the rotation frame 320 to rotate the rotation frame 320; A lifting frame 340, one side of which is coupled to the frame rotation unit 330, and the other side of which is installed to rotatably support the other side of the rotation frame 320; and a frame lifting unit 350 that is connected to the lifting frame 340 and operates to lift and lower the lifting frame 340.

Two inverted grippers 310 are installed to face each other, thereby gripping the left and right sides of the painted product 10, respectively.

The frame rotating unit 330 may be composed of a rotating cylinder or a motor.

The frame lifting unit 350 may be composed of a rodless cylinder.

The operating process of the inversion unit 300 configured as above is as follows.

First, after the lifting frame 340 is lowered, the inverted gripper 310 operates to grip the painted product 10 placed on the jig 110. Thereafter, after the lifting frame 340 rises, the rotating frame 320 rotates to invert the painted product 10 up and down. Thereafter, after the lifting frame 340 is lowered again, the inversion gripper 310 operates to release the grip of the painted product 10, thereby placing the painted product 10 back on the jig 110.

Meanwhile, the inversion unit 300 may further include a frame forward/backward transfer unit 360 that is connected to the frame lift unit 350 and moves the frame lift unit 350 in the front/back direction.

The frame forward/backward transfer unit 360 may be composed of a rodless cylinder.

According to the frame forward and backward transfer unit 360, the frame elevating unit 350 is moved forward so that the painted product 10 placed in the front of the two painted products 10 placed in the jig 110 can be reversed. The inversion is such that the painted product 10 placed at the rear of the two painted products 10 placed on the jig 110 can be reversed by placing the inverted gripper 310 or moving the frame lifting unit 350 rearward. The gripper 310 can be placed.

The second photographing unit 400 is installed on the side of the transfer unit 100 to photograph the painted surface of the painted product 10 reversed by the inversion unit 300.

Since the second photographing unit 400 is configured the same as the first photographing unit 200, repeated description thereof will be omitted.

The defective product discharge unit 500 is installed on the transfer unit 100 to discharge defective products from the painted product 10 that has passed through the first and second photographing units 200 and 500 out of the transfer unit 100. As shown in FIGS. 1, 3, and 7, a defective product gripper 510 including a pair of jaws installed to be mutually opened or narrowed by a cylinder; A defective product lifting unit 520 connected to the defective product gripper 510 to lift and lower the defective product gripper 510; A defective product front and rear transfer unit 530 connected to the defective product elevating unit 520 and moving the defective product elevating unit 520 in the forward and backward directions; A defective product lateral transfer unit 540 connected to the defective product front and rear transfer unit 530 and moving the defective product front and rear transfer unit 530 laterally; A repair product installed to be disposed on the lower side of the defective product gripper 510 in a state in which the defective product lifting unit 520 is moved forward and the defective product forward/backward transfer unit 530 is moved laterally, on which the painted product to be repaired (10) is placed. Discharge conveyor (550); And in a state in which the defective product lifting unit 520 is moved rearward and the defective product front and rear transfer unit 530 is moved laterally, it is installed to be disposed on the lower side of the defective product gripper 510, where the painted product 10 to be disposed of is placed. It includes a waste product discharge conveyor 560.

Here, the defective product lifting unit 520, the defective product forward/backward transfer unit 530, and the defective product lateral transport unit 540 may be configured as rodless cylinders.

According to the cooled product discharge unit 500 configured as described above, defective painted products 10 can be discharged by dividing them into products to be repaired and products to be discarded.

That is, in the vision inspection device of the present invention, the separately provided control unit and image analysis unit analyze the image information generated by the first and second capturing units 200 and 400, and as a result, the painted product 10 is defective. If determined as a defect, it is divided into a product to be repaired and a product to be discarded according to the type or level of the defect. Accordingly, the defective product discharge unit 500 is configured to distinguish and discharge the product to be repaired and the product to be discarded. will be.

The good product discharge unit 600 is installed on the transfer unit 100 to discharge good products from the painted product 10 that have passed through the first and second photographing units 200 and 400 out of the transfer unit 100. As shown in FIGS. 1, 3, and 8, a good product gripper 610 including a pair of jaws installed to be mutually opened or narrowed by a cylinder; A good product lifting unit 620 connected to the good product gripper 610 to lift and lower the good product gripper 610; A good product lateral transfer unit 630 that is connected to the good product lifting unit 620 and moves the good product lifting unit 620 laterally; and a non-defective product discharge conveyor 640, which is installed to be disposed below the non-defective product gripper 610 in a state in which the non-defective product lifting unit 620 is moved laterally, and on which the non-defective painted product 10 is placed.

Here, the good product lifting unit 620 and the good product lateral transfer unit 630 may be configured as rodless cylinders.

As shown, the good product discharge unit 600 is installed at the front of the lower conveyor 130. According to this structure, the worker can supply the painted product 10 to the jig 110 at the front of the upper conveyor 120 and retrieve the good painted product 10 from the lower conveyor 130. Therefore, one worker can easily perform the supply and recovery work of the painted product 10.

According to the vision inspection device for painted products of the present invention configured as described above, the upper surface of the painted product 10 can be inspected by the first photographing unit 200, and the painted product (10) can be inspected by the inversion unit 300. Since the lower surface of the painted product 10 can be inspected by the second photographing unit 400 in the inverted state, the upper and lower surfaces of the painted product 10 can be automatically and easily inspected.

In the above description, the present invention has been described with reference to limited embodiments and drawings, but these are illustrative and it will be apparent to those skilled in the art that various modifications and implementations are possible within the scope of the technical idea of the present invention. Therefore, the scope of protection of the present invention should be determined by the description of the claims and their equivalents.

100: transfer unit 110: jig
120: upper conveyor 130: lower conveyor
140: rear elevator 141: side plate
142: Elevating conveyor 143: Linear guide
144: Conveyor lifting part 145: Conveyor driving part
150: front elevator 200: first filming unit
210: Articulated robot 220: Vision camera
230: lighting unit 300: inversion unit
310: Inversion gripper 320: Rotation frame
330: Frame rotation unit 340: Elevating frame
350: Frame elevation unit 360: Frame front and rear transfer unit
400: Second filming unit 500: Defective product discharge unit
510: Defective product gripper 520: Defective product lifting unit
530: Defective product front and rear transfer unit 540: Defective product lateral transfer unit
550: Repair product discharge conveyor 560: Waste product discharge conveyor
600: Good product discharge unit 610: Good product gripper
620: Good product lifting unit 630: Good product lateral transfer unit
640: Good product discharge conveyor

Claims (8)

A transfer unit 100 that transfers the painted product 10;
A first photographing unit 200 installed on a side of the transfer unit 100 to photograph the painted surface of the painted product 10;
Installed on the transfer unit 100, an inversion unit 300 for inverting the painted product 10 that has passed through the first photographing unit 200;
A second photographing unit 400 installed on the side of the transfer unit 100 to photograph the painted surface of the painted product 10 reversed by the inversion unit 300;
A defective product discharge unit 500 installed on the transfer unit 100 and discharging defective products from the painted product 10 that has passed through the first and second photographing units 200 and 500 out of the transfer unit 100. ; and
A good product discharge unit 600 installed on the transfer unit 100 and discharging good products from the painted product 10 that has passed through the first and second capture units 200 and 400 out of the transfer unit 100. Including ;,
The transfer unit 100,
A jig 110 for fixing the painted product 10;
An upper conveyor 120 that transports the jig 110 from front to back;
A lower conveyor 130 installed below the upper conveyor 120 and transporting the jig 110 from rear to front;
A rear elevator 140 installed behind the upper conveyor 120 and the lower conveyor 130, which transports the jig 110 that has passed through the upper conveyor 120 downward and supplies it to the lower conveyor 130; and
A front elevator 150 installed in front of the upper conveyor 120 and the lower conveyor 130, which transports the jig 110 that has passed through the lower conveyor 130 upward and supplies it to the upper conveyor 120; A vision inspection device for painted products comprising a.
delete According to paragraph 1,
The rear elevator 140,
Two side plates (141) installed to be spaced apart from each other to the left and right;
A lifting conveyor (142) installed between the two side plates (141);
A linear guide 143 is installed to extend vertically between the lifting conveyor 142 and the two side plates 141 to support the lifting conveyor 142 so as to be able to be lifted.
A conveyor lifting unit 144 connected to the lifting conveyor 142 to lift and lower the lifting conveyor 142; and
A vision inspection device for painted products, comprising a conveyor drive unit 145 that is connected to the lifting conveyor 142 and rotates the lifting conveyor 142 in the forward and reverse directions.
According to paragraph 1,
The first photographing unit 200,
Articulated robot (210);
A vision camera 220 mounted on the end of the articulated robot 210; and
A vision inspection device for painted products comprising a lighting unit 230 installed to surround the lens of the vision camera 220.
According to paragraph 1,
The inversion unit 300,
Two inverted grippers 310 that are installed to face each other and grip the left and right sides of the painted product 10, respectively, and each includes a pair of jaws installed to be mutually opened or narrowed by a cylinder. ;
A rotating frame 320 configured in a square frame shape and installed to surround the two inverted grippers 310;
A frame rotation unit 330 coupled to one side of the rotation frame 320 to rotate the rotation frame 320;
A lifting frame 340, one side of which is coupled to the frame rotation unit 330, and the other side of which is installed to rotatably support the other side of the rotation frame 320; and
A vision inspection device for painted products comprising a frame lifting unit 350 that is connected to the lifting frame 340 and moves the lifting frame 340 up and down.
According to clause 5,
The jig 110 is configured to fix two or more painted products 10 in the front-back direction,
The inversion unit 300 is connected to the frame elevating unit 350 and further includes a frame forward/backward transfer unit 360 that moves the frame elevating unit 350 in the front/back direction.
According to paragraph 1,
The defective product discharge unit 500,
A defective product gripper 510 including a pair of jaws installed to be mutually widened or narrowed by a cylinder;
A defective product lifting unit 520 connected to the defective product gripper 510 to lift and lower the defective product gripper 510;
A defective product front and rear transfer unit 530 connected to the defective product elevating unit 520 and moving the defective product elevating unit 520 in the forward and backward directions;
A defective product lateral transfer unit 540 connected to the defective product front and rear transfer unit 530 and moving the defective product front and rear transfer unit 530 laterally;
A repair product installed to be disposed on the lower side of the defective product gripper 510 in a state in which the defective product lifting unit 520 is moved forward and the defective product forward/backward transfer unit 530 is moved laterally, on which the painted product to be repaired (10) is placed. Discharge conveyor (550); and
The defective product lifting unit 520 is moved rearward and the defective product forward/backward transfer unit 530 is moved laterally, and is installed to be disposed below the defective product gripper 510, where the painted product 10 to be disposed of is placed. A vision inspection device for painted products, comprising a product discharge conveyor (560).
According to paragraph 1,
The good product discharge unit 600,
A good gripper 610 including a pair of jaws installed to be mutually widened or narrowed by a cylinder;
A good product lifting unit 620 connected to the good product gripper 610 to lift and lower the good product gripper 610;
A good product lateral transfer unit 630 that is connected to the good product lifting unit 620 and moves the good product lifting unit 620 laterally; and
A good product discharge conveyor 640 is installed to be disposed on the lower side of the good product gripper 610 in a state in which the good product lifting unit 620 is moved laterally, and on which the good quality painted product 10 is placed. A vision inspection device for painted products.