KR20120051108A - A measurement equipment and method for gear shape of gear rim and lock gear of seat recliner - Google Patents

Abstract

PURPOSE: A device and method for inspecting a gear shape are provided to be possible a whole inspection of a gear rim in an assembling filed where a recycling device is composed or a production field of the gear rim or lock gear by using the gear rim and lock. CONSTITUTION: A device and method for inspecting a gear shape comprises a first product detecting sensor(110), a position detecting unit(120), an inspection unit(130), and a transfer robot(140). The first product detecting sensor detects that a gear rim(10) is transferred to a first position(P) set in advance by the transferring conveyor and generates signals so that a drive of the transferring conveyor is stopped. The position detecting unit takes a photograph of plane images of the gear rim and detects a posture of the gear rim by analyzing the images. The inspection unit takes a photograph of gear tooth by receiving the gear rim in which the posture detection is completed through the position detecting unit. The position detecting unit decides the defect existence of the gear tooth by analyzing the images. The transferring robot transfers the gear on the transferring conveyor to the inspection unit.

Description

A measurement equipment and method for gear shape of gear rim and lock gear of seat recliner}

The present invention relates to a device and a method for measuring and inspecting the gear shape of a gear rim and a lock gear, which are the main components of a reclining apparatus used for adjusting the backrest angle of an automobile seat, and in particular, the inspection operation in a non-contact manner using a vision system. The present invention relates to a gear shape measurement inspection apparatus and a method thereof.

In general, the reclining apparatus is installed on the side of the seat so as to be positioned between the saddle and the backrest constituting the vehicle seat so that the user can freely adjust the inclination of the backrest.

The reclining device is connected to the lever, gears and springs in a complicated structure, the gears are coupled or separated by the operation of the lever to adjust the inclination of the backrest, and the backrest is fixed at the adjusted inclination Will be maintained.

The core parts of the reclining device to provide the above functions include a gear rim and a lock gear, and gear teeth are formed on the gear rim and the lock gear so that the gear teeth of the gear rim and the gear teeth of the lock gear are interlocked or separated. As a result, the tilt of the backrest can be adjusted or fixed.

Therefore, when the gear teeth formed on the gear rim or the gear teeth of the lock gear are poor, the operation of the reclining device is not smooth and the strength of supporting the backrest is also affected. Because of the adverse effect on the safety of the car, it is necessary to check the gear teeth formed on the gear rim and the lock gear.

However, due to the lack of a suitable dedicated inspection device or method for inspecting gear rims or gear teeth of lockle gears, they rely on sampling rather than full inspection. There is a problem that is used to cause inconvenience to the vehicle occupants and threaten safety.

The present invention has been made in view of the above problems, and an object of the present invention is to enable the inspection of the gear teeth formed on the gear rim or the lock gear in a non-contact manner by using a vision system, so as to transfer the gear rim or the lock gear. An object of the present invention is to provide a gear shape measurement inspection apparatus and a method for inspecting the same.

The gear shape measurement inspection apparatus of the present invention to achieve the object as described above and to perform a problem for eliminating the conventional defects, when the gear rim conveyed by the conveying conveyor is conveyed to the preset first position, A first product detection sensor for generating a signal to stop driving of the transport conveyor; A position recognition unit for photographing the planar image of the gear rim and detecting a posture of the gear rim by analyzing the photographed image; An inspection unit configured to receive an image of the gear teeth, which is provided with a gear rim through which the position detection unit is completed, and to determine whether the gear teeth are defective by analyzing the photographed image; And a gear rim which carries the gear rim on the conveying conveyor to the inspection unit, and adjusts the attitude of the gear rim based on the attitude information of the gear rim detected by the position recognition unit so that the gear rims carried to the inspection unit always have a constant posture. Characterized in that configured.

On the other hand, the inspection unit, the inspection table for providing a space in which the gear rim carried by the transfer robot is placed; A second product detection sensor for detecting whether a gear rim is placed on the inspection table; At least one inspection camera for capturing an image of a gear rim placed on the examination table at a neighboring position of the examination table; And a control unit which analyzes the image photographed from the inspection camera and determines whether the teeth of the gear formed on the gear rim are defective.

At this time, the inspection table, the inspection table is provided with a gear rim carried by the transfer robot, a groove is formed in which a plurality of connecting members are formed in the gear rim is inserted through the coupling of the connection member and the groove gear Inspection jig for supporting the gear rim in a state of suppressing the flow of; A rotating bed disposed below the inspection jig and rotating together with the inspection jig; A motor for rotating the rotating bed; And an encoder connected to the motor to detect the rotational angle of the motor by detecting the rotational speed of the motor.

In addition, the gear shape measurement method of the present invention comprises the step of detecting the gear rim transported by the conveying conveyor through the first detection sensor to stop the gear rim in a first predetermined position (S110); Detecting a posture of the gear rim by detecting a plane image of the stationary gear rim, and analyzing the photographed image (S120); Carrying a gear rim in which the posture detection is completed to the inspection unit, and adjusting the posture of the gear rim based on the detected attitude information so that the gear rim is placed in the inspection unit in a predetermined posture (S130); And an inspection step (S140) of determining whether the gear teeth are defective by photographing a gear tooth image of the gear rim placed in the inspection unit.

Meanwhile, in the step S120, among the plurality of connecting members formed on the gear rim, the reference connecting member having a flat part on the side is recognized to be a reference when assembling the gear rim with other parts to recognize the attitude of the gear rim based on this. do.

Meanwhile, in step S140, at least one inspection camera photographs a gear tooth image of the gear rim, while rotating the gear rim placed on the inspection unit by a predetermined angle unit, the image is taken to capture images of all gear teeth.

According to the present invention having the above characteristics, it is possible to quickly and accurately check whether the gear teeth formed on the gear rim or the lock gear, can be quickly and accurately, the production site of the gear rim or lock gear or reclining using the gear rim and lock gear Since inspection of the gear rim is possible at the assembly site constituting the device, it is possible to provide a more reliable reclining device.

1 is a view showing the configuration of a gear shape measurement test apparatus according to a preferred embodiment of the present invention,
2 is a view showing the structure of the gear rim,
3 is a view showing the structure of the inspection unit according to the present invention,
4 is a flowchart of a gear shape measurement test method according to the present invention;
5 is an image of a gear rim photographed by a position recognizing unit;
6 is an image processing the image of FIG. 5;
7 is a view for explaining the principle for detecting the center position of the gear rim,
8 is a view for explaining the principle of detecting the reference connecting member of the gear rim,
9 is a view for explaining the principle of calculating the rotation angle of the gear rim after detecting the reference connecting member,
10 is an image photographing the gear teeth,
11 is an image obtained by filtering an image of FIG. 10;
12 is a view for explaining the principle of detecting the edge of the inspection region of the gear teeth shape;
13 is a test result screen of the gear rim,
14 shows the structure of a gear shape measurement inspection apparatus for inspecting a lock gear.

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.

1 is a view showing the configuration of a gear shape measurement test apparatus according to a preferred embodiment of the present invention.

The present invention is to enable a quick and accurate inspection of the defects of the gear teeth formed on the gear rim 10 or the lock gear by using a vision system to take an image and analyze the image using a camera, the shape measurement of the present invention The inspection device is composed of a first product detection sensor 110, a position recognition unit 120, an inspection unit 130, and a transfer robot 140.

The first product detection sensor 110 detects the gear rim 10 when the gear rim 10 transferred by the transfer conveyor 102 is transferred to a preset first position P. The transfer conveyor 102 detects the gear rim 10. Is to generate a signal to stop driving. The first product detection sensor 110 may be installed on the vertical upper side or the side of the transfer conveyor 102, the aforementioned first position (P) is the position recognition unit 120 is a gear rim ( As the most ideal position for photographing the image of 10), this is determined according to the installation position of the position recognition unit 120 in the configuration of the gear shape measurement inspection apparatus.

The transfer conveyor 102 receives and receives the gear rim 10 from the part feeder 101 which discharges the gear rims 10 individually. On the other hand, since the gear rim 10 has a circular shape, it is not easy to align the posture in the process of being discharged from the part feeder 101 or the process of being transferred through the transfer conveyor 102, so that the gear rim 10 is moved by the transfer conveyor 102. When the gear rim 10 to be conveyed reaches the first position and the driving of the transport conveyor 102 is stopped, the attitude of the gear rim 10 is detected and the attitude of the gear rim 10 is based on the detected information. It should be adjusted, such a function is provided by the position recognition unit 120 and the transfer robot 140.

The position recognizing unit 120 photographs a planar image of the gear rim 10 transferred to the first position by the transport conveyor 102, and analyzes the photographed image to detect the attitude of the gear rim 10. .

On the other hand, as shown in Figure 2, the gear rim 10 is provided with a plurality of connecting members 11 for binding with other components, the plurality of connecting members 11 around the gear rim 10 It is formed in a circular arrangement structure on the basis of, the connecting member of any one of the plurality of connecting members 11 is formed as a reference semi-circular structure by forming a flat portion on the side as a reference connecting member (11 '). The reference connecting member 11 ′ provides an easy reference when assembling the gear rim 10 with other parts, thereby facilitating the assembly of the gear rim 10 and other parts.

Accordingly, the position recognizing unit 120 of the present invention detects the position of the planar portion of the reference connecting member 11 ′ of the gear rim 10 among the plane images of the gear rim 10 photographed. A posture is detected and a rotation angle for aligning with a preset posture is calculated.

The position recognizing unit 120 includes a position determination camera 121 positioned in a vertical upper portion of the first position P so that the plane image of the gear rim 10 can be photographed, and the neighbor of the position determination camera 121. Illumination 122 disposed at one position, and a control unit 123 for analyzing the image taken by the position determination camera 121.

3 is a view showing the structure of the inspection unit according to the present invention.

The inspection unit 130 receives the gear rim 10 from the transfer robot 140, photographs an image of the gear teeth, and analyzes the photographed image to determine whether the gear teeth are defective.

The inspection unit 130 includes an inspection table 131, a second product detection sensor 132, an inspection camera 133, and a control unit 134.

The inspection table 131 rotates the gear rim 10 by a predetermined angle so that the inspection camera 133 can capture images of all gear teeth formed on the gear rim 10. The predetermined angle unit referred to herein is a value that varies depending on the number of inspection cameras 133 and the size of the gear rim provided, for example, two inspection cameras 133 are provided as shown in FIG. 1, and one inspection camera 133 is provided. Assuming a 60-degree range of images can be taken, the inspection table 131 rotates the gear rim 10 in units of 120 degrees, so that all the gear teeth formed on the gear rim 10 are rotated three times. It is possible to shoot an image.

The inspection table 131 is provided with a gear rim 10 carried by the transfer robot 140 and a groove 1311a into which a plurality of connecting members 11 formed on the gear rim 10 are inserted is formed. An inspection jig 1311 for supporting the gear rim 10 in a state where the flow of the gear rim 10 is suppressed through coupling of the connection member 11 and the groove 1311a, and a lower portion of the inspection jig 1311. A rotating bed 1312 disposed and rotated together with the inspection jig 1311, a motor 1313 for rotating the rotating bed 1312, and connected to the motor 1313 to detect the rotation speed of the motor 1313. It consists of an encoder 1314 which rotates the gear rim 10 by a predetermined angle.

Of course, the plurality of grooves 1311a formed in the inspection jig 1311 are formed in the same manner as the connection member 11, and one of the grooves 1311a is formed to have a shape corresponding to the reference connection member 11 ′. do.

The second product detection sensor 132 is disposed on the side of the inspection table 131 to detect whether the gear rim 10 is placed on the inspection table 131. In response to the signal generated from the second product detection sensor 132, the inspection unit 130 starts operation to perform an inspection operation on the gear teeth.

One or more inspection cameras 133 are provided, and are positioned on an upper portion of the inspection table 131 to photograph images of gear teeth formed on the gear rim 10 in a diagonal direction. Illumination 133a for smooth shooting is arranged at a neighboring position.

Meanwhile, two inspection cameras 133 are illustrated in FIGS. 1 and 3, and two inspection cameras 133 have a structure in which the two inspection cameras 133 are disposed to have an angular interval of approximately 90 degrees.

The control unit 134 analyzes the image photographed by the inspection camera 133 to detect whether the gear teeth are defective.

Meanwhile, for convenience of description, the control unit 123 of the position recognizing unit 120 and the control unit 134 of the inspection unit 130 are separately separated, but the two control units 123 and 134 actually control the gear shape measurement and inspection device. It is preferable that the control unit 150 is integrated.

The transfer robot 140 carries the gear rim 10 on the transfer conveyor 102 to the inspection unit 130, based on the attitude information of the gear rim 10 detected by the position recognition unit 120. By adjusting the posture by rotating 10, the gear rim 10 carried to the inspection unit 130 is always placed in a constant posture.

The transfer robot 140 may be a known articulated robot.

Reference numeral 161, which is not described in FIG.

Figure 4 shows a flow chart of the gear shape measurement test method according to the present invention.

The gear shape measurement inspection method of the present invention may be implemented through the gear shape measurement inspection apparatus described with reference to FIGS. 1 and 3, and detects the first product of the gear rim 10 transferred by the transfer conveyor 102. Sensing through the sensor 110 to stop the gear rim 10 at a preset first position P (S110); Detecting a posture of the gear rim 10 through the analysis of the photographed image by the position recognition unit 120 photographing the planar image of the stationary gear rim 10 (S120); The gear rim 10 having completed the posture detection is carried to the inspection unit 130, and the gear rim 10 is adjusted to the inspection unit 130 by adjusting the posture of the gear rim 10 based on the detected attitude information. Carrying to be placed (S130); And an inspection step (S140) of determining whether the gear teeth are defective by photographing the gear teeth image of the gear rim 10 placed on the inspection unit 130.

The step S110 is a step of transferring the gear rim 10 to the first position P, the gear rim 10 is discharged one by one from the part feeder 101, the discharged gear rim 10 is a transfer conveyor ( When the first position P is reached in the process of being fed to the feed 102, when the first product detection sensor 110 detects this to generate a signal, the operation of the transfer conveyor 102 is stopped, thereby. The gear rim 10 remains stationary in the first position.

In step S120, the planar image of the stationary gear rim 10 is photographed, and the image is acquired to acquire attitude information for calculating the rotation angle of the gear rim 10. For example, analysis of the captured image may be performed based on the following principle.

5 is an image of a gear rim photographed by the position recognition unit, and FIG. 6 is an image of the image of FIG. 5.

In order to analyze the image photographed from the position recognition unit 120, the shape of the connecting member 11 formed on the gear rim 10 should be recognized and based on this, the position of the reference connecting member 11` should be detected. The shape of the upper surface of the gear rim, which is divided into black and white, is obtained by dividing by the dividing reference value. That is, if the black and white reference value is 125, the brightness of the pixels corresponding to 0 to 124 is 0, and the brightness of the pixels corresponding to 125 to 255 is changed to 255, the shape of the connecting member 11 is as shown in FIG. It is clearly distinguished by black and white.

The following principle may be used to recognize the attitude of the gear rim 10 using the filtered image as described above.

7 is a view for explaining the principle for detecting the center position of the gear rim.

FIG. 7 shows an example in which the center position is detected by detecting a point (center circle edge) that changes from white to black along a detection line of 0 to 360 degrees at an interval of θ degrees from an image measuring center point of the gear rim.

The detection line of the angle θ having the length L at the image measurement center point Center can be calculated by the following <Equation 1>. In the following formula, Start.x and center.x are X coordinate values of the center point of the image, Start.y and center.y are Y coordinate values of the center point of the image, and End.x is the X coordinate of the end of the detection line. Value, and End.y is the Y coordinate value of the end of the detection line.

Start.x = center.x

Start.y = center.y

End.x = center.x + L × cos (θ)

End.y = center.y + L × sin (θ)

Y = ((End.y-Start.y) / (End.x-Start.x)) × (X-Start.x) + Start.y

<Equation 1> An example of the detection line equation of the angle θ at the gear rim image measurement center

The detection of the center point of the gear rim can be obtained by the following equation.

Coordinate information (EP _n (a _n , b _n )) of the detected edge point from white to black according to the detection line in the outward direction from the measuring center in the detection direction (counterclockwise) increasing from 0 to 360 degrees We can calculate the center point through.

Edge point: EP _n EP ₁ (a ₁ , b ₁ ), EP ₂ (a ₂ , b ₂ ), ‥‥, EP _n (a _n , b _n )

Center: Center Center.x = (a ₁ + a ₂ + ‥‥ + a _n ) / n

Distance between center and edge points: l _k

Radius: CR

Circle equation

<Equation 2> Example of calculating the center point and the radius

8 is a view for explaining the principle of detecting the reference connecting member of the gear rim.

At a length L2 slightly larger than the radius CR at the center of the detected gear rim 10, the L3 detection line can be calculated by applying <Equation 1> as follows.

Start.x = Center.x + L2 × cos (θ)

Start.y = Center.y-L2 × sin (θ)

End.x = Center.x + L3 × cos (θ)

End.y = Center.y-L3 × sin (θ)

Y = ((End.y-Strat.y) / (End.x-Start.x)) × (X-Sart.x) + Srart.y

<Equation 3> Example of the edge detection line equation of the connecting member circle of the angle θ at the gear rim detection center

Of the reference connecting member 11` through the coordinate information of the edge point which changes from the detected bag to black in accordance with the detection line in the outward direction from the detection center point in the detection direction (counterclockwise) increasing from 0 to 360 degrees. Semicircle shape can be detected. The distance from the detected edge point is calculated as l _{k in} <Equation 2>. When the detected distance of l _k is continuously constant, it is in the form of a semi-circle, and the first detection point EP_F ₁ and the last detection point EP_F _n of edge points continuously detected at a predetermined distance are shown as follows.

Detection semicircle edge point: EP_F _n EP_F ₁ (a ₁ , b ₁ ), EP_F ₂ (a ₂ , b ₂ ), .................. EP_F _n (a _n , b _n )

<Equation 4> Example of semicircle edge point formula of reference connecting member

9 is a view for explaining the principle of calculating the rotation angle of the gear rim after detecting the reference connecting member.

The center point (B) of the detection semicircle can be known from the first edge point and the last edge point of the detection semicircle, and the position angle (r) formed between the center detection point (Center) and the reference point (A) of the fixed semicircle and the rotation of the mounting shim accordingly. The angle R is calculated as follows.

Fixed semicircle reference point: A (A.x, A.y)

Detection Center: Center (Center.x, Center.y)

Center point of detection semicircle: B (B.x, B.y)

Length: a

Length: b

Length: C

Position angle: rr = arcos ((C ² + a ² -b ² ) / (a × c × a))

Rotation angle: R R = 360-r

<Example 5> Example of calculating the reference connecting member angle and rotation angle

The step S130 is a step in which the transfer robot 140 rotates the gear rim 10 based on the detected attitude information of the gear rim 10 to adjust the posture and transports it to the inspection unit 130.

In more detail, the required rotation angle of the gear rim 10 is calculated based on the attitude information of the gear rim 10 obtained through the step S120. Based on this information, the controller 150 transfers the robot. 140, the transfer robot 140 rotates the gear rim 10 according to the required rotational angle, and then rests on the inspection table 131, and formed on the gear rim 10. The plurality of connection members 11 are inserted into the grooves 1311a formed in the inspection jig 1311.

The step S140 is a step of checking whether the gear teeth are defective by taking an image of the gear rim 10 placed on the inspection table 131.

The step S140 is initiated by the second product detection sensor 132 detecting the gear rim 10 placed on the inspection table 131 to generate a signal, and the inspection camera 133 captures an image of the gear teeth. In addition, the image acquired through the inspection camera 133 is processed and analyzed by the control unit 134 to check whether the teeth of the gear are defective.

On the other hand, the gear teeth formed on the gear rim 10 is formed around the 360 degrees from the inside of the gear rim 10, in consideration of the radius of the gear shape inner diameter to measure 60 degrees for accurate measurement of the shape of the gear teeth Done. In the embodiment of the present invention, since two inspection cameras 133 are disposed in order to secure a faster measurement speed, the imaging of the gear teeth in the 120-degree range is possible through one shot, so that 120-times twice. By taking three shots with rotation, it takes images of gear teeth about 360 degrees around.

In order to take a picture in the 120 degree range as described above, the motor 1313 is driven every time the picture is completed to rotate the rotating bed 1312 and the inspection jig 1311, wherein the encoder 1314 rotates. When it is sensed and rotated by the set angle, by stopping the driving of the motor 1313, the gear rim 10 can be rotated by the set angle unit.

Meanwhile, the inspection of the gear teeth using the captured image may be performed by the following principle.

FIG. 10 is an image of a gear tooth, and FIG. 11 is an image obtained by filtering the image of FIG. 10.

On the other hand, Figure 10 is a picture of the gear teeth of the lock gear, in the principle of determining whether the teeth of the gear teeth through the captured image, since the gear rim (10) or the lock gear is the same with reference to Figures 10 and 11 Explain.

As in step S120, the image processing is performed to filter the photographed image to separate the black and white division reference value to obtain a gear tooth shape provided in black and white. That is, if the black and white division reference value is 125, the brightness of pixels corresponding to 0 to 124 is 0. As a result, when the brightness of the pixels corresponding to 125 to 255 is changed to 255, the gear teeth are clearly divided into black and white as shown in FIG.

It is a figure for demonstrating the principle which detects the edge of the inspection area of gear tooth shape.

In Fig. 12, the gear tooth shape inspection area detects all the edge points that are converted from black to white to white to black with the width of the screw in the detection direction from the upper, middle, and lower three detection lines to the left and the right, and the gear screw shape. Will be measured.

The edge point along each detection line is shown as follows.

Phase detection line Black to white Detection point: EP_W _1n

Phase detection line White to black Detection point: EP_B _1n

Medium detection line Black to white Detection point: EP_W _2n

Detection line from middle back to black detection point: EP_B _2n

Lower detection line Black to white Detection point: EP_W _3n

Black at lower detection line white Detection point: EP_B _3n

The thickness and spacing of the gear screws and the number of threads can be measured through the coordinates of the edge points detected according to the respective detection lines, and it can be determined whether or not the defects are compared with the reference value.

The thickness of the screw gear: T _mn T _mn = _mn and the distance EP_B EP_W _mn

Spacing of gear screw: G _mn G _mn = distance between EP_W _{mn + 1} and EP_B _mn

<Equation 6> Example of the tooth tooth thickness and spacing calculation formula

Using the same principle as above, it is possible to determine whether the gear teeth are defective. When the inspection of the gear teeth about 360 degrees is completed, the respective gear rims are synthesized by combining the analysis results of the images taken and analyzed. It is determined whether or not, and according to the determined result transfer robot 140 is to separate the gear rim (10) as good or defective and load.

For reference, Figure 13 shows a test result screen for the gear rim.

FIG. 14 is a view showing the structure of a gear shape measurement inspection apparatus for inspecting a lock gear.

In the case of the lock gear 20, gear teeth are formed on one outer side having a gentle ellipse shape, and the structure thereof allows alignment using the part feeder 101 or the transfer conveyor 102, so that the means for aligning the posture This is not required.

Therefore, as shown in FIG. 14, the lock gear gear discharged from the part feeder 101 is moved to the measurement position using the transfer conveyor 102, and an image of the gear teeth of the lock gear gear moved to the measurement position is transferred to one camera. By photographing and analyzing, it is possible to perform the inspection work for the defect of the gear teeth, as in the gear rim (10).

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.

<Explanation of symbols for the main parts of the drawings>
10: gear rim 20: lock gear
102: conveying conveyor 110: first product detection sensor
120: location recognition unit 130: inspection unit
(131): Inspection Table (1311): Inspection Jig
(1312): rotating bed (1313): motor
(1314): encoder 132: second product detection sensor
(133): inspection camera (134): control unit
140: transfer robot

Claims (6)

The first product detection sensor for stopping the driving of the transfer conveyor 102 by detecting and generating a signal when the gear rim 10 conveyed by the transfer conveyor 102 is transferred to a preset first position (P) 110;
A position recognition unit 120 for photographing the planar image of the gear rim 10 and detecting a posture of the gear rim 10 through analysis of the photographed image;
An inspection unit 130 that receives the gear rim 10 from which the posture detection is completed through the position recognizing unit 120, photographs the image of the gear teeth, and analyzes the photographed image to determine whether the gear tooth is defective; And
The gear rim 10 on the transfer conveyor 102 is transported to the inspection unit 130, and the attitude of the gear rim 10 is adjusted based on the attitude information of the gear rim 10 detected by the position recognition unit 120. Gear shape measurement and inspection device, characterized in that consisting of a transfer robot 140 so that the gear rim (10) to be carried to the inspection unit 130 always has a certain posture. The method of claim 1, wherein the inspection unit 130,
An inspection table 131 which provides a space in which the gear rim 10 carried by the transfer robot 140 is placed;
A second product detection sensor 132 detecting whether the gear rim 10 is placed on the inspection table 131;
One or more inspection cameras 133 for capturing an image of a gear rim 10 placed on the inspection table 131 at a position adjacent to the inspection table 131; And
Gear shape measurement inspection device, characterized in that consisting of a control unit (134) for determining whether the teeth of the gear teeth formed on the gear rim 10 by analyzing the image taken from the inspection camera (133). The method of claim 2, wherein the inspection table 131,
Receiving the gear rim 10 is carried by the transfer robot 140, a groove 1311a is formed in which a plurality of connecting members 11 formed in the gear rim 10 is inserted to form the connecting member 11 and the groove ( An inspection jig 1311 supporting the gear rim 10 in a state in which the flow of the gear rim 10 is suppressed through the engagement of the 1311a;
A rotating bed 1312 disposed below the inspection jig 1311 and rotating together with the inspection jig 1311;
A motor (1313) for rotating the rotating bed (1312); And
Gear shape measurement test, characterized in that consisting of an encoder 1314 connected to the motor 1313 to detect the rotation angle of the gear rim 10 placed on the test jig 1311 by detecting the number of revolutions of the motor 1313. Device. Detecting the gear rim 10 transferred by the transfer conveyor 102 through the first product detection sensor 110 to stop the gear rim 10 at a first predetermined position (S110);
Detecting a posture of the gear rim 10 through the analysis of the photographed image by the position recognition unit 120 photographing the planar image of the stationary gear rim 10 (S120);
The gear rim 10 having completed the posture detection is carried to the inspection unit 130, and the gear rim 10 is adjusted to the inspection unit 130 by adjusting the posture of the gear rim 10 based on the detected attitude information. Carrying to be placed (S130); And
Gear shape measurement test method characterized in that it consists of an inspection step (S140) of determining whether the teeth of the gear teeth by taking an image of the gear teeth of the gear rim (10) placed on the inspection unit (130). The method of claim 4, wherein
In the step S120, among the plurality of connecting members 11 formed on the gear rim 10, the reference connecting member 11 ′ having a flat portion at a side thereof is recognized as a reference when the gear rim 10 is assembled with other components. Recognizing the attitude of the gear rim 10 on the basis of this to calculate the rotation angle, characterized in that for calculating the gear shape. The method of claim 4, wherein
The step S140 is to take a gear tooth image of the gear rim 10 using one or more inspection camera 133,
Gear shape measurement test method characterized in that to take an image of all the gear teeth by taking an image while rotating the gear rim (10) placed on the inspection unit 130 by a predetermined angle unit.

Images