WO2009093349A1

WO2009093349A1 - Appearance inspection device

Info

Publication number: WO2009093349A1
Application number: PCT/JP2008/063173
Authority: WO
Inventors: Makoto Yamada
Original assignee: Sumitomo Wiring Systems, Ltd.
Priority date: 2008-01-23
Filing date: 2008-07-23
Publication date: 2009-07-30
Also published as: JP2009174943A

Abstract

An appearance inspection device which can inspect appearance of several parts of an object to be inspected by a single imaging portion and can be reduced in size. The appearance inspection device (1) images a connector (6) chucked by a chuck mechanism portion (10) by an imaging portion (18) and judges the quality of the connector (6) based on the image data obtained by image processing. The appearance inspection device (1) comprises a pivot arm mechanism portion (11) so supported as to pivot around a predetermined center of axle (L), the chuck mechanism portion (10) which is provided in the pivot arm mechanism portion (11) and chucks the connector (6) set up on the center of axle (L) from both sides in the direction of the center of axle (L), the imaging portion (18) for imaging the connector (6) from an imaging direction (M) perpendicular to the center of axle (L), and an electrical slider device (12) which can slide the pivot arm mechanism portion (11) in a direction parallel to the imaging direction (M).

Description

Appearance inspection device

The present invention relates to an appearance inspection apparatus suitable for an appearance inspection of a three-dimensional product such as an automobile connector.

Conventionally, in order to detect defects with high accuracy for a wide variety of products with three-dimensional shapes of inspection objects such as automobile connectors, it is necessary to adjust the direction of observation individually during inspection. For this reason, visual inspection is generally employed in the appearance inspection of such a three-dimensional product.

However, the visual inspection method depends on the skill of the person to be inspected, which may cause variations in inspection accuracy.

Therefore, in order to eliminate variations in inspection accuracy, an inspection portion (so-called inspection target surface) of the inspection object is imaged by an imaging unit such as a camera, and an image obtained by imaging is image-processed, and the obtained image data An appearance inspection apparatus that determines the quality of an inspection object based on the above is employed.

Further, in the appearance inspection of a three-dimensional inspection object, since there are usually a plurality of inspection object surfaces, an inspection area is provided for each inspection object surface, and an imaging unit is installed in each inspection area, or a predetermined position. Corresponding to each inspection object surface of the inspection object set in (1), an imaging unit is installed around the inspection object (for example, see Patent Document 1), or an imaging unit is attached to a so-called articulated robot. The articulated robot is driven and controlled, and the imaging unit is controlled to move corresponding to each inspection target surface of the inspection object arranged at a predetermined position (see, for example, Patent Document 2), so-called multi-joint robot. In this method, the inspection object is chucked and the articulated robot is driven and controlled to change the posture of the imaging unit arranged at a predetermined position so that the inspection object surface faces the inspection object (for example, Patent Document 1). Ether.), And the like have been adopted.

Japanese Patent Laid-Open No. 6-160066 JP 2001-88073 A

However, according to the system in which the imaging unit is installed in each inspection area, it is necessary to secure a space for positioning the inspection object in each inspection area, which causes an increase in the size of the equipment.

Further, according to the method of installing the imaging unit in each inspection area or the method of installing the imaging unit around the inspection object, there is a drawback that a plurality of imaging units are required.

Furthermore, according to the system for controlling the movement of the articulated robot and controlling the movement of the imaging unit and the system for changing the posture of the inspection object, an operation space for controlling the movement of the articulated robot without hindrance is required. It was a factor that led to

Therefore, in view of the above-described problems, the present invention has an object to provide an appearance inspection apparatus that can perform appearance inspection at a plurality of locations on an inspection object with a single imaging unit and can be downsized.

In order to solve the above-described problem, the visual inspection apparatus according to the first aspect takes an image of an inspection object chucked releasably by a chuck mechanism by an imaging unit, and performs image processing on an image obtained by the imaging. The visual inspection apparatus according to the first aspect that performs pass / fail determination of an inspection object based on image data obtained by the image processing is a rotating arm mechanism that is supported so as to be rotatable about a predetermined axis. A chuck mechanism unit that is provided in the rotating arm mechanism unit, chucks the inspection object set on the axis from both sides in the axial direction, and an imaging direction orthogonal to the axis. The imaging unit that images the inspection object, and a focus adjustment mechanism unit that is slidable along the direction parallel to the imaging direction.

According to the appearance inspection apparatus of the present invention, the rotation arm mechanism that is supported so as to be rotatable around a predetermined axis, and the inspection that is provided on the rotation arm mechanism and set on the axis. A chuck mechanism that chucks an object from both sides in the axial direction, an imaging unit that images an inspection object from an imaging direction orthogonal to the axis, and a rotating arm mechanism along a direction parallel to the imaging direction A focus adjustment mechanism that can be slidably operated.With the inspection object chucked by the chuck mechanism, the rotating arm mechanism is rotated, so that a plurality of inspection objects can be moved. Since the image can be directed in the image capturing direction of the image capturing unit, a single image capturing unit can perform an appearance inspection at a plurality of locations on the inspection object.

Further, the appearance inspection apparatus according to the second aspect is the appearance inspection apparatus according to the first aspect, and is set at the set station for setting the inspection object in a mounting form. An inspection object mounting table that is movable between a chuck station and a chuck station for chucking an inspection object by the chuck mechanism unit is provided, and the rotating arm mechanism unit is moved and operated by the chuck mechanism unit. An imaging station that images the chucked inspection object by the imaging unit, and an arm movement operation mechanism that can be moved between the chuck station and the chuck station are configured.

As described above, the imaging unit is configured to capture an image from an imaging direction orthogonal to the axis about which the rotation arm mechanism unit is rotated, and is set on the axis about which the rotation arm mechanism unit is rotated. The inspection object is chucked by the chuck mechanism and the rotation arm mechanism is rotated about the axis, so that the inspection object is rotated around the axis in the imaging area of the imaging unit. Thus, since a plurality of locations of the inspection object can be directed in the imaging direction of the imaging unit, the appearance inspection of the plurality of locations of the inspection object can be performed by a single imaging unit.

The appearance inspection apparatus according to the third aspect is the appearance inspection apparatus according to the second aspect, and corresponds to the lower part of the movement path of the chuck mechanism between the imaging station and the chuck station. Thus, the inspection object discharge unit is arranged.

As a result, the space required for rotating the inspection object to be oriented in the imaging direction of the imaging unit can be reduced, the apparatus can be reduced in size, and there is no need to change the imaging area by the imaging unit. . Further, since the focus adjustment can be performed by sliding the rotating arm mechanism in the direction parallel to the imaging direction by the focus adjustment mechanism, the focus adjustment can be easily performed when imaging a plurality of locations of the inspection object.

Further, the appearance inspection apparatus according to the fourth aspect is the appearance inspection apparatus according to the first aspect, wherein the chuck parts on both sides of the chuck mechanism part for chucking the inspection object are formed of a colorless transparent member, The rotary arm mechanism is pivotable about a second axis that passes through the center between the chuck part that is orthogonal to the axis of rotation and the imaging direction and chucks the inspection object. The chuck mechanism is provided in the rotating arm mechanism.

As described above, since the inspection object is chucked on the axis of rotation of the rotating arm mechanism, the inspection object is rotated around the axis to direct the inspection point in the imaging direction. In this case, it is possible to suppress positional deviation (focus deviation) with respect to the imaging unit, and accordingly, it is possible to reduce the focus adjustment width and to reduce the working space for focus adjustment. The device can be miniaturized.

The objects, features, aspects and advantages of the present invention will become more apparent from the following detailed description and the accompanying drawings.

1 is a schematic side view of an appearance inspection apparatus according to an embodiment of the present invention. 1 is a schematic front view of an appearance inspection apparatus according to an embodiment of the present invention. 1 is a schematic plan view of an appearance inspection apparatus according to an embodiment of the present invention. It is imaging explanatory drawing which shows the principal part in an imaging station with a perspective view. It is imaging explanatory drawing which shows the principal part in an imaging station with a perspective view. It is imaging explanatory drawing which shows the principal part in an imaging station with a perspective view. It is imaging explanatory drawing which shows the principal part in an imaging station with a perspective view.

Hereinafter, an appearance inspection apparatus according to an embodiment will be described with reference to the drawings. FIGS. 1 to 3 show an appearance inspection apparatus 1. A set station 3 is disposed on the front side of the gantry 2, and the chuck station 4 and the imaging station 5 are sequentially separated in the depth direction. Has been placed.

The set station 3 is provided with a connector mounting table 7 as an inspection object mounting table for setting the connector 6 as an inspection object in a desired posture. The connector mounting table 7 is provided so as to be detachable and replaceable, so that the various connectors 6 as inspection objects can be set in a desired position at a desired position. Various types of connector mounting tables 7 having appropriate positioning recesses corresponding to the shape are prepared.

Also, on one side of the connector mounting table 7, an electric slider device 8 having a ball screw structure or the like for sliding and operating the connector mounting table 7 in the front-rear direction is provided. The connector 6 set on the connector mounting table 7 is configured to be movable between the set station 3 and the chuck station 4 by driving control of the electric slider device 8.

The chuck station 4 includes a chuck mechanism unit 10 for chucking the connector 6 set on the connector mounting table 7, a rotating arm mechanism unit 11 to which the chuck mechanism unit 10 is attached, and the rotating arm mechanism unit. An electric slider device 12 having a ball screw structure or the like for moving up and down 11 is provided.

That is, as shown in FIGS. 4 to 7, the base 11 a of the rotating arm mechanism 11 is mounted on the mounting base 13 that is slidably moved up and down by the electric slider device 12. It is supported so as to be rotatable around L, and is rotated via a drive motor 14 composed of a servo motor or the like mounted on a mounting base 13 and a gear mechanism (not shown) linked to the drive motor 14. The moving arm mechanism portion 11 is configured to be rotatable around the axis L.

The rotating arm mechanism 11 is connected to a first arm 11b having the base 11a and an extending end of the first arm 11b, and is provided to extend in a direction in which the axis L extends. The chuck mechanism 10 is mounted on the extended end of the second arm 11c.

The chuck mechanism section 10 has, for example, a pair of left and right chuck claws 10a that can be expanded and contracted as a chuck section, and is set on the connector mounting table 7 moved to the chuck station 4 by the expansion and contraction operations of the chuck claws 10a. The connector 6 is chucked or released from both the left and right sides.

In this embodiment, the connector 6 is set on the axis L of the rotating arm mechanism 11 when the connector mounting table 7 arrives at the chuck station 4. 10a is configured to chuck the connector 6 releasably from both the left and right sides in the direction of the axis L. At this time, the connector 6 is chucked by the chuck claw 10 a at a position eccentric from the main body of the chuck mechanism 10.

Also, on the other side of the electric slider device 12, an electric slider device 15 having a ball screw structure or the like for sliding and operating the electric slider device 12 in the front-rear direction is provided. Then, by the drive control of the electric slider device 15, an arm moving operation mechanism unit that can move the electric slider device 12, which supports the rotating arm mechanism unit 11 and the like, between the chuck station 4 and the imaging station 5 is provided. It is composed. The electric slider device 12 is fixedly attached to and supported by a mounting base 16 that is slidably operated in the front-rear direction by the electric slider device 15.

The imaging station 5 includes an imaging unit 18 for imaging the connector 6 chucked by the chuck mechanism unit 10. The imaging unit 18 includes a CCD camera, a lens, and the like, and is configured to image the connector 6 from above.

That is, in a state where the connector 6 is chucked by the chuck mechanism unit 10, the electric slider device 15 is driven to move the electric slider device 12 from the chuck station 4 to the imaging station 5, and the imaging is performed in the state where the imaging station 5 arrives. The optical axis of the lens system of the unit 18, that is, the imaging direction M, passes through the position of the connector 6 chucked by both chuck claws 10 a and is perpendicular to the axis L of the rotating arm mechanism unit 11 that is rotated. It is configured along the direction.

At this time, the moving direction of the rotating arm mechanism unit 11 that is moved up and down by the electric slider device 12 is also the vertical direction parallel to the imaging direction M, and here, the rotating arm mechanism unit 11 by the electric slider device 12 is used. Thus, the vertical adjustment operation of the connector 6 allows the focus adjustment to the inspection target surface of the connector 6 imaged by the imaging unit 18, and the electric slider device 12 constitutes a focus adjustment mechanism unit.

In addition, an illumination device 19 is appropriately provided so that a desired illuminance is secured on the inspection target surface of the connector 6 imaged by the imaging unit 18.

Corresponding to the lower part of the movement path of the chuck mechanism 10 between the chuck station 4 and the imaging station 5, a defective product discharge chute 21 is provided as an inspection object discharge unit. The defective product discharge chute 21 has a connector insertion port 21a corresponding to the lower part of the movement path of the chuck mechanism 10 and a connector discharge port 21b corresponding to a lower side of the gantry 2 so as to have a connector input port. When the chuck of the connector 6 by the chuck mechanism portion 10 is released above 21a, the connector 6 is dropped into the defective product discharge chute 21 from the connector insertion port 21a and guided along the inclination of the defective product discharge chute 21, It is set as the structure collect | recovered in the collection | recovery box 22 arrange | positioned from the connector discharge port 21b to the one side of the mount frame 2 suitably.

Next, the inspection operation by the appearance inspection apparatus 1 will be described. In the initial state of the appearance inspection apparatus 1, as shown in FIGS. 1 to 3, the connector mounting table 7 stands by at the set station 3 position, and the rotating arm mechanism unit 11 stands by at the chuck station 4. Further, both chuck claws 10a of the chuck mechanism unit 10 are in a standby state in an expanded state with a predetermined width.

In this initial state, the operator sets the connector 6 as the inspection object in the positioning recess of the connector mounting table 7 in a predetermined posture and then turns on the operation switch of the appearance inspection apparatus 1. By this ON operation, first, the electric slider device 8 is operated, and the connector mounting table 7 is slid and operated from the set station 3 to the chuck station 4.

As shown by the phantom line in FIG. 3, when the connector mounting table 7 arrives at the chuck station 4, the connector 6 is positioned between the chuck claws 10a and the rotating arm mechanism 11 is rotated. It is in the state located on the axis L to be performed. When the arrival of the chuck station 4 on the connector mounting table 7 is detected, the two chuck claws 10a of the chuck mechanism unit 10 are operated to approach each other, and the connector 6 is chucked from both sides of the axis L direction. Thereafter, by the raising operation by the electric slider device 12, the rotating arm mechanism portion 11 and the chuck mechanism portion 10 are slightly raised, and the connector 6 is lifted upward from the positioning recess of the connector mounting table 7.

When the connector 6 is lifted from the connector mounting table 7, the electric slider device 15 is activated, and the electric slider device 12, the rotating arm mechanism portion 11, the chuck mechanism portion 10, and the connector 6 are moved from the chuck station 4 to the imaging station 5. The slide is moved.

As shown by the phantom lines in FIG. 1, when the electric slider device 12 and the like arrive at the imaging station 5, the connector 6 is positioned below the imaging direction M of the imaging unit 18 as shown in FIG. 4. It is in a state. In this state, adjustment is made in advance so that the imaging unit 18 is focused on the upper surface, which is the inspection target surface of the connector 6. In the present embodiment, the upper surface, the lower surface, the front surface, and the back surface of the connector 6 are inspection target surfaces in the appearance inspection. An area surrounded by a dotted line is an imaging area A by the imaging unit 18.

Then, when arrival of the imaging station 5 such as the electric slider device 12 is detected, the imaging unit 18 operates to first image the upper surface, which is the first inspection target surface of the connector 6. An image obtained by this imaging is taken into an image processing apparatus (not shown) and subjected to predetermined image processing, and pass / fail determination is made based on image data obtained by the image processing. For such quality determination by image processing, a known method adopted for this kind of determination, such as whether or not a predetermined reference value (threshold value) is exceeded, may be adopted as appropriate.

When the imaging of the upper surface which is the first inspection target surface of the connector 6 is completed, the drive motor 14 is then operated, and the rotating arm mechanism portion 11 is rotated about the axis L as shown in FIG. It is stopped after being rotated. By the rotation of the rotating arm mechanism unit 11, the back surface of the connector 6 is directed in the imaging direction M of the imaging unit 18. At this time, the electric slider device 12 is actuated to move and adjust the position of the connector 6 in the vertical direction, thereby adjusting the focus. For the focus adjustment, a known method such as a method of teaching by inputting data in advance or a method of automatic adjustment may be appropriately employed. When the clockwise 90-degree rotation operation of the rotation arm mechanism unit 11 is detected, the imaging unit 18 is activated, and the rear surface, which is the second inspection target surface, of the connector 6 is imaged. The image obtained by this imaging is also taken into the image processing apparatus in the same manner as described above, and predetermined image processing is performed, and pass / fail determination is made based on the image data obtained by the image processing.

When the imaging of the rear surface, which is the second inspection target surface, of the connector 6 is completed, the drive motor 14 is then operated, and the rotating arm mechanism 11 further moves around the axis L as shown in FIG. It is turned 90 degrees and stopped. By the rotation of the rotating arm mechanism unit 11, the lower surface of the connector 6 is oriented in the imaging direction M of the imaging unit 18. At this time, the electric slider device 12 is actuated to move and adjust the position of the connector 6 in the vertical direction, thereby adjusting the focus. When a clockwise 90-degree rotation operation of the rotation arm mechanism unit 11 is detected, the imaging unit 18 is activated and the lower surface, which is the third inspection target surface, of the connector 6 is imaged. The quality of the image obtained by this imaging is also determined in the same manner as described above.

When the imaging of the lower surface that is the third inspection target surface of the connector 6 is completed, the drive motor 14 is then operated, and the rotating arm mechanism 11 further moves around the axis L as shown in FIG. It is turned 90 degrees and stopped. The front surface of the connector 6 is directed in the imaging direction M of the imaging unit 18 by the rotation of the rotating arm mechanism unit 11. At this time, the electric slider device 12 is actuated to move and adjust the position of the connector 6 in the vertical direction, thereby adjusting the focus. When a clockwise 90-degree rotation operation of the rotation arm mechanism unit 11 is detected, the imaging unit 18 is activated, and the front surface that is the fourth inspection target surface of the connector 6 is imaged. The quality of the image obtained by this imaging is also determined in the same manner as described above.

Then, when the imaging of the four surfaces that are the inspection target surfaces is completed, the original position of the state arrived at the imaging station 5 position as shown in FIG. 5 is restored. Thereafter, if the determination results of the respective inspection target surfaces in the connector 6 are all non-defective, the electric slider device 15 is activated, and the electric slider device 12, the rotating arm mechanism unit 11, the chuck mechanism unit 10, and the connector 6 are When the slide movement operation is performed from the imaging station 5 to the chuck station 4 and arrives at the chuck station 4, the electric slider device 12 is operated, and the rotating arm mechanism portion 11 and the chuck mechanism portion 10 are slightly lowered, and the chuck claw 10 a is moved. The chucked connector 6 is returned to the positioning recess of the connector mounting table 7. Thereafter, the chuck claws 10a are expanded and the chuck of the connector 6 is released.

When the chuck of the connector 6 is released, the electric slider device 8 is operated, the connector mounting table 7 is returned from the chuck station 4 to the set station 3, and the appearance inspection device 1 is returned to the initial state. Then, the operator collects the connector 6 whose appearance inspection is completed as a non-defective product, sets the connector 6 to be inspected next on the connector mounting table 7, and turns on the operation switch in the same manner as above. Thus, the appearance inspection of the connector 6 is performed, and the appearance inspection of the connector 6 can be sequentially performed in this manner.

In addition, in the state where the imaging of the four inspection surfaces is completed and the original position where the imaging station 5 arrived is returned to the origin position, any of the determination results of each inspection target surface in the connector 6 is defective. If the determination is made, the electric slider device 15 is activated, and the electric slider device 12, the rotating arm mechanism unit 11, the chuck mechanism unit 10 and the connector 6 are in the middle of the sliding movement operation from the imaging station 5 to the chuck station 4. When the connector 6 chucked by the both chuck claws 10a arrives above the connector insertion port 21a of the defective product discharge chute 21, it is temporarily stopped and the both chuck claws 10a are expanded. By this expanding operation, the chuck of the connector 6 is released, and the connector 6 falls into the defective product discharge chute 21 and is collected in the collection box 22.

Thereafter, the electric slider device 15 is actuated again, and both chuck claws 10a are returned to the chuck station 4 in the expanded state to return to the initial state. Further, the electric slider device 8 is operated, the connector mounting table 7 is returned from the chuck station 4 to the set station 3, and the appearance inspection device 1 is returned to the initial state.

In the above-described embodiment, the control of dropping the defective connector 6 onto the defective product discharge chute 21 when any defective inspection surface is determined after imaging all the inspection target surfaces. However, when a determination result of a defective product is obtained after imaging each inspection target surface, the subsequent imaging of the inspection target surface is stopped, and the defective connector 6 is dropped on the defective product discharge chute 21. It is good. Moreover, what is necessary is just to control the illuminating device 19 so that it may operate | move as needed.

The present embodiment is configured as described above, and the imaging unit 18 is configured to capture an image from the imaging direction M orthogonal to the axis L where the rotating arm mechanism unit 11 is rotated, and the rotating arm mechanism unit. Since the connector 6 is chucked by the chuck mechanism unit 10 on both the left and right sides of the axis L on the axis L to be rotated, the rotation arm mechanism unit 11 is rotated around the axis by a predetermined angle. By moving the connector 6, the connector 6 is rotated around the axis L in the imaging area A of the imaging unit 18, and here, a plurality of locations of the connector 6 are directed in the imaging direction of the imaging unit 18. Therefore, it is possible to inspect the appearance of a plurality of inspection target surfaces in the connector 6 by the single imaging unit 18.

At this time, since the connector 6 is chucked by the chuck mechanism unit 10 from both the left and right sides of the axis L on the axis L to which the rotation arm mechanism unit 11 is rotated, the image pickup unit is rotated by rotating the connector 6. The space required for directing in the 18 imaging directions M can be reduced, the overall appearance inspection apparatus 1 can be reduced in size, and the imaging area A by the imaging unit 18 need not be changed. Since the focus adjustment can be performed by sliding the connector 6 in the vertical direction parallel to the imaging direction M together with the rotating arm mechanism 11 by the electric slider device 12, the focus adjustment can be easily performed even when imaging a plurality of locations of the connector 6. There is an advantage that can be done.

Further, since the connector 6 is chucked on the pivot axis L of the pivot arm mechanism 11, the connector 6 is rotated around the axis L to direct the inspection target surface in the imaging direction. In this case, it is possible to suppress the positional deviation (focal deviation) with respect to the imaging unit 18, and therefore it is possible to reduce the focus adjustment width and to reduce the working space for the focus adjustment. In addition, the apparatus can be reduced in size and the operating efficiency can be improved.

In addition, since the connector 6 is chucked on the pivot axis L of the pivot arm mechanism 11, the moment of inertia acting on the connector 6 during the pivot operation of the pivot arm mechanism 11 can be suppressed. In addition, since it is possible to effectively prevent the displacement of the connector 6 when it is rotated at a high speed, the speed of the rotating operation can be increased, and this also has the advantage of improving the operating efficiency.

Further, the connector 6 is set at the set station 3, chucked by the chuck mechanism unit 10 at the rear chuck station 4 position, and the inspection target surface of the connector 6 is imaged by the image pickup unit 18 at the rear image pickup station 5 position. In addition, since it is drawn into a desired position in the appearance inspection apparatus 1 and imaged by the imaging unit 18, it is possible to take an image in a desired imaging environment that is not significantly affected by light outside the appearance inspection apparatus 1. The accuracy can be improved.

Further, if the defective product discharge chute 21 is disposed in the middle of the movement path of the chuck mechanism 10 between the imaging station 5 and the chuck station 4, If the result of the pass / fail judgment by imaging is defective, the chuck of the connector 6 chucked by the chuck mechanism unit 10 is released during the movement of returning the chuck mechanism unit 10 from the imaging station 5 to the chuck station 4, so The connector 6 can be discharged from the non-defective product discharge chute 21 and mixing of defective products can be effectively prevented.

In the above-described embodiment, the upper surface, the lower surface, the front surface, and the back surface are the inspection target surfaces as the inspection locations of the connector 6, but if the connector 6 is around the axis L, the desired location is the inspection target surface. The inspection object surface can be set as desired according to the inspection object.

Moreover, in the said embodiment, the chuck | zipper mechanism part 10 with which the rotation arm mechanism part 11 and the rotation arm mechanism part 11 were equipped rotates only around the shaft center L in which the rotation arm mechanism part 11 is rotated. Although it is configured to be operable, the chuck claws 10a on both sides of the chuck mechanism 10 for chucking the connector 6 are formed of a colorless transparent member, and the rotating arm mechanism 11 as shown in FIG. 4 is rotated. The chuck mechanism unit 10 is pivotable so as to be rotatable around a second axis N that passes through the center between the chuck claws 10a that are orthogonal to the axial center L and the imaging direction M and chuck the connector 6. It is good also as a structure with which the mechanism part 11 is equipped. With this configuration, it is possible to perform an appearance inspection of the chuck position, improving versatility, and reducing the focus adjustment width as described above, and reducing the working space for focus adjustment. Therefore, there is an advantage that the size of the entire apparatus 1 can be reduced. Furthermore, the chucking mechanism unit 10 is provided in the pivoting arm mechanism unit 11 so that the pivoting arm mechanism unit 11 can be freely pivoted about an axis L that is pivoted about the pivoting arm mechanism unit 11 and an axis orthogonal to the imaging direction M. In this case, the appearance inspection of the chuck position is possible.

Moreover, in this embodiment, although the connector 6 for motor vehicles is illustrated as an inspection target object, it can implement similarly even if it is the external appearance inspection of other three-dimensional products, and is not limited to the external appearance inspection of the connector 6 at all. .

Although the appearance inspection apparatus has been described in detail as described above, the above description is an example in all aspects, and the present invention is not limited thereto. It is understood that countless variations that are not illustrated can be envisaged without departing from the scope of the present invention.

Claims

The inspection object chucked releasably by the chuck mechanism is imaged by the imaging unit, the image obtained by the imaging is subjected to image processing, and the quality of the inspection object is determined based on the image data obtained by the image processing In the appearance inspection apparatus that performs the determination,
A rotating arm mechanism supported so as to be rotatable around a predetermined axis;
The chuck mechanism unit that is provided in the rotating arm mechanism unit and chucks the inspection object set on the axis from both sides in the axial direction;
The imaging unit that images the inspection object from an imaging direction orthogonal to the axis; and
A visual inspection apparatus comprising: a focus adjustment mechanism that is slidable along the direction parallel to the imaging direction.
The appearance inspection apparatus according to claim 1,
Inspection object movable between a set station for setting the inspection object in a mounting form and a chuck station for chucking the inspection object set in the setting station by the chuck mechanism unit While equipped with a table,
An arm moving operation that can be moved between the imaging station and the chuck station, in which the inspection object chucked by the chuck mechanism unit is moved by the moving operation of the rotating arm mechanism unit and the chuck station. An appearance inspection apparatus provided with a mechanism part.
The appearance inspection apparatus according to claim 2,
An appearance inspection apparatus in which an inspection object discharge unit is disposed corresponding to the lower part of the movement path of the chuck mechanism between the imaging station and the chuck station.
The appearance inspection apparatus according to claim 1,
Chuck parts on both sides of the chuck mechanism part for chucking the inspection object are formed of colorless and transparent members, and the inspection object is orthogonal to the axis of rotation of the rotating arm mechanism part and the imaging direction. An appearance inspection apparatus in which a chuck mechanism portion is provided in a rotating arm mechanism portion so as to be rotatable around a second axis passing through the center between both chuck portions in a chucked state.