WO2022264685A1 - Dye penetrant flaw inspecting device, and dye penetrant flaw inspecting method - Google Patents

Dye penetrant flaw inspecting device, and dye penetrant flaw inspecting method Download PDF

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Publication number
WO2022264685A1
WO2022264685A1 PCT/JP2022/018317 JP2022018317W WO2022264685A1 WO 2022264685 A1 WO2022264685 A1 WO 2022264685A1 JP 2022018317 W JP2022018317 W JP 2022018317W WO 2022264685 A1 WO2022264685 A1 WO 2022264685A1
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WIPO (PCT)
Prior art keywords
unit
wiping
inspected
penetrant
inspection
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PCT/JP2022/018317
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French (fr)
Japanese (ja)
Inventor
啓 森田
要 荒木
吉晴 西田
暁 大上
Original Assignee
株式会社神戸製鋼所
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Publication of WO2022264685A1 publication Critical patent/WO2022264685A1/en

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    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications
    • G01N21/88—Investigating the presence of flaws or contamination
    • G01N21/91—Investigating the presence of flaws or contamination using penetration of dyes, e.g. fluorescent ink

Definitions

  • the present disclosure relates to a dye penetrant inspection device and a dye penetrant inspection method.
  • Penetrant inspection is known for inspecting the surface of parts to be inspected for flaws.
  • a penetrant is applied to the surface of the part to be inspected so that the penetrant penetrates into the flaws.
  • the remaining penetrant is removed.
  • the penetrating liquid in the scratches the presence or absence of scratches on the surface of the component to be inspected is inspected.
  • Patent Document 1 discloses a fluorescent penetrant inspection that uses a penetrant liquid that has fluorescence that reacts to ultraviolet rays.
  • ultraviolet rays are irradiated to detect the penetrant liquid in the flaw, and the penetrant liquid having fluorescence is detected.
  • the size of the parts to be inspected is limited due to the structure of the equipment, and it is not suitable for inspection of large parts to be inspected.
  • a dye penetrant inspection that uses a dyeable penetrant.
  • a penetrant is applied to the surface of the part to be inspected so that the penetrant penetrates into the flaws.
  • a developing solution is applied to the surface of the part to be inspected, and the penetrating solution in the scratches is sucked out by the developing solution. If there is a scratch, the penetrant will form an indicator pattern.
  • An object of the present disclosure is to provide an automated dye penetrant inspection apparatus and dye penetrant inspection method with stable inspection quality.
  • a first aspect of the present disclosure includes: a table for fixing a part to be inspected; a shape recognition unit that automatically recognizes the shape of the part to be inspected; a first application unit that applies a dyeing penetrant to the inspection object part; a wiping unit for wiping the penetrant liquid from the part to be inspected; a second coating unit for coating the component to be inspected with a developer; a control device that sequentially operates the shape recognition unit, the first application unit, the wiping unit, and the second application unit, The control device provides a dye penetrant inspection apparatus that controls the wiping unit so as to wipe off the upper surface and side surfaces of the inspection object part according to the shape of the inspection object part recognized by the shape recognition unit.
  • the control device controls the operations of the shape recognition unit, the first application unit, the wiping unit, and the second application unit, so the dye penetrant inspection can be automatically performed. Therefore, the dye penetrant inspection can be efficiently realized without manpower.
  • the shape recognition unit can automatically recognize the shape of the part to be inspected, so even if the part to be inspected is changed, stable inspection quality can be ensured. In wiping off the penetrating liquid, not only the top surface but also the side surfaces are wiped, so erroneous detection of scratches can be suppressed.
  • the shape recognition unit functions effectively.
  • the degree of wiping of the penetrant liquid can be stabilized compared to the case where manual labor is required, inspection quality can be stabilized.
  • the dye penetrant inspection need not be completely automated, and some steps may be performed manually. For example, the penetrant detection step may be determined visually.
  • the shape recognition unit may have an imaging device for recognizing the contour of the inspection target part.
  • the imaging device may be a ToF (Time of Flight) camera arranged to image the inspection target part from above,
  • the thickness of the part to be inspected may be smaller than the imaging resolution of the imaging device,
  • the pedestal may have a height higher than the imaging resolution, and may be arranged so as to be hidden behind the inspection target component in plan view.
  • ToF Time of Flight
  • the table has a height higher than the imaging resolution and is arranged so as to be hidden by the part to be inspected in plan view. can be captured accurately.
  • the imaging resolution of the ToF camera is the resolution in the thickness direction of the part to be inspected, and is the minimum value at which the contour of the part to be inspected can be clearly recognized by the ToF camera.
  • the imaging resolution (distance resolution) of a ToF camera is generally about 10 mm, the above configuration functions effectively when the thickness of the part to be inspected is less than 10 mm.
  • the shape recognition unit may have a reading device for reading a shape code prepared for each of the parts to be inspected.
  • the shape of the part to be inspected can be obtained accurately and easily.
  • the shape code may be, for example, a bar code or QR code (registered trademark) indicating the shape of the part to be inspected.
  • the control device may set the wiping path of the wiping unit to an area including the shape of the inspection target part recognized by the shape recognition unit.
  • the wiping unit it is possible to prevent the wiping unit from wiping off the penetrating liquid.
  • the part to be inspected has a complicated shape.
  • the area including the shape of the part to be inspected has a simple shape.
  • the area may be set to be rectangular, circular, or the like.
  • a second aspect of the present disclosure includes: a stand for fixing the parts to be inspected; a shape recognition unit that automatically recognizes the shape of the part to be inspected; a first application unit that applies a dyeing penetrant to the inspection object part; a wiping unit for wiping the penetrant liquid from the part to be inspected; a second coating unit for coating the component to be inspected with a developer;
  • a dye penetrant inspection device comprising The shape recognition unit, the first application unit, the wiping unit, and the second application unit are automatically operated in order, and the wiping unit is operated according to the shape of the inspection target component recognized by the shape recognition unit.
  • a dye penetrant inspection method is provided that includes generating a wiping pass.
  • FIG. 1 is a schematic first side view of a dye penetrant inspection apparatus according to an embodiment of the present disclosure
  • FIG. FIG. 2 is a schematic second side view of a dye penetrant inspection apparatus according to an embodiment of the present disclosure
  • FIG. 3 is a schematic third side view of the dye penetrant inspection apparatus according to one embodiment of
  • FIG. 2 is a perspective view of a part to be inspected to which a penetrant is applied;
  • FIG. 4 is a plan view of a part under test showing wiping paths;
  • FIG. 10 is a schematic diagram showing a wiping pass of the region X in FIG. 9;
  • FIG. 4 is a perspective view of the part to be inspected from which the penetrant liquid has been wiped off;
  • 4 is a flow chart of a dye penetrant inspection method according to an embodiment of the present disclosure;
  • the top view of the inspection object component arrange
  • FIG. 1 is a plan view of the inspection target component 2 placed on the stand 10.
  • FIG. 1 is a plan view of the inspection target component 2 placed on the stand 10.
  • the parts 2 to be inspected in this embodiment are wear rings used for bearings and the like.
  • the inspected part 2 is an annular metal member with a smooth surface.
  • the aspect of the inspection target component 2 is not particularly limited, and the dye penetrant inspection apparatus 1 of the present embodiment can target any component.
  • FIGS 2 to 6 are schematic first to fifth side views of the dye penetrant inspection apparatus 1 according to one embodiment of the present disclosure.
  • the dyeing penetrant inspection apparatus 1 has an articulated arm 5 that can be driven on six axes.
  • the arm 5 is configured such that the tip unit can be replaced.
  • a shape recognition unit 20 is attached to the tip of the arm 5.
  • the first application unit 30 is attached to the tip of the arm 5.
  • a wiping unit 40 is attached to the tip of the arm 5 in FIGS.
  • the second coating unit 50 is attached to the tip of the arm 5.
  • the shape recognition unit 20, the first application unit 30, the wiping unit 40, and the second application unit 50 may be replaced automatically or manually.
  • the dye penetrant inspection apparatus 1 also has a stand 10 , a shape recognition unit 20 , a first application unit 30 , a wiping unit 40 , a second application unit 50 and a control device 60 .
  • the pedestal 10 has a function of fixing the part 2 to be inspected.
  • the table 10 has a flat upper surface 11, and a first fixing clamp 12 and three second fixing clamps 13 for restricting horizontal movement of the inspection target component 2 placed on the upper surface 11.
  • the first fixing clamp 12 has a V-shaped opening toward the center of the table 10 in plan view.
  • the three second fixing clamps 13 are arranged so as to sandwich the inspection target component 2 together with the first fixing clamps 12 .
  • the three second fixing clamps 13 have magnetism and are capable of attracting predetermined metals.
  • the above structure of the stand 10 is an example, and is not limited to this structure. Alternative structures are described in variations below.
  • the shape recognition unit 20 automatically recognizes the shape of the part 2 to be inspected.
  • the shape recognition unit 20 has an imaging device 21 for recognizing the contour of the inspection target component 2 .
  • the imaging device 21 is arranged so as to image the inspection target component 2 from above.
  • the imaging direction may be changed by moving the arm 5 as necessary.
  • the imaging direction may be changed by moving the inspection target component 2.
  • the imaging device 21 may be fixed by a general tripod instead of the arm 5 .
  • the imaging device 21 is a ToF (Time of Flight) camera.
  • the ToF camera outputs a light pulse, receives scattered light from the inspected part 2 that received the light pulse, and calculates the time difference between the time when the light pulse is generated and the time when the light pulse is received. Measure distance.
  • the shape (contour) of the inspection target component 2 can be obtained by a shape recognition processing program that performs such measurement processing on a pixel-by-pixel basis.
  • noise removal processing such as a median filter or expansion/contraction processing may be performed so that the shape of the inspection target part 2 can be recognized more clearly.
  • contour detection processing such as a Sobel filter.
  • the obtained contour-enhanced image may be subjected to binarization processing and centroid calculation processing to accurately detect the contour of the inspection target component 2 .
  • the imaging device 21 is not limited to the ToF camera, and may be any device capable of imaging the inspection target component 2 .
  • the shape of the inspection target component 2 can be acquired from the image captured by the imaging device 21 by a known shape recognition processing program.
  • the first application unit 30 applies the penetrant liquid for dyeing to the inspection target component 2 .
  • the penetrant is a staining liquid with a color that is easy to detect (eg, red).
  • the first application unit 30 has a spray can 31 for spraying the penetrant.
  • a tank that stores the penetrant is provided and a dispenser type that sprays the penetrant in the tank. good.
  • the dispenser type in order to prevent the penetrant from sticking inside, the penetrant may be discharged at a predetermined flow rate at predetermined time intervals even during a period other than the penetrant application operation. Alternatively, a predetermined flow rate may be discharged immediately before applying to the inspection target component 2 . This is the same for the following dispenser type ones.
  • the staining liquid is applied to the entire inspection surface (for example, the upper surface) of the inspection target component 2 whose shape has been recognized by the shape recognition unit 20 .
  • the application area of the staining liquid may be set to a wider area than the area whose shape is recognized by the shape recognition unit 20 in a plan view so that there is no omission of the application of the staining liquid.
  • the wiping unit 40 wipes the penetrating liquid from the upper surface 2a and the side surface 2b of the inspection target component 2.
  • the wiping unit 40 has a rough wiping unit 41 and a finish wiping unit 42 .
  • the rough wiping unit 41 shown in FIG. 4 relatively roughly wipes the penetrant.
  • the rough wiping unit 41 has a water-repellent member 41a that wipes off the penetrant.
  • the water-repellent member 41a is made of a material that does not easily absorb the penetrating liquid, and may be, for example, an elastic member (resin sheet) used for automobile wipers.
  • the penetrant liquid is wiped off while a pressing force is applied to the surface of the inspection target component 2 using the elasticity of the water repellent member 41a.
  • the finish wiping unit 42 shown in FIG. 5 wipes off the penetrant relatively finely.
  • the finish wiping unit 42 has a water absorbent member 42a that wipes off the penetrant.
  • the water absorbing member 42a is made of a material that easily absorbs the penetrating liquid, and may be, for example, a so-called waste cloth.
  • the finish wiping unit 42 also has a resin elastic member 42b for fixing the water absorbent member 42a. Due to the elastic member 42b, in the wiping by the finish wiping unit 42 as well as in the wiping by the rough wiping unit 41, the penetrant can be wiped off while applying a pressing force to the surface of the inspection target component 2.
  • the second application unit 50 applies the developer to the inspection target component 2 .
  • the developer has the property of sucking the penetrant out of the wound and forming an indicator pattern.
  • the second coating unit 50 has a spray can 51 for spraying the developer.
  • the second application unit 50 may also be of the dispenser type.
  • the developing solution is applied to the entire inspection surface of the inspection target component 2 whose shape has been recognized by the shape recognition unit 20 in the same manner as the staining solution.
  • the application area of the developer may be set to be wider than the area whose shape is recognized by the shape recognition unit 20 in plan view.
  • FIG. 7 is a block diagram of the control device 60.
  • FIG. 7 is a block diagram of the control device 60.
  • the control device 60 is composed of hardware such as a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory), and software installed on them.
  • the control device 60 has an input section 61 , a storage section 62 and a control section 63 .
  • the input unit 61 is a part that acquires input data for the dye penetrant inspection apparatus 1 .
  • the input data may be generated by the input unit 61 or received from outside the input unit 61 .
  • the input unit 61 is composed of, for example, a keyboard, mouse, touch panel, and the like. In this embodiment, the input unit 61 acquires settings necessary for the dye penetrant inspection.
  • the storage unit 62 stores the program that runs on the control unit 63 and the parameter data necessary for the dye penetrant inspection.
  • the control unit 63 includes, for example, a CPU or MPU (Micro Processing Unit) that cooperates with software to realize a predetermined function.
  • the control unit 63 reads data and programs stored in the storage unit 62 and performs various arithmetic processing, thereby realizing predetermined functions.
  • the program executed by the control unit 63 may be provided by a communication unit or the like that performs communication according to a predetermined communication standard, or may be stored in a portable recording medium.
  • the control unit 63 performs arithmetic processing and controls the entire device.
  • the controller 63 has, as functional configurations, a shape recognition unit controller 63a, a first application unit controller 63b, a wiping unit controller 63c, and a second application unit controller 63d.
  • the shape recognition unit control section 63a controls the operation of the shape recognition unit 20.
  • the shape recognition unit 20 recognizes the shape of the inspection target component 2 through this control. In this embodiment, the contour of the inspection target component 2 in plan view is acquired.
  • the first coating unit control section 63b controls the operation of the first coating unit 30.
  • the first application unit 30 applies the penetrant liquid to a predetermined range of the inspection target component 2 under the control.
  • the upper surface 2a of the inspection target component 2 is used as the inspection surface, and the penetrating liquid is applied to at least the entire upper surface 2a.
  • FIG. 8 is a perspective view of the inspection target component 2 to which the penetrant is applied.
  • the hatched portion indicates the portion to which the penetrant has adhered.
  • the wiping unit control section 63c controls the operations of the rough wiping unit 41 and the finish wiping unit 42.
  • the wiping unit control section 63c executes wiping by the finish wiping unit 42 after executing wiping by the rough wiping unit 41 .
  • the rough wiping unit 41 and the finish wiping unit 42 wipe off the penetrant liquid on the surface of the inspection target component 2 according to the set path by the control.
  • the "path" refers to the trajectory of wiping.
  • FIG. 9 is a plan view of the inspection target component 2 showing the wiping pass.
  • the wiping pass is set according to the shape of the part 2 to be inspected.
  • a path P1 in the radial direction may be set.
  • the paths P1 in the radial direction are set at equal intervals in the circumferential direction, and are set so that adjacent paths overlap.
  • the pass P1 is set to wipe radially from the inside to the outside.
  • a circumferential path P2 may be set.
  • the radial paths P2 are set at equal intervals in the radial direction, and are set such that adjacent paths overlap.
  • path P2 is set to wipe radially from the inside to the outside.
  • the vertical path P3 of the inspection target part 2 may be set, or the horizontal path P4 may be set.
  • FIG. 10 schematically shows the wiping pass of region X in FIG. In order to clearly show the wiping pass, the illustration of the inspected part 2 is omitted.
  • the wiping area X of the inspection target component 2 is set.
  • the wiping area X is set as an area that includes the shape of the inspection target component 2 recognized by the shape recognition unit 20 .
  • the area X is set to be rectangular.
  • the upper surface 2a of the inspection target component 2 is first wiped off.
  • rough wiping will be described as an example.
  • the water-repellent member 41a of the rough wiping unit 41 is illustrated together with a plurality of vertical passes P31-P33 and a plurality of horizontal passes P41-P44. In any pass, the rough wiping unit 41 is controlled so that the current pass sweeps the penetrant toward the next pass.
  • the water-repellent member 41a moves against the pass P31 so as to sweep out the penetrating liquid from the pass P31 toward the pass P32. are slanted.
  • the water-repellent member 41a is arranged to be inclined with respect to the path P32 so as to sweep the penetrating liquid from the path P32 toward the path P33.
  • the water-repellent member 41a moves against the path P41 so as to sweep out the penetrating liquid from the path P41 toward the path P42. placed at an angle.
  • the water-repellent member 41a is arranged to be inclined with respect to the path P42 so as to sweep out the penetrating liquid from the path P42 toward the path P43.
  • the water-repellent member 41a is arranged to be inclined with respect to the path P43 so as to sweep out the penetrating liquid from the path P43 toward the path P44.
  • the side surface 2b of the inspection target component 2 is wiped off.
  • the side surface 2b includes both the inner side surface and the outer side surface.
  • a wiping pass is set along the contour of the inspection target component 2.
  • a circular wiping path is set along the side surface 2b of the part 2 to be inspected.
  • the wiping pass is described above using the rough wiping unit 41 as an example, this can also be applied to the finish wiping unit 42 in the same way. That is, the finish wiping unit 42 can similarly wipe the top surface 2a and the side surface 2b.
  • the paths of the rough wiping unit 41 and the finish wiping unit 42 do not need to be the same.
  • a single-stroke path or a reciprocating path may be set so as to shorten the tact time.
  • FIG. 11 is a perspective view of the inspection target component 2 from which the penetrant liquid has been wiped off.
  • the penetrating liquid is wiped off from the entire upper surface (inspection surface) 2a of the inspection target component 2, and the upper portion of the side surface 2b adjacent to the upper surface 2a is also wiped off from the penetrating liquid.
  • the wiping range is about several millimeters from the boundary 2c between the upper surface 2a and the side surface 2b.
  • the wiping range is about several millimeters from the boundary 2c between the upper surface 2a and the side surface 2b.
  • the entire side surface 2b may be wiped off.
  • the second coating unit control section 63d controls the operation of the second coating unit 50.
  • the second application unit 50 applies the developer to a predetermined range of the inspection target component 2 under the control.
  • the upper surface 2a of the inspection target component 2 is used as the inspection surface, and the developing solution is applied to at least the entire upper surface 2a.
  • FIG. 11 is a flowchart of the dye penetrant inspection method according to this embodiment.
  • the dye penetrant inspection apparatus 1 operates according to the flowchart shown in FIG.
  • step S1 When the dye penetrant inspection is started (step S1), the part 2 to be inspected is fixed to the stand 10 (step S2). Then, the shape of the inspected part 2 is automatically recognized (step S3).
  • the parts 2 to be inspected are washed (step S4).
  • a coating device is used to spray a cleaning liquid onto the inspection target component 2 to remove oil films, dust, and the like adhering to the surface.
  • the application device may be of the spray can type, dispenser type, or the like.
  • a cleaning wiping unit (not shown) is attached to the arm 5 to wipe off the cleaning liquid adhering to the surface of the part 2 to be inspected.
  • the finishing wiping unit 42 may be used as the cleaning wiping unit.
  • step S5 It waits for a predetermined time until the surface of the inspection target part 2 dries (step S5).
  • the drying may be forced by air blowing or the like.
  • the first application unit 30 applies the penetrating liquid to the part 2 to be inspected, and waits for a predetermined time until the penetrating liquid permeates (step S6).
  • the rough wiping unit 41 wipes off the penetrant (surplus penetrant) applied to the inspection target component 2 (step S7). At this time, depending on the surface roughness of the part to be inspected 2 or the state of the processing marks, there may be some wiping residue (a pattern remains along the wiping path). In the wiping by the rough wiping unit 41, the penetrant adhered to the water repellent member 41a is cleaned in each pass. At this time, by automatically cleaning using a cleaner (not shown) or the like, it is possible to suppress accumulation of the penetrating liquid after wiping (unwiped area).
  • the unwiped penetrant (surplus penetrant) is wiped off by the finishing wiping unit 42 (step S8).
  • the finishing wiping unit 42 uses a water absorbing member 42a such as a waste cloth, it is preferable to replace the water absorbing member 42a each time.
  • the developer is applied by the second application unit 50 and waits for a predetermined time (step S9). If there is a scratch on the surface of the inspection target component 2, the penetrating liquid present inside the scratch seeps into the developer. Therefore, it waits until the penetrant seeps into the developer.
  • Penetrant detection may be determined visually. Alternatively, image recognition may be performed by capturing an image of the inspection target component 2 with an image capturing device (not shown) and detecting the indication pattern of the penetrant from the captured image. If the penetrant is detected (step S10: YES), it is determined that there is a scratch (step S11). If the penetrant is not detected (step S10: NO), it is determined that there is no scratch (step S12). After making these determinations, the inspection is terminated (step S13).
  • the controller 60 controls the operations of the shape recognition unit 20, the first application unit 30, the wiping unit 40, and the second application unit 50, dye penetrant inspection can be automatically performed. Therefore, the dye penetrant inspection can be efficiently realized without manpower. Further, even when the inspection target part 2 is changed, the shape recognition unit 20 can automatically recognize the shape of the inspection target part 2, so that stable inspection quality can be ensured even when the inspection target part 2 is changed. In the wiping of the penetrating liquid, not only the upper surface 2a but also the side surface 2b is wiped, so erroneous detection of scratches can be suppressed. In particular, when wiping off the side surface 2b of the inspection target component 2, the shape recognition unit 20 functions effectively because it is necessary to recognize the outline of the inspection target component 2 in plan view. In addition, since the degree of wiping of the penetrant liquid can be stabilized compared to the case where manual labor is required, inspection quality can be stabilized.
  • the shape recognition unit 20 since the shape recognition unit 20 has the imaging device 21, even if an unknown part 2 to be inspected is to be inspected, its contour can be accurately recognized. In other words, when acquiring the shape information of the inspection target component 2, the contour can be efficiently recognized without relying on the information prepared in advance. Accordingly, the side surface 2b in particular can be wiped accurately along the contour.
  • the area X larger than the inspection target part 2 is set as the wiping area, it is possible to prevent the wiping off of the penetrating liquid by the wiping unit 40 . This is particularly effective when the inspection target component 2 has a complicated shape.
  • the area X including the shape of the inspection target component 2 has a simple shape.
  • the area X may be set in a polygonal shape, a circular shape, or the like, in addition to the rectangular shape.
  • finishing wiping unit 42 can wipe off the unwiped portion of the rough wiping unit 41, it is possible to suppress the unwiping portion of the excess penetrant liquid.
  • the water-repellent member 41a of the rough wiping unit 41 can be used continuously a plurality of times without being replaced for each inspection, inspection efficiency can be improved.
  • the finishing wiping unit 42 has the water absorbing member 42a, the surplus penetrating liquid can be more reliably wiped off by the water absorbing member 42a.
  • the wiping unit 40 is controlled such that the inspection object part 2 is wiped in a plurality of passes, and the current pass sweeps out the penetrating liquid toward the next pass, excess penetrating liquid does not flow to the already wiped portion. can be suppressed, and excess penetrant left unwiped can be suppressed. Therefore, erroneous detection of penetrant liquid can be suppressed, and inspection accuracy can be improved.
  • the wiping unit 40 is controlled so as to wipe off the penetrating liquid not only on the upper surface (inspection surface) 2a of the inspection target component 2, but also on the side surface 2b adjacent to the upper surface 2a, the developer is applied to the upper surface (inspection surface). Since it is possible to prevent the penetrant from seeping out from the side surface 2b adjacent to the upper surface (inspection surface) 2a when the penetrant is applied to the surface 2a, erroneous detection of the penetrant can be suppressed.
  • the shape recognition unit 20 has a reader 22 for reading the shape code prepared for each inspection target part 2 .
  • the shape information on the database stored in the storage unit 62 may be obtained by reading the shape code prepared for each inspection object component 2 with the reading device 22 .
  • the shape code can be a barcode, QR code, or the like. If the shape recognition of the inspection target part 2 is not automatically performed, the operator inputs the shape information obtained by measuring the inspection target part 2 from the input unit 61 .
  • the shape of the inspection target component 2 can be obtained accurately and easily.
  • the table 10 has a height h greater than the imaging resolution d (h>d).
  • the imaging resolution d is the resolution in the thickness direction of the inspection target component 2 and is the minimum value at which the imaging device 21 can clearly recognize the contour of the inspection target component 2 .
  • the imaging resolution d distance resolution
  • the height of the table 10 may be set to 10 mm or more.
  • the mounting table 10 does not have the first fixing clamp 12 (see FIG. 1) and the three second fixing clamps 13, and the part to be inspected 2 does not come into contact with the side surface 2b.
  • the table 10 is cylindrical, and is arranged so as to be hidden under the inspection target component 2 in a plan view (see broken line). In this manner, the imaging device 21 of the shape recognition unit 20 can recognize the outline (inner shape and outer shape) of the inspection target component 2 without imaging the table 10 .
  • the table 10 may have magnetism on the upper surface 11 for fixing the part 2 to be inspected.
  • the pedestal 10 may be made to be able to adjust the strength of magnetism like an electromagnetic chuck.
  • the method of fixing the inspection target component 2 to the mounting table 10 is not limited to the method using magnetism, and any method can be adopted.
  • the shape recognition unit 20, the first application unit 30, the wiping unit 40, and the second application unit 50 are not replaced, but four arms 5 having each may be prepared.
  • the wiping by the rough wiping unit 41 and the wiping by the finish wiping unit 42 do not necessarily have to be performed once.
  • the wiping by the rough wiping unit 41 may be omitted. That is, only wiping by the finishing wiping unit 42 may be performed. Further, wiping may be performed three times or more, such as performing wiping twice by the finishing wiping unit 42 after performing wiping by the rough wiping unit 41 once.

Abstract

A dye penetrant flaw inspecting device 1 comprises: a stand 10 for fixing an inspection target component 2; a shape recognition unit 20 for automatically recognizing the shape of the inspection target component 2; a first application unit 30 for applying a penetrant for dyeing onto the inspection target component 2; a wiping unit 40 for wiping the penetrant from the inspection target component 2; a second application unit 50 for applying a developing solution onto the inspection target component 2; and a control device 60 for sequentially operating the shape recognition unit 20, the first application unit 30, the wiping unit 40, and the second application unit 50. The control device 60 controls the wiping unit 40 to wipe an upper surface 2a and a side surface 2b of the inspection target component 2 in accordance with the shape of the inspection target component 2 recognized by the shape recognition unit 20.

Description

染色浸透探傷検査装置および染色浸透探傷検査方法Dye Penetrant Inspection Apparatus and Dye Penetrant Inspection Method
　本開示は、染色浸透探傷検査装置および染色浸透探傷検査方法に関する。 The present disclosure relates to a dye penetrant inspection device and a dye penetrant inspection method.
　検査対象部品の表面の傷を検査する浸透探傷検査が知られている。浸透探傷検査では、検査対象部品の表面に浸透液を塗布し、傷に浸透液を浸透させる。次いで、傷の中の浸透液を残してそれ以外の浸透液（余剰浸透液）を除去する。そして、傷の中の浸透液を検出することで、検査対象部品の表面の傷の有無を検査する。 Penetrant inspection is known for inspecting the surface of parts to be inspected for flaws. In the penetrant inspection, a penetrant is applied to the surface of the part to be inspected so that the penetrant penetrates into the flaws. Next, leaving the penetrant in the wound, the remaining penetrant (surplus penetrant) is removed. Then, by detecting the penetrating liquid in the scratches, the presence or absence of scratches on the surface of the component to be inspected is inspected.
　特許文献１には、紫外線に反応する蛍光性を有する浸透液を使用した蛍光浸透探傷検査が開示されている。蛍光浸透探傷検査では、傷の中の浸透液を検出する際に紫外線を照射し、蛍光性を有する浸透液を検出する。 Patent Document 1 discloses a fluorescent penetrant inspection that uses a penetrant liquid that has fluorescence that reacts to ultraviolet rays. In the fluorescent penetrant inspection, ultraviolet rays are irradiated to detect the penetrant liquid in the flaw, and the penetrant liquid having fluorescence is detected.
特開２０１５－１５８４０８号公報JP 2015-158408 A
　上記蛍光浸透探傷検査では、装置の構造上、検査対象部品の大きさに制限があり、大型の検査対象部品の検査には適さない。これに対し、検査対象部品の大きさの制限が緩和された他の浸透探傷検査として、染色性を有する浸透液を使用する染色浸透探傷検査が知られている。染色浸透探傷検査では、検査対象部品の表面に浸透液を塗布し、傷に浸透液を浸透させる。次いで、検査対象部品の表面に現像液を塗布し、現像液によって傷の中の浸透液を吸い出す。傷がある場合には浸透液によって指示模様が形成される。 　In the above fluorescent penetrant inspection, the size of the parts to be inspected is limited due to the structure of the equipment, and it is not suitable for inspection of large parts to be inspected. On the other hand, as another type of penetrant inspection in which the restrictions on the size of parts to be inspected are relaxed, there is known a dye penetrant inspection that uses a dyeable penetrant. In the dye penetrant inspection, a penetrant is applied to the surface of the part to be inspected so that the penetrant penetrates into the flaws. Next, a developing solution is applied to the surface of the part to be inspected, and the penetrating solution in the scratches is sucked out by the developing solution. If there is a scratch, the penetrant will form an indicator pattern.
　染色浸透探傷検査では、傷の中の浸透液を残してそれ以外の浸透液（余剰浸透液）を拭き取ることが必要である。一般に、余剰浸透液の拭き取り作業はウエスを用いて人の手によって行われる。しかし、検査対象部品ごとに形状は異なり、拭き取りの力加減も難しく、熟練したスキルが必要であり、素人が行うと検査品質にばらつきが生じる。また、浸透液が傷に浸透するまでの待機時間や現像液が浸透液を吸い出すまでの待機時間が必要であるため、熟練したスキルをもつ人員が待機時間中拘束される非効率な現状となっている。 In the dye penetrant inspection, it is necessary to leave the penetrant in the wound and wipe off the other penetrant (surplus penetrant). In general, the work of wiping off the excess penetrant liquid is performed manually using a waste cloth. However, the shape of each part to be inspected is different, it is difficult to adjust the wiping force, and skilled skills are required. In addition, waiting time is required for the penetrant to penetrate the wound and for the developer to absorb the penetrant. ing.
　本開示は、安定した検査品質の自動化された染色浸透探傷検査装置および染色浸透探傷検査方法を提供することを課題とする。 An object of the present disclosure is to provide an automated dye penetrant inspection apparatus and dye penetrant inspection method with stable inspection quality.
　本開示の第１の態様は
　検査対象部品を固定する置台と、
　前記検査対象部品の形状を自動的に認識する形状認識ユニットと、
　前記検査対象部品に染色用の浸透液を塗布する第１塗布ユニットと、
　前記検査対象部品から浸透液を拭き取る拭き取りユニットと、
　前記検査対象部品に現像液を塗布する第２塗布ユニットと、
　前記形状認識ユニット、前記第１塗布ユニット、前記拭き取りユニット、および前記第２塗布ユニットを順に動作させる制御装置と
　を備え、
　前記制御装置は、前記形状認識ユニットで認識した前記検査対象部品の形状に応じて前記検査対象部品の上面および側面を拭き取るように前記拭き取りユニットを制御する、染色浸透探傷検査装置を提供する。 A first aspect of the present disclosure includes: a table for fixing a part to be inspected;
a shape recognition unit that automatically recognizes the shape of the part to be inspected;
a first application unit that applies a dyeing penetrant to the inspection object part;
a wiping unit for wiping the penetrant liquid from the part to be inspected;
a second coating unit for coating the component to be inspected with a developer;
a control device that sequentially operates the shape recognition unit, the first application unit, the wiping unit, and the second application unit,
The control device provides a dye penetrant inspection apparatus that controls the wiping unit so as to wipe off the upper surface and side surfaces of the inspection object part according to the shape of the inspection object part recognized by the shape recognition unit.
　この構成によれば、制御装置によって、形状認識ユニット、第１塗布ユニット、拭き取りユニット、および第２塗布ユニットの動作を制御しているため、染色浸透探傷検査を自動的に実行できる。従って、人手を要することなく、染色浸透探傷検査を効率的に実現できる。また、検査対象部品が変更された場合でも形状認識ユニットによって検査対象部品の形状を自動的に認識できるため、検査対象部品が変更された場合でも安定した検査品質を確保できる。浸透液の拭き取りでは、上面だけでなく側面も拭き取るので、傷の誤検出を抑制できる。特に、検査対象部品の側面を拭き取る場合には、平面視における検査対象部品の輪郭を認識する必要があるため、形状認識ユニットが有効に機能する。また、人手を要する場合に比べて浸透液の拭き取り加減を安定させることができるため、検査品質を安定させることができる。なお、上記染色浸透探傷検査は、完全に自動化される必要はなく、一部の工程は人手によって行われてもよい。例えば、浸透液の検出工程などは目視で判断されてもよい。 According to this configuration, the control device controls the operations of the shape recognition unit, the first application unit, the wiping unit, and the second application unit, so the dye penetrant inspection can be automatically performed. Therefore, the dye penetrant inspection can be efficiently realized without manpower. In addition, even if the part to be inspected is changed, the shape recognition unit can automatically recognize the shape of the part to be inspected, so even if the part to be inspected is changed, stable inspection quality can be ensured. In wiping off the penetrating liquid, not only the top surface but also the side surfaces are wiped, so erroneous detection of scratches can be suppressed. In particular, when wiping off the side surface of a part to be inspected, it is necessary to recognize the outline of the part to be inspected in plan view, so the shape recognition unit functions effectively. In addition, since the degree of wiping of the penetrant liquid can be stabilized compared to the case where manual labor is required, inspection quality can be stabilized. The dye penetrant inspection need not be completely automated, and some steps may be performed manually. For example, the penetrant detection step may be determined visually.
　前記形状認識ユニットは、前記検査対象部品の輪郭を認識するための撮像装置を有してもよい。 The shape recognition unit may have an imaging device for recognizing the contour of the inspection target part.
　この構成によれば、未知の検査対象部品を検査対象としても正確にその輪郭を認識できる。換言すれば、検査対象部品の形状情報を取得する際に、予め用意した情報によらずに効率的に輪郭を認識できる。従って、当該輪郭に沿って特に側面を正確に拭き取ることができる。 According to this configuration, even if an unknown part to be inspected is to be inspected, its contour can be accurately recognized. In other words, when acquiring the shape information of the inspection target component, the contour can be efficiently recognized without relying on the information prepared in advance. Therefore, the sides can be wiped exactly along the contour.
　前記撮像装置は、前記検査対象部品を上方から撮像するように配置されたＴｏＦ（Time of Flight）カメラであってもよく、
　前記検査対象部品の厚みは、前記撮像装置の撮像分解能よりも小さくてもよく、
　前記置台は、前記撮像分解能よりも大きな高さを有し、平面視において前記検査対象部品に隠れるように配置されてもよい。 The imaging device may be a ToF (Time of Flight) camera arranged to image the inspection target part from above,
The thickness of the part to be inspected may be smaller than the imaging resolution of the imaging device,
The pedestal may have a height higher than the imaging resolution, and may be arranged so as to be hidden behind the inspection target component in plan view.
　この構成によれば、厚みの薄い検査対象部品に対する正確な形状認識を実現できる。具体的には、置台は、撮像分解能よりも大きな高さを有し、平面視において検査対象部品に隠れるように配置されるため、ＴｏＦカメラによる撮像によって置台は撮像されずに検査対象部品の輪郭を正確に撮像できる。ここで、ＴｏＦカメラの撮像分解能とは、検査対象部品の厚み方向に関する分解能であり、ＴｏＦカメラで検査対象部品の輪郭を明確に認識できる最小値である。例えば、ＴｏＦカメラの撮像分解能（距離分解能）は一般に１０ｍｍ程度であるため、検査対象部品の厚みが１０ｍｍ未満の場合に上記構成が有効に機能する。 According to this configuration, it is possible to realize accurate shape recognition for thin parts to be inspected. Specifically, the table has a height higher than the imaging resolution and is arranged so as to be hidden by the part to be inspected in plan view. can be captured accurately. Here, the imaging resolution of the ToF camera is the resolution in the thickness direction of the part to be inspected, and is the minimum value at which the contour of the part to be inspected can be clearly recognized by the ToF camera. For example, since the imaging resolution (distance resolution) of a ToF camera is generally about 10 mm, the above configuration functions effectively when the thickness of the part to be inspected is less than 10 mm.
　前記形状認識ユニットは、前記検査対象部品ごとに用意された形状コードを読み取るための読取装置を有してもよい。 The shape recognition unit may have a reading device for reading a shape code prepared for each of the parts to be inspected.
　この構成によれば、検査対象部品の形状を正確かつ容易に取得できる。ここで、形状コードは、例えば検査対象部品の形状を示すバーコードまたはＱＲコード（登録商標）などであり得る。 According to this configuration, the shape of the part to be inspected can be obtained accurately and easily. Here, the shape code may be, for example, a bar code or QR code (registered trademark) indicating the shape of the part to be inspected.
　前記制御装置は、前記形状認識ユニットで認識した前記検査対象部品の形状を包含する領域に前記拭き取りユニットの拭き取りパスを設定してもよい。 The control device may set the wiping path of the wiping unit to an area including the shape of the inspection target part recognized by the shape recognition unit.
　この構成によれば、拭き取りユニットによる浸透液の拭き取り漏れを抑制できる。特に、検査対象部品が複雑な形状を有する場合に有効である。検査対象部品の形状を包含する領域は、簡易な形状にすることが好ましい。例えば、当該領域は、矩形または円形などに設定されてもよい。 According to this configuration, it is possible to prevent the wiping unit from wiping off the penetrating liquid. In particular, it is effective when the part to be inspected has a complicated shape. It is preferable that the area including the shape of the part to be inspected has a simple shape. For example, the area may be set to be rectangular, circular, or the like.
　本開示の第２の態様は、
　検査対象部品を固定する置台と、
　前記検査対象部品の形状を自動的に認識する形状認識ユニットと、
　前記検査対象部品に染色用の浸透液を塗布する第１塗布ユニットと、
　前記検査対象部品から浸透液を拭き取る拭き取りユニットと、
　前記検査対象部品に現像液を塗布する第２塗布ユニットと、
　を備える染色浸透探傷検査装置において、
　前記形状認識ユニット、前記第１塗布ユニット、前記拭き取りユニット、および前記第２塗布ユニットを順に自動的に動作させるとともに、前記形状認識ユニットで認識した前記検査対象部品の形状に応じて前記拭き取りユニットの拭き取りパスを生成することを含む、染色浸透探傷検査方法を提供する。 A second aspect of the present disclosure includes:
a stand for fixing the parts to be inspected;
a shape recognition unit that automatically recognizes the shape of the part to be inspected;
a first application unit that applies a dyeing penetrant to the inspection object part;
a wiping unit for wiping the penetrant liquid from the part to be inspected;
a second coating unit for coating the component to be inspected with a developer;
In a dye penetrant inspection device comprising
The shape recognition unit, the first application unit, the wiping unit, and the second application unit are automatically operated in order, and the wiping unit is operated according to the shape of the inspection target component recognized by the shape recognition unit. A dye penetrant inspection method is provided that includes generating a wiping pass.
　本開示によれば、安定した検査品質の自動化された染色浸透探傷検査装置および染色浸透探傷検査方法を提供できる。 According to the present disclosure, it is possible to provide an automated dye penetrant inspection apparatus and dye penetrant inspection method with stable inspection quality.
置台に配置された検査対象部品の平面図。FIG. 2 is a plan view of a component to be inspected placed on a stand; 本開示の一実施形態に係る染色浸透探傷検査装置の模式的な第１側面図。1 is a schematic first side view of a dye penetrant inspection apparatus according to an embodiment of the present disclosure; FIG. 本開示の一実施形態に係る染色浸透探傷検査装置の模式的な第２側面図。FIG. 2 is a schematic second side view of a dye penetrant inspection apparatus according to an embodiment of the present disclosure; 本開示の一実施形態に係る染色浸透探傷検査装置の模式的な第３側面図。FIG. 3 is a schematic third side view of the dye penetrant inspection apparatus according to one embodiment of the present disclosure; 本開示の一実施形態に係る染色浸透探傷検査装置の模式的な第４側面図。4 is a schematic fourth side view of the dye penetrant inspection apparatus according to one embodiment of the present disclosure; FIG. 本開示の一実施形態に係る染色浸透探傷検査装置の模式的な第５側面図。FIG. 5 is a schematic fifth side view of the dye penetrant inspection apparatus according to one embodiment of the present disclosure; 制御装置のブロック図。A block diagram of a control device. 浸透液が塗布された検査対象部品の斜視図。FIG. 2 is a perspective view of a part to be inspected to which a penetrant is applied; 拭き取りパスを示す検査対象部品の平面図。FIG. 4 is a plan view of a part under test showing wiping paths; 図９の領域Ｘの拭き取りパスを示す模式図。FIG. 10 is a schematic diagram showing a wiping pass of the region X in FIG. 9; 浸透液が拭き取られた検査対象部品の斜視図。FIG. 4 is a perspective view of the part to be inspected from which the penetrant liquid has been wiped off; 本開示の一実施形態に係る染色浸透探傷検査方法のフローチャート。4 is a flow chart of a dye penetrant inspection method according to an embodiment of the present disclosure; 第１変形例における染色浸透探傷検査装置の模式的な側面図。The typical side view of the dye penetrant inspection apparatus in the 1st modification. 第２変形例における染色浸透探傷検査装置の模式的な側面図。The typical side view of the dye penetrant inspection apparatus in the 2nd modification. 第２変形例における置台に配置された検査対象部品の平面図。The top view of the inspection object component arrange|positioned at the stand in a 2nd modification.
　以下、添付図面を参照して本開示の実施形態を説明する。 Hereinafter, embodiments of the present disclosure will be described with reference to the accompanying drawings.
　図１は、置台１０に配置された検査対象部品２の平面図である。 FIG. 1 is a plan view of the inspection target component 2 placed on the stand 10. FIG.
　本実施形態では、検査対象部品２の表面の傷の有無を検査する染色浸透探傷検査装置１について説明する。 In this embodiment, a dye penetrant inspection apparatus 1 that inspects the presence or absence of flaws on the surface of an inspection target component 2 will be described.
　本実施形態における検査対象部品２は、軸受などに使用されるウェアリングである。検査対象部品２は、滑らかな表面を有する環状の金属部材である。ただし、検査対象部品２の態様は特に限定されず、本実施形態の染色浸透探傷検査装置１は任意の部品を対象とし得る。 The parts 2 to be inspected in this embodiment are wear rings used for bearings and the like. The inspected part 2 is an annular metal member with a smooth surface. However, the aspect of the inspection target component 2 is not particularly limited, and the dye penetrant inspection apparatus 1 of the present embodiment can target any component.
　図２～６は、本開示の一実施形態に係る染色浸透探傷検査装置１の模式的な第１～５側面図である。 2 to 6 are schematic first to fifth side views of the dye penetrant inspection apparatus 1 according to one embodiment of the present disclosure.
　染色浸透探傷検査装置１は、６軸駆動可能な多関節型のアーム５を有している。アーム５は、先端のユニットを交換可能に構成されている。図２では、アーム５の先端に形状認識ユニット２０が取り付けられている。図３では、アーム５の先端に第１塗布ユニット３０が取り付けられている。図４，５では、アーム５の先端に拭き取りユニット４０が取り付けられている。図６では、アーム５の先端に第２塗布ユニット５０が取り付けられている。形状認識ユニット２０、第１塗布ユニット３０、拭き取りユニット４０、および第２塗布ユニット５０は、自動的に交換されてもよいし、人手によって交換されてもよい。 The dyeing penetrant inspection apparatus 1 has an articulated arm 5 that can be driven on six axes. The arm 5 is configured such that the tip unit can be replaced. In FIG. 2, a shape recognition unit 20 is attached to the tip of the arm 5. As shown in FIG. In FIG. 3, the first application unit 30 is attached to the tip of the arm 5. As shown in FIG. A wiping unit 40 is attached to the tip of the arm 5 in FIGS. In FIG. 6, the second coating unit 50 is attached to the tip of the arm 5. As shown in FIG. The shape recognition unit 20, the first application unit 30, the wiping unit 40, and the second application unit 50 may be replaced automatically or manually.
　また、染色浸透探傷検査装置１は、置台１０と、形状認識ユニット２０と、第１塗布ユニット３０と、拭き取りユニット４０と、第２塗布ユニット５０と、制御装置６０とを有している。 The dye penetrant inspection apparatus 1 also has a stand 10 , a shape recognition unit 20 , a first application unit 30 , a wiping unit 40 , a second application unit 50 and a control device 60 .
　置台１０は、検査対象部品２を固定する機能を有している。本実施形態では、置台１０は、平坦な上面１１と、上面１１に載置された検査対象部品２の水平方向の移動を規制する第１固定クランプ１２および３つの第２固定クランプ１３とを有している。第１固定クランプ１２は、平面視において置台１０の中心に向かってＶ字形に開いた形状を有している。３つの第２固定クランプ１３は、第１固定クランプ１２とともに検査対象部品２を挟み込むように配置されている。３つの第２固定クランプ１３は、磁性を有し、所定の金属を吸着できるようになっている。 The pedestal 10 has a function of fixing the part 2 to be inspected. In this embodiment, the table 10 has a flat upper surface 11, and a first fixing clamp 12 and three second fixing clamps 13 for restricting horizontal movement of the inspection target component 2 placed on the upper surface 11. doing. The first fixing clamp 12 has a V-shaped opening toward the center of the table 10 in plan view. The three second fixing clamps 13 are arranged so as to sandwich the inspection target component 2 together with the first fixing clamps 12 . The three second fixing clamps 13 have magnetism and are capable of attracting predetermined metals.
　置台１０の上記構造は一例であり、当該構造に限定されるものではない。代替的な構造については後述する変形例にて説明する。 The above structure of the stand 10 is an example, and is not limited to this structure. Alternative structures are described in variations below.
　図２を参照して、形状認識ユニット２０は、検査対象部品２の形状を自動的に認識する。本実施形態では、形状認識ユニット２０は、検査対象部品２の輪郭を認識するための撮像装置２１を有している。撮像装置２１は、検査対象部品２を上方から撮像するように配置される。また、必要に応じてアーム５を動かして撮影方向を変更してもよい。なお、検査対象部品２を置台１０に固定するのではなく、検査対象部品２を動かすことにより撮影方向を変更してもよい。また、撮像装置２１は、アーム５に代えて一般的な三脚によって固定されてもよい。 With reference to FIG. 2, the shape recognition unit 20 automatically recognizes the shape of the part 2 to be inspected. In this embodiment, the shape recognition unit 20 has an imaging device 21 for recognizing the contour of the inspection target component 2 . The imaging device 21 is arranged so as to image the inspection target component 2 from above. Also, the imaging direction may be changed by moving the arm 5 as necessary. Instead of fixing the inspection target component 2 to the table 10, the imaging direction may be changed by moving the inspection target component 2. FIG. Also, the imaging device 21 may be fixed by a general tripod instead of the arm 5 .
　本実施形態では、撮像装置２１は、ＴｏＦ（Time of Flight）カメラである。ＴｏＦカメラは、光パルスを出力し、その光パルスを受けた検査対象部品２からの散乱光を受光し、光パルスの発生時刻と受光時刻の時間差を算出することで、検査対象部品２までの距離を計測する。このような計測処理を画素単位で行う形状認識処理プログラムにより、検査対象部品２の形状（輪郭）を取得できる。 In this embodiment, the imaging device 21 is a ToF (Time of Flight) camera. The ToF camera outputs a light pulse, receives scattered light from the inspected part 2 that received the light pulse, and calculates the time difference between the time when the light pulse is generated and the time when the light pulse is received. Measure distance. The shape (contour) of the inspection target component 2 can be obtained by a shape recognition processing program that performs such measurement processing on a pixel-by-pixel basis.
　また、上記形状認識処理プログラムにおいて、より鮮明に検査対象部品２の形状を認識できるように、メディアンフィルタまたは膨張収縮処理などのノイズ除去処理が実行されてもよい。また、ソーベルフィルタなどの輪郭検出処理を実行することで輪郭のみを強調して抽出してもよい。さらに、得られた輪郭が強調された画像に対して、二値化処理と重心計算処理を行い、検査対象部品２の輪郭を精度よく検出してもよい。 In addition, in the shape recognition processing program, noise removal processing such as a median filter or expansion/contraction processing may be performed so that the shape of the inspection target part 2 can be recognized more clearly. Also, only the contour may be emphasized and extracted by performing contour detection processing such as a Sobel filter. Further, the obtained contour-enhanced image may be subjected to binarization processing and centroid calculation processing to accurately detect the contour of the inspection target component 2 .
　なお、撮像装置２１は、ＴｏＦカメラに限らず、検査対象部品２を撮像できる任意の装置であり得る。いずれの場合でも撮像装置２１によって撮像した画像から公知の形状認識処理プログラムにより検査対象部品２の形状を取得できる。 Note that the imaging device 21 is not limited to the ToF camera, and may be any device capable of imaging the inspection target component 2 . In either case, the shape of the inspection target component 2 can be acquired from the image captured by the imaging device 21 by a known shape recognition processing program.
　図３を参照して、第１塗布ユニット３０は、検査対象部品２に染色用の浸透液を塗布する。浸透液は、検出しやすい色（例えば赤色）の染色液である。本実施形態では、第１塗布ユニット３０は、浸透液を噴霧するスプレー缶３１を有している。代替的には、スプレー缶３１のように使い切った後に交換を要するものではなく、詳細を図示しないが、浸透液を貯留するタンクを設け、当該タンクの浸透液を噴霧するディスペンサー型であってもよい。ディスペンサー型の場合、内部で浸透液が固着するのを防ぐため、浸透液の塗布作業以外の時間帯においても浸透液を所定の時間間隔で所定流量を吐出させるようにしてもよい。また、検査対象部品２に塗布する直前に所定流量を吐出させてもよい。これは以降のディスペンサー型のものにおいても同様である。 With reference to FIG. 3, the first application unit 30 applies the penetrant liquid for dyeing to the inspection target component 2 . The penetrant is a staining liquid with a color that is easy to detect (eg, red). In this embodiment, the first application unit 30 has a spray can 31 for spraying the penetrant. Alternatively, unlike the spray can 31, it does not need to be replaced after it is used up, and although details are not shown, a tank that stores the penetrant is provided and a dispenser type that sprays the penetrant in the tank. good. In the case of the dispenser type, in order to prevent the penetrant from sticking inside, the penetrant may be discharged at a predetermined flow rate at predetermined time intervals even during a period other than the penetrant application operation. Alternatively, a predetermined flow rate may be discharged immediately before applying to the inspection target component 2 . This is the same for the following dispenser type ones.
　染色液は、形状認識ユニット２０によって形状認識された検査対象部品２の検査面（例えば上面）の全体に塗布される。染色液の塗布漏れのないように、染色液の塗布領域は、平面視において形状認識ユニット２０によって形状認識された領域よりも広い領域に設定されてもよい。 The staining liquid is applied to the entire inspection surface (for example, the upper surface) of the inspection target component 2 whose shape has been recognized by the shape recognition unit 20 . The application area of the staining liquid may be set to a wider area than the area whose shape is recognized by the shape recognition unit 20 in a plan view so that there is no omission of the application of the staining liquid.
　図４，５を参照して、拭き取りユニット４０は、検査対象部品２の上面２ａおよび側面２ｂから浸透液を拭き取る。本実施形態では、拭き取りユニット４０は、粗拭きユニット４１と、仕上げ拭きユニット４２とを有している。 4 and 5, the wiping unit 40 wipes the penetrating liquid from the upper surface 2a and the side surface 2b of the inspection target component 2. In this embodiment, the wiping unit 40 has a rough wiping unit 41 and a finish wiping unit 42 .
　図４に示す粗拭きユニット４１は、浸透液を相対的に粗く拭き取る。本実施形態では、粗拭きユニット４１は、浸透液を拭き取る撥水性部材４１ａを有している。撥水性部材４１ａは、浸透液を吸収し難い材質からなり、例えば自動車のワイパーに使用される弾性部材（樹脂製シート）などであり得る。粗拭きユニット４１による拭き取りでは、撥水性部材４１ａの弾性を利用して検査対象部品２の表面に対して押し付け力を付与した状態で浸透液を拭き取る。 The rough wiping unit 41 shown in FIG. 4 relatively roughly wipes the penetrant. In this embodiment, the rough wiping unit 41 has a water-repellent member 41a that wipes off the penetrant. The water-repellent member 41a is made of a material that does not easily absorb the penetrating liquid, and may be, for example, an elastic member (resin sheet) used for automobile wipers. In the wiping by the rough wiping unit 41, the penetrant liquid is wiped off while a pressing force is applied to the surface of the inspection target component 2 using the elasticity of the water repellent member 41a.
　図５に示す仕上げ拭きユニット４２は、浸透液を相対的に細かく拭き取る。本実施形態では、仕上げ拭きユニット４２は、浸透液を拭き取る吸水性部材４２ａを有している。吸水性部材４２ａは、浸透液を吸収し易い材質からなり、例えばいわゆるウエスと称される布などであり得る。また、仕上げ拭きユニット４２は、吸水性部材４２ａを固定するための樹脂製の弾性部材４２ｂを有している。弾性部材４２ｂによって、仕上げ拭きユニット４２による拭き取りにおいても粗拭きユニット４１による拭き取りと同様に、検査対象部品２の表面に対して押し付け力を付与した状態で浸透液を拭き取ることができる。 The finish wiping unit 42 shown in FIG. 5 wipes off the penetrant relatively finely. In this embodiment, the finish wiping unit 42 has a water absorbent member 42a that wipes off the penetrant. The water absorbing member 42a is made of a material that easily absorbs the penetrating liquid, and may be, for example, a so-called waste cloth. The finish wiping unit 42 also has a resin elastic member 42b for fixing the water absorbent member 42a. Due to the elastic member 42b, in the wiping by the finish wiping unit 42 as well as in the wiping by the rough wiping unit 41, the penetrant can be wiped off while applying a pressing force to the surface of the inspection target component 2. FIG.
　図６を参照して、第２塗布ユニット５０は、検査対象部品２に現像液を塗布する。現像液は、浸透液を傷から吸い出し、指示模様を形成する性質を有している。本実施形態では、第２塗布ユニット５０は、現像液を噴霧するスプレー缶５１を有している。代替的には、第２塗布ユニット５０もまたディスペンサー型であってもよい。 With reference to FIG. 6, the second application unit 50 applies the developer to the inspection target component 2 . The developer has the property of sucking the penetrant out of the wound and forming an indicator pattern. In this embodiment, the second coating unit 50 has a spray can 51 for spraying the developer. Alternatively, the second application unit 50 may also be of the dispenser type.
　現像液は、染色液と同様に形状認識ユニット２０によって形状認識された検査対象部品２の検査面の全体に塗布される。現像液の塗布領域は、平面視おいて形状認識ユニット２０によって形状認識された領域よりも広い領域に設定されてもよい。 The developing solution is applied to the entire inspection surface of the inspection target component 2 whose shape has been recognized by the shape recognition unit 20 in the same manner as the staining solution. The application area of the developer may be set to be wider than the area whose shape is recognized by the shape recognition unit 20 in plan view.
　図７は、制御装置６０のブロック図である。 FIG. 7 is a block diagram of the control device 60. FIG.
　制御装置６０は、ＣＰＵ(Central Processing Unit)、ＲＡＭ（Random Access Memory）、およびＲＯＭ（Read Only Memory）等のハードウェアと、それらに実装されたソフトウェアとにより構成されている。制御装置６０は、入力部６１と、記憶部６２と、制御部６３とを有している。 The control device 60 is composed of hardware such as a CPU (Central Processing Unit), RAM (Random Access Memory), and ROM (Read Only Memory), and software installed on them. The control device 60 has an input section 61 , a storage section 62 and a control section 63 .
　入力部６１は、染色浸透探傷検査装置１に対する入力データを取得する部分である。入力データは、入力部６１で生成されてもよいし、入力部６１外から受け取られてもよい。入力部６１は、例えば、キーボード、マウス、タッチパネル等によって構成される。本実施形態では、入力部６１によって、染色浸透探傷検査における必要な設定を取得する。 The input unit 61 is a part that acquires input data for the dye penetrant inspection apparatus 1 . The input data may be generated by the input unit 61 or received from outside the input unit 61 . The input unit 61 is composed of, for example, a keyboard, mouse, touch panel, and the like. In this embodiment, the input unit 61 acquires settings necessary for the dye penetrant inspection.
　記憶部６２は、制御部６３で稼働するプログラムや染色浸透探傷検査に必要なパラメータデータ等が記録されている。 The storage unit 62 stores the program that runs on the control unit 63 and the parameter data necessary for the dye penetrant inspection.
　制御部６３は、例えば、ソフトウェアと協働して所定の機能を実現するＣＰＵまたはＭＰＵ(Micro Processing Unit）を含む。制御部６３は、記憶部６２に格納されたデータやプログラムを読み出して種々の演算処理を行うことで、所定の機能を実現する。制御部６３によって実行されるプログラムは、所定の通信規格にしたがい通信を行う通信部等から提供されてもよいし、可搬性を有する記録媒体に格納されていてもよい。 The control unit 63 includes, for example, a CPU or MPU (Micro Processing Unit) that cooperates with software to realize a predetermined function. The control unit 63 reads data and programs stored in the storage unit 62 and performs various arithmetic processing, thereby realizing predetermined functions. The program executed by the control unit 63 may be provided by a communication unit or the like that performs communication according to a predetermined communication standard, or may be stored in a portable recording medium.
　制御部６３は、演算処理および装置全体の制御を行う。制御部６３は、機能的構成として、形状認識ユニット制御部６３ａと、第１塗布ユニット制御部６３ｂと、拭き取りユニット制御部６３ｃと、第２塗布ユニット制御部６３ｄとを有している。 The control unit 63 performs arithmetic processing and controls the entire device. The controller 63 has, as functional configurations, a shape recognition unit controller 63a, a first application unit controller 63b, a wiping unit controller 63c, and a second application unit controller 63d.
　形状認識ユニット制御部６３ａは、形状認識ユニット２０の動作を制御する。形状認識ユニット２０は、当該制御によって、検査対象部品２の形状を認識する。本実施形態では、平面視における検査対象部品２の輪郭を取得する。 The shape recognition unit control section 63a controls the operation of the shape recognition unit 20. The shape recognition unit 20 recognizes the shape of the inspection target component 2 through this control. In this embodiment, the contour of the inspection target component 2 in plan view is acquired.
　第１塗布ユニット制御部６３ｂは、第１塗布ユニット３０の動作を制御する。第１塗布ユニット３０は、当該制御によって、検査対象部品２の所定範囲に浸透液を塗布する。本実施形態では、検査対象部品２の上面２ａを検査面とし、少なくとも上面２ａの全体に浸透液を塗布する。 The first coating unit control section 63b controls the operation of the first coating unit 30. The first application unit 30 applies the penetrant liquid to a predetermined range of the inspection target component 2 under the control. In the present embodiment, the upper surface 2a of the inspection target component 2 is used as the inspection surface, and the penetrating liquid is applied to at least the entire upper surface 2a.
　図８は、浸透液が塗布された検査対象部品２の斜視図である。 FIG. 8 is a perspective view of the inspection target component 2 to which the penetrant is applied.
　図８において、斜線で示される部分が浸透液の付着した部分を示している。検査対象部品２の上面２ａの全体に浸透液を塗布した場合、検査対象部品２の側面２ｂにも部分的に浸透液が付着する。 In FIG. 8, the hatched portion indicates the portion to which the penetrant has adhered. When the penetrant liquid is applied to the entire upper surface 2a of the inspection target component 2, the penetrant liquid partially adheres to the side surface 2b of the inspection target component 2 as well.
　拭き取りユニット制御部６３ｃは、粗拭きユニット４１および仕上げ拭きユニット４２の動作を制御する。拭き取りユニット制御部６３ｃは、粗拭きユニット４１の拭き取りを実行した後に仕上げ拭きユニット４２の拭き取りを実行する。粗拭きユニット４１および仕上げ拭きユニット４２は、当該制御によって、設定されたパスに従って検査対象部品２の表面の浸透液を拭き取る。ここで、「パス」とは、拭き取りの軌跡のことをいう。 The wiping unit control section 63c controls the operations of the rough wiping unit 41 and the finish wiping unit 42. The wiping unit control section 63c executes wiping by the finish wiping unit 42 after executing wiping by the rough wiping unit 41 . The rough wiping unit 41 and the finish wiping unit 42 wipe off the penetrant liquid on the surface of the inspection target component 2 according to the set path by the control. Here, the "path" refers to the trajectory of wiping.
　図９は、拭き取りパスを示す検査対象部品２の平面図である。 FIG. 9 is a plan view of the inspection target component 2 showing the wiping pass.
　拭き取りパスは、検査対象部品２の形状に応じて設定される。 The wiping pass is set according to the shape of the part 2 to be inspected.
　本実施形態では、検査対象部品２が環状であるため、径方向のパスＰ１を設定してもよい。径方向のパスＰ１は周方向に等間隔に設定され、隣接するパスが重複するように設定される。好ましくは、パスＰ１は径方向の内側から外側へ拭き取るように設定される。また、周方向のパスＰ２を設定してもよい。径方向のパスＰ２は径方向に等間隔に設定され、隣接するパスが重複するように設定される。好ましくは、パスＰ２は径方向の内側から外側へ拭き取るように設定される。 In this embodiment, since the inspected part 2 is annular, a path P1 in the radial direction may be set. The paths P1 in the radial direction are set at equal intervals in the circumferential direction, and are set so that adjacent paths overlap. Preferably, the pass P1 is set to wipe radially from the inside to the outside. Alternatively, a circumferential path P2 may be set. The radial paths P2 are set at equal intervals in the radial direction, and are set such that adjacent paths overlap. Preferably, path P2 is set to wipe radially from the inside to the outside.
　代替的には、検査対象部品２の縦方向のパスＰ３を設定してもよいし、横方向のパスＰ４を設定してもよい。 Alternatively, the vertical path P3 of the inspection target part 2 may be set, or the horizontal path P4 may be set.
　図１０は、図９の領域Ｘの拭き取りパスを模式的に示している。なお、拭き取りパスを明瞭に示すために検査対象部品２の図示を省略している。 FIG. 10 schematically shows the wiping pass of region X in FIG. In order to clearly show the wiping pass, the illustration of the inspected part 2 is omitted.
　図１０では、検査対象部品２の拭き取り領域Ｘが設定されている。拭き取り領域Ｘは、形状認識ユニット２０で認識した検査対象部品２の形状を包含する領域として設定される。図示の例では、領域Ｘは矩形に設定されている。 In FIG. 10, the wiping area X of the inspection target component 2 is set. The wiping area X is set as an area that includes the shape of the inspection target component 2 recognized by the shape recognition unit 20 . In the illustrated example, the area X is set to be rectangular.
　領域Ｘにて検査対象部品２の上面２ａをまず拭き取る。拭き取りでは粗拭きを例に説明する。図１０では、粗拭きユニット４１の撥水性部材４１ａが、複数の縦パスＰ３１～Ｐ３３および複数の横パスＰ４１～Ｐ４４とともに図示されている。いずれのパスにおいても、現在のパスは次のパスへ向かって浸透液を掃き出すように粗拭きユニット４１は制御されている。 In the region X, the upper surface 2a of the inspection target component 2 is first wiped off. For wiping, rough wiping will be described as an example. In FIG. 10, the water-repellent member 41a of the rough wiping unit 41 is illustrated together with a plurality of vertical passes P31-P33 and a plurality of horizontal passes P41-P44. In any pass, the rough wiping unit 41 is controlled so that the current pass sweeps the penetrant toward the next pass.
　具体的には、パスＰ３１，Ｐ３２，Ｐ３３の順に領域Ｘの矩形の縦方向に沿って拭き取る際に、パスＰ３１からパスＰ３２へ向かって浸透液を掃き出すように撥水性部材４１ａがパスＰ３１に対して傾斜して配置されている。同様に、パスＰ３２からパスＰ３３へ向かって浸透液を掃き出すように撥水性部材４１ａがパスＰ３２に対して傾斜して配置されている。 Specifically, when the passes P31, P32, and P33 are wiped along the vertical direction of the rectangle of the region X in this order, the water-repellent member 41a moves against the pass P31 so as to sweep out the penetrating liquid from the pass P31 toward the pass P32. are slanted. Similarly, the water-repellent member 41a is arranged to be inclined with respect to the path P32 so as to sweep the penetrating liquid from the path P32 toward the path P33.
　また、パスＰ４１，Ｐ４２，Ｐ４３，Ｐ４４の順に領域Ｘの矩形の横方向に沿って拭き取る際に、パスＰ４１からパスＰ４２へ向かって浸透液を掃き出すように撥水性部材４１ａがパスＰ４１に対して傾斜して配置されている。同様に、パスＰ４２からパスＰ４３へ向かって浸透液を掃き出すように撥水性部材４１ａがパスＰ４２に対して傾斜して配置されている。同様に、パスＰ４３からパスＰ４４へ向かって浸透液を掃き出すように撥水性部材４１ａがパスＰ４３に対して傾斜して配置されている。 Further, when wiping along the horizontal direction of the rectangle of the region X in order of the paths P41, P42, P43, and P44, the water-repellent member 41a moves against the path P41 so as to sweep out the penetrating liquid from the path P41 toward the path P42. placed at an angle. Similarly, the water-repellent member 41a is arranged to be inclined with respect to the path P42 so as to sweep out the penetrating liquid from the path P42 toward the path P43. Similarly, the water-repellent member 41a is arranged to be inclined with respect to the path P43 so as to sweep out the penetrating liquid from the path P43 toward the path P44.
　上記のようにして検査対象部品２の上面２ａを拭き取った後、検査対象部品２の側面２ｂを拭き取る。本実施形態のように環状の検査対象部品２の場合、側面２ｂは内側面と外側面の両方を含む。当該側面２ｂの拭き取りでは、検査対象部品２の輪郭に沿って拭き取りパスが設定される。本実施形態では、検査対象部品２の側面２ｂに沿って円形に拭き取りパスが設定される。また詳細を後述するが、本実施形態では、側面２ｂの上部を拭き取る。このようにして、上面２ａおよび側面２ｂの拭き取りを完了する。 After wiping off the upper surface 2a of the inspection target component 2 as described above, the side surface 2b of the inspection target component 2 is wiped off. In the case of the annular inspected part 2 as in this embodiment, the side surface 2b includes both the inner side surface and the outer side surface. In the wiping of the side surface 2b, a wiping pass is set along the contour of the inspection target component 2. As shown in FIG. In the present embodiment, a circular wiping path is set along the side surface 2b of the part 2 to be inspected. Although the details will be described later, in this embodiment, the upper portion of the side surface 2b is wiped off. Thus, the wiping of the upper surface 2a and the side surface 2b is completed.
　上記では、粗拭きユニット４１を例に拭き取りパスを説明しているが、これは仕上げ拭きユニット４２に対しても同様に適用できる。即ち、仕上げ拭きユニット４２においても上面２ａおよび側面２ｂを同様に拭き取ることができる。 Although the wiping pass is described above using the rough wiping unit 41 as an example, this can also be applied to the finish wiping unit 42 in the same way. That is, the finish wiping unit 42 can similarly wipe the top surface 2a and the side surface 2b.
　また、粗拭きユニット４１と仕上げ拭きユニット４２のパスは同一である必要はない。例えば、仕上げ拭きユニット４２による拭き取りでは、タクトタイムを短縮できるように、一筆書きのパスや往復経路のパスが設定されてもよい。 Also, the paths of the rough wiping unit 41 and the finish wiping unit 42 do not need to be the same. For example, in wiping by the finish wiping unit 42, a single-stroke path or a reciprocating path may be set so as to shorten the tact time.
　図１１は、浸透液が拭き取られた検査対象部品２の斜視図である。 FIG. 11 is a perspective view of the inspection target component 2 from which the penetrant liquid has been wiped off.
　本実施形態では、検査対象部品２の上面（検査面）２ａの全体において浸透液が拭き取られるとともに、上面２ａと隣接する側面２ｂの上部においても浸透液が拭き取られている。好ましくは、上面（検査面）２ａと隣接する側面２ｂの一部を拭き取る場合、拭き取る範囲は上面２ａと側面２ｂとの境界２ｃから数ｍｍ程度である。例えば、図示の例では、上面２ａと側面２ｂとの境界２ｃから５ｍｍ程度拭き取られている（Ｄ＝５ｍｍ）。代替的には、側面２ｂの全体を拭き取ってもよい。 In this embodiment, the penetrating liquid is wiped off from the entire upper surface (inspection surface) 2a of the inspection target component 2, and the upper portion of the side surface 2b adjacent to the upper surface 2a is also wiped off from the penetrating liquid. Preferably, when wiping off part of the side surface 2b adjacent to the upper surface (inspection surface) 2a, the wiping range is about several millimeters from the boundary 2c between the upper surface 2a and the side surface 2b. For example, in the illustrated example, about 5 mm is wiped off from the boundary 2c between the upper surface 2a and the side surface 2b (D=5 mm). Alternatively, the entire side surface 2b may be wiped off.
　第２塗布ユニット制御部６３ｄは、第２塗布ユニット５０の動作を制御する。第２塗布ユニット５０は、当該制御によって、検査対象部品２の所定範囲に現像液を塗布する。本実施形態では、検査対象部品２の上面２ａを検査面とし、少なくとも上面２ａの全体に現像液を塗布する。 The second coating unit control section 63d controls the operation of the second coating unit 50. The second application unit 50 applies the developer to a predetermined range of the inspection target component 2 under the control. In this embodiment, the upper surface 2a of the inspection target component 2 is used as the inspection surface, and the developing solution is applied to at least the entire upper surface 2a.
　図１１は、本実施形態に係る染色浸透探傷検査方法のフローチャートである。 FIG. 11 is a flowchart of the dye penetrant inspection method according to this embodiment.
　染色浸透探傷検査装置１は、図１０に示すフローチャートに従って動作する。 The dye penetrant inspection apparatus 1 operates according to the flowchart shown in FIG.
　染色浸透探傷検査を開始すると（ステップＳ１）、検査対象部品２を置台１０に固定する（ステップＳ２）。そして、検査対象部品２の形状を自動的に認識する（ステップＳ３）。 When the dye penetrant inspection is started (step S1), the part 2 to be inspected is fixed to the stand 10 (step S2). Then, the shape of the inspected part 2 is automatically recognized (step S3).
　検査対象部品２を洗浄する（ステップＳ４）。詳細には、検査対象部品２に塗布装置を用いて洗浄液を吹き付け、表面に付着した油膜や埃等を除去する。塗布装置は、スプレー缶型またはディスペンサー型などであり得る。吹き付け後、清掃拭きユニット(図示せず)をアーム５に装着し、検査対象部品２の表面に付着した洗浄液を拭き取る。なお、清掃拭きユニットとして仕上げ拭きユニット４２が使用されてもよい。 The parts 2 to be inspected are washed (step S4). Specifically, a coating device is used to spray a cleaning liquid onto the inspection target component 2 to remove oil films, dust, and the like adhering to the surface. The application device may be of the spray can type, dispenser type, or the like. After spraying, a cleaning wiping unit (not shown) is attached to the arm 5 to wipe off the cleaning liquid adhering to the surface of the part 2 to be inspected. Note that the finishing wiping unit 42 may be used as the cleaning wiping unit.
　検査対象部品２の表面が乾燥するまで所定時間待機する（ステップＳ５）。代替的には、エアブローなどにより強制的に乾燥させてもよい。 It waits for a predetermined time until the surface of the inspection target part 2 dries (step S5). Alternatively, the drying may be forced by air blowing or the like.
　第１塗布ユニット３０によって検査対象部品２に浸透液を塗布し、浸透液が浸透するまで所定時間待機する（ステップＳ６）。 The first application unit 30 applies the penetrating liquid to the part 2 to be inspected, and waits for a predetermined time until the penetrating liquid permeates (step S6).
　粗拭きユニット４１によって検査対象部品２に塗布された浸透液（余剰浸透液）を拭き取る（ステップＳ７）。このとき、検査対象部品２の面粗度または加工痕状態によって、多少の拭き残し（拭き取りパスに沿って模様が残る程度）があってもよい。また、粗拭きユニット４１による拭き取りでは、パス毎に撥水性部材４１ａに付着した浸透液を清掃する。このとき、図示しない清掃機などを利用して自動的に清掃することで拭き取り後の浸透液の液溜まり（拭き残し）を抑制できる。 The rough wiping unit 41 wipes off the penetrant (surplus penetrant) applied to the inspection target component 2 (step S7). At this time, depending on the surface roughness of the part to be inspected 2 or the state of the processing marks, there may be some wiping residue (a pattern remains along the wiping path). In the wiping by the rough wiping unit 41, the penetrant adhered to the water repellent member 41a is cleaned in each pass. At this time, by automatically cleaning using a cleaner (not shown) or the like, it is possible to suppress accumulation of the penetrating liquid after wiping (unwiped area).
　仕上げ拭きユニット４２によって拭き残しの浸透液（余剰浸透液）を拭き取る（ステップＳ８）。仕上げ拭きユニット４２によって浸透液を拭き取ることで、検査対象部品２に付着した余剰浸透液が完全に除去される。なお、仕上げ拭きユニット４２による拭き取りはウエスなどの吸水性部材４２ａを使用するため、１回ごとに吸水性部材４２ａを交換することが好ましい。 The unwiped penetrant (surplus penetrant) is wiped off by the finishing wiping unit 42 (step S8). By wiping off the penetrating liquid by the finishing wiping unit 42, the surplus penetrating liquid adhering to the inspection target component 2 is completely removed. Since the finishing wiping unit 42 uses a water absorbing member 42a such as a waste cloth, it is preferable to replace the water absorbing member 42a each time.
　第２塗布ユニット５０によって現像液を塗布し、所定時間待機する（ステップＳ９）。検査対象部品２の表面に傷が存在する場合、傷内部に存在する浸透液が現像液へ染み出ることとなる。従って、浸透液が現像液へ染み出るまで待機する。 The developer is applied by the second application unit 50 and waits for a predetermined time (step S9). If there is a scratch on the surface of the inspection target component 2, the penetrating liquid present inside the scratch seeps into the developer. Therefore, it waits until the penetrant seeps into the developer.
　浸透液が現像液へ染み出るか否かを確認し、浸透液を検出する（ステップＳ１０）。浸透液の検出は、目視で判断してもよい。代替的には、撮像装置（図示せず）によって検査対象部品２を撮像し、撮像した画像から浸透液の指示模様を検出するように画像認識を行ってもよい。浸透液が検出された場合（ステップＳ１０：ＹＥＳ）、傷があるものと判断する（ステップＳ１１）。また、浸透液が検出されない場合（ステップＳ１０：ＮＯ）、傷がないものと判断する（ステップＳ１２）。そして、これらの判断の後に検査を終了する（ステップＳ１３）。 It is checked whether the penetrant seeps into the developer, and the penetrant is detected (step S10). Penetrant detection may be determined visually. Alternatively, image recognition may be performed by capturing an image of the inspection target component 2 with an image capturing device (not shown) and detecting the indication pattern of the penetrant from the captured image. If the penetrant is detected (step S10: YES), it is determined that there is a scratch (step S11). If the penetrant is not detected (step S10: NO), it is determined that there is no scratch (step S12). After making these determinations, the inspection is terminated (step S13).
　本実施形態によれば、以下の作用効果を奏する。 According to this embodiment, the following effects are achieved.
　制御装置６０によって、形状認識ユニット２０、第１塗布ユニット３０、拭き取りユニット４０、および第２塗布ユニット５０の動作を制御しているため、染色浸透探傷検査を自動的に実行できる。従って、人手を要することなく、染色浸透探傷検査を効率的に実現できる。また、検査対象部品２が変更された場合でも形状認識ユニット２０によって検査対象部品２の形状を自動的に認識できるため、検査対象部品２が変更された場合でも安定した検査品質を確保できる。浸透液の拭き取りでは、上面２ａだけでなく側面２ｂも拭き取るので、傷の誤検出を抑制できる。特に、検査対象部品２の側面２ｂを拭き取る場合には、平面視における検査対象部品２の輪郭を認識する必要があるため、形状認識ユニット２０が有効に機能する。また、人手を要する場合に比べて浸透液の拭き取り加減を安定させることができるため、検査品質を安定させることができる。 Since the controller 60 controls the operations of the shape recognition unit 20, the first application unit 30, the wiping unit 40, and the second application unit 50, dye penetrant inspection can be automatically performed. Therefore, the dye penetrant inspection can be efficiently realized without manpower. Further, even when the inspection target part 2 is changed, the shape recognition unit 20 can automatically recognize the shape of the inspection target part 2, so that stable inspection quality can be ensured even when the inspection target part 2 is changed. In the wiping of the penetrating liquid, not only the upper surface 2a but also the side surface 2b is wiped, so erroneous detection of scratches can be suppressed. In particular, when wiping off the side surface 2b of the inspection target component 2, the shape recognition unit 20 functions effectively because it is necessary to recognize the outline of the inspection target component 2 in plan view. In addition, since the degree of wiping of the penetrant liquid can be stabilized compared to the case where manual labor is required, inspection quality can be stabilized.
　また、形状認識ユニット２０が撮像装置２１を有しているため、未知の検査対象部品２を検査対象としても正確にその輪郭を認識できる。換言すれば、検査対象部品２の形状情報を取得する際に、予め用意した情報によらずに効率的に輪郭を認識できる。従って、当該輪郭に沿って特に側面２ｂを正確に拭き取ることができる。 In addition, since the shape recognition unit 20 has the imaging device 21, even if an unknown part 2 to be inspected is to be inspected, its contour can be accurately recognized. In other words, when acquiring the shape information of the inspection target component 2, the contour can be efficiently recognized without relying on the information prepared in advance. Accordingly, the side surface 2b in particular can be wiped accurately along the contour.
　また、拭き取り領域として検査対象部品２よりも大きな領域Ｘを設定しているため、拭き取りユニット４０による浸透液の拭き取り漏れを抑制できる。特に、検査対象部品２が複雑な形状を有する場合に有効である。なお、検査対象部品２の形状を包含する領域Ｘは、簡易な形状にすることが好ましい。例えば、当該領域Ｘは、矩形以外にも多角形または円形などに設定されてもよい。 In addition, since the area X larger than the inspection target part 2 is set as the wiping area, it is possible to prevent the wiping off of the penetrating liquid by the wiping unit 40 . This is particularly effective when the inspection target component 2 has a complicated shape. In addition, it is preferable that the area X including the shape of the inspection target component 2 has a simple shape. For example, the area X may be set in a polygonal shape, a circular shape, or the like, in addition to the rectangular shape.
　また、粗拭きユニット４１の拭き残しを仕上げ拭きユニット４２で拭き取ることができるため、余剰浸透液の拭き残しを抑制することができる。特に、染色浸透探傷検査の自動化に際しては浸透液の拭き取り加減の設定が難しいが、上記のように粗拭きと仕上げ拭きの２段階で拭き取ることにより拭き取り加減を細かく設定できる。このようにして自動化を容易にしている。 In addition, since the finishing wiping unit 42 can wipe off the unwiped portion of the rough wiping unit 41, it is possible to suppress the unwiping portion of the excess penetrant liquid. In particular, it is difficult to set the degree of wiping of the penetrant when automating the dye penetrant inspection, but the degree of wiping can be finely set by wiping in two steps of rough wiping and finishing wiping as described above. This facilitates automation.
　また、粗拭きユニット４１の撥水性部材４１ａは検査ごとに交換することなく複数回連続して使用可能であるため、検査効率を向上させることができる。 In addition, since the water-repellent member 41a of the rough wiping unit 41 can be used continuously a plurality of times without being replaced for each inspection, inspection efficiency can be improved.
　また、仕上げ拭きユニット４２が吸水性部材４２ａを有しているため、吸水性部材４２ａによって余剰浸透液をより確実に拭き取ることができる。 In addition, since the finishing wiping unit 42 has the water absorbing member 42a, the surplus penetrating liquid can be more reliably wiped off by the water absorbing member 42a.
　また、検査対象部品２を複数のパスで拭き取り、現在のパスは次のパスへ向かって浸透液を掃き出すように拭き取りユニット４０が制御されているため、既に拭き取りした部分に余剰浸透液が流れることを抑制でき、余剰浸透液の拭き残しを抑制できる。従って、浸透液の誤検出を抑制でき、検査精度を向上できる。 In addition, since the wiping unit 40 is controlled such that the inspection object part 2 is wiped in a plurality of passes, and the current pass sweeps out the penetrating liquid toward the next pass, excess penetrating liquid does not flow to the already wiped portion. can be suppressed, and excess penetrant left unwiped can be suppressed. Therefore, erroneous detection of penetrant liquid can be suppressed, and inspection accuracy can be improved.
　また、検査対象部品２の上面（検査面）２ａだけでなく、上面２ａと隣接する側面２ｂにおいても浸透液を拭き取るように拭き取りユニット４０が制御されているため、現像液を上面（検査面）２ａに塗布した際に上面（検査面）２ａと隣接する側面２ｂから浸透液が染み出てくることを抑制できるため、浸透液の誤検出を抑制できる。 In addition, since the wiping unit 40 is controlled so as to wipe off the penetrating liquid not only on the upper surface (inspection surface) 2a of the inspection target component 2, but also on the side surface 2b adjacent to the upper surface 2a, the developer is applied to the upper surface (inspection surface). Since it is possible to prevent the penetrant from seeping out from the side surface 2b adjacent to the upper surface (inspection surface) 2a when the penetrant is applied to the surface 2a, erroneous detection of the penetrant can be suppressed.
（第１変形例）
　図１３に示すように、上記実施形態の第１変形例では、形状認識ユニット２０は、検査対象部品２ごとに用意された形状コードを読み取るための読取装置２２を有している。これにより、検査対象部品２ごとに用意された形状コードを読取装置２２によって読み取ることで記憶部６２に格納されたデータベース上の形状情報を取得してもよい。例えば、形状コードは、バーコードまたはＱＲコード（登録商標）などであり得る。なお、仮に検査対象部品２の形状認識を自動で行わない場合には、作業員が検査対象部品２を計測した形状情報を入力部６１から入力することとなる。 (First modification)
As shown in FIG. 13, in the first modified example of the above embodiment, the shape recognition unit 20 has a reader 22 for reading the shape code prepared for each inspection target part 2 . Thereby, the shape information on the database stored in the storage unit 62 may be obtained by reading the shape code prepared for each inspection object component 2 with the reading device 22 . For example, the shape code can be a barcode, QR code, or the like. If the shape recognition of the inspection target part 2 is not automatically performed, the operator inputs the shape information obtained by measuring the inspection target part 2 from the input unit 61 .
　本変形例によれば、検査対象部品２の形状を正確かつ容易に取得できる。 According to this modified example, the shape of the inspection target component 2 can be obtained accurately and easily.
（第２変形例）
　図１４に示すように、上記実施形態の第２変形例では、撮像装置２１の撮像分解能ｄよりも小さい厚みｔ（ｔ＜ｄ）を有する検査対象部品２を検査対象とするときは、置台１０は、撮像分解能ｄよりも大きな高さｈを有している（ｈ＞ｄ）。ここで、撮像分解能ｄとは、検査対象部品２の厚み方向に関する分解能であり、撮像装置２１で検査対象部品２の輪郭を明確に認識できる最小値である。例えば、撮像装置２１としてＴｏＦカメラを使用すると、ＴｏＦカメラの撮像分解能ｄ（距離分解能）は一般に１０ｍｍ程度である。従って、検査対象部品２の厚みｔが１０ｍｍ未満の場合に置台１０の高さを１０ｍｍ以上にしてもよい。 (Second modification)
As shown in FIG. 14, in the second modification of the above-described embodiment, when a component 2 to be inspected having a thickness t (t<d) smaller than the imaging resolution d of the imaging device 21 is to be inspected, the table 10 has a height h greater than the imaging resolution d (h>d). Here, the imaging resolution d is the resolution in the thickness direction of the inspection target component 2 and is the minimum value at which the imaging device 21 can clearly recognize the contour of the inspection target component 2 . For example, if a ToF camera is used as the imaging device 21, the imaging resolution d (distance resolution) of the ToF camera is generally about 10 mm. Therefore, when the thickness t of the inspection target component 2 is less than 10 mm, the height of the table 10 may be set to 10 mm or more.
　また、図１５に平面図を示すように、第２変形例では、置台１０は、第１固定クランプ１２（図１参照）および３つの第２固定クランプ１３を有しておらず、検査対象部品２の側面２ｂには当接しない。さらに、置台１０は、円筒形であり、平面視において、検査対象部品２の下に隠れて見えないように配置されている（破線参照）。このように、形状認識ユニット２０の撮像装置２１によって、置台１０は撮像されずに検査対象部品２の輪郭（内形および外形）が認識できるようにされている。 In addition, as shown in the plan view of FIG. 15, in the second modification, the mounting table 10 does not have the first fixing clamp 12 (see FIG. 1) and the three second fixing clamps 13, and the part to be inspected 2 does not come into contact with the side surface 2b. Further, the table 10 is cylindrical, and is arranged so as to be hidden under the inspection target component 2 in a plan view (see broken line). In this manner, the imaging device 21 of the shape recognition unit 20 can recognize the outline (inner shape and outer shape) of the inspection target component 2 without imaging the table 10 .
　本変形例では、置台１０は、検査対象部品２の固定のために、上面１１において磁性を有してもよい。この場合、置台１０は、電磁チャックのように磁性の強弱を調整できるようにしてもよい。なお、置台１０に対する検査対象部品２の固定方法は、磁性を利用した方法に限らず、任意の方法が採用され得る。 In this modified example, the table 10 may have magnetism on the upper surface 11 for fixing the part 2 to be inspected. In this case, the pedestal 10 may be made to be able to adjust the strength of magnetism like an electromagnetic chuck. Note that the method of fixing the inspection target component 2 to the mounting table 10 is not limited to the method using magnetism, and any method can be adopted.
　本変形によれば、厚みの薄い検査対象部品２に対する正確な形状認識を実現できる。即ち、撮像装置２１による撮像によって検査対象部品２の輪郭を正確に取得できる。 According to this modification, it is possible to realize accurate shape recognition for the thin inspection target component 2 . That is, the contour of the inspection target component 2 can be accurately obtained by imaging with the imaging device 21 .
　以上より、本開示の具体的な実施形態およびその変形例について説明したが、本開示は上記形態に限定されるものではなく、この発明の範囲内で種々変更して実施することができる。 Although the specific embodiments and modifications thereof of the present disclosure have been described above, the present disclosure is not limited to the above embodiments, and can be implemented with various modifications within the scope of the present invention.
　例えば、形状認識ユニット２０、第１塗布ユニット３０、拭き取りユニット４０、および第２塗布ユニット５０は交換されるのではなく、それぞれを有する４つのアーム５を用意してもよい。また、粗拭きユニット４１による拭き取りと仕上げ拭きユニット４２による拭き取りは必ずしも１回ずつでなくてもよい。例えば、検査対象部品２の形状または大きさによっては、粗拭きユニット４１による拭き取りは省略されてもよい。即ち、仕上げ拭きユニット４２による拭き取りのみが実行されてもよい。また、粗拭きユニット４１による拭き取りを１回実行した後に仕上げ拭きユニット４２による拭き取りを２回実行するなど、３回以上の拭き取りを実行してもよい。 For example, the shape recognition unit 20, the first application unit 30, the wiping unit 40, and the second application unit 50 are not replaced, but four arms 5 having each may be prepared. Also, the wiping by the rough wiping unit 41 and the wiping by the finish wiping unit 42 do not necessarily have to be performed once. For example, depending on the shape or size of the inspection target component 2, the wiping by the rough wiping unit 41 may be omitted. That is, only wiping by the finishing wiping unit 42 may be performed. Further, wiping may be performed three times or more, such as performing wiping twice by the finishing wiping unit 42 after performing wiping by the rough wiping unit 41 once.
　　１　染色浸透探傷検査装置
　　２　検査対象部品
　　２ａ　上面（検査面）
　　２ｂ　側面
　　２ｃ　境界
　　５　アーム
　　１０　置台
　　１１　上面
　　１２　第１固定クランプ
　　１３　第２固定クランプ
　　２０　形状認識ユニット
　　２１　撮像装置
　　２２　読取装置
　　３０　第１塗布ユニット
　　３１　スプレー缶
　　４０　拭き取りユニット
　　４１　粗拭きユニット
　　４１ａ　撥水性部材
　　４２　仕上げ拭きユニット
　　４２ａ　吸水性部材
　　４２ｂ　弾性部材
　　５０　第２塗布ユニット
　　５１　スプレー缶
　　６０　制御装置
　　６１　入力部
　　６２　記憶部
　　６３　制御部
　　６３ａ　形状認識ユニット制御部
　　６３ｂ　第１塗布ユニット制御部
　　６３ｃ　拭き取りユニット制御部
　　６３ｄ　第２塗布ユニット制御部 1 dyeing penetrant inspection device 2 parts to be inspected 2a upper surface (inspection surface)
2b side surface 2c boundary 5 arm 10 table 11 upper surface 12 first fixed clamp 13 second fixed clamp 20 shape recognition unit 21 imaging device 22 reader 30 first application unit 31 spray can 40 wiping unit 41 rough wiping unit 41a water repellent member 42 Finishing wiping unit 42a Water absorbing member 42b Elastic member 50 Second application unit 51 Spray can 60 Control device 61 Input section 62 Storage section 63 Control section 63a Shape recognition unit control section 63b First application unit control section 63c Wiping unit control section 63d 2 Coating unit control section

Claims (6)

  1. 　検査対象部品を固定する置台と、
    　前記検査対象部品の形状を自動的に認識する形状認識ユニットと、
    　前記検査対象部品に染色用の浸透液を塗布する第１塗布ユニットと、
    　前記検査対象部品から浸透液を拭き取る拭き取りユニットと、
    　前記検査対象部品に現像液を塗布する第２塗布ユニットと、
    　前記形状認識ユニット、前記第１塗布ユニット、前記拭き取りユニット、および前記第２塗布ユニットを順に動作させる制御装置と
    　を備え、
    　前記制御装置は、前記形状認識ユニットで認識した前記検査対象部品の形状に応じて前記検査対象部品の上面および側面を拭き取るように前記拭き取りユニットを制御する、染色浸透探傷検査装置。     a stand for fixing the parts to be inspected;
    a shape recognition unit that automatically recognizes the shape of the part to be inspected;
    a first application unit that applies a dyeing penetrant to the inspection object part;
    a wiping unit for wiping the penetrant liquid from the part to be inspected;
    a second coating unit for coating the component to be inspected with a developer;
    a control device that sequentially operates the shape recognition unit, the first application unit, the wiping unit, and the second application unit,
    The dye penetrant inspection apparatus, wherein the control device controls the wiping unit so as to wipe off the upper surface and the side surface of the inspection target part according to the shape of the inspection target part recognized by the shape recognition unit.
  2. 　前記形状認識ユニットは、前記検査対象部品の輪郭を認識するための撮像装置を有している、請求項１に記載の染色浸透探傷検査装置。 The dye penetrant inspection apparatus according to claim 1, wherein the shape recognition unit has an imaging device for recognizing the outline of the inspection target part.
  3. 　前記撮像装置は、前記検査対象部品を上方から撮像するように配置されたＴｏＦカメラであり、
    　前記検査対象部品の厚みは、前記撮像装置の撮像分解能よりも小さく、
    　前記置台は、前記撮像分解能よりも大きな高さを有し、平面視において前記検査対象部品に隠れるように配置される、請求項２に記載の染色浸透探傷検査装置。     The imaging device is a ToF camera arranged to capture an image of the part to be inspected from above,
    The thickness of the part to be inspected is smaller than the imaging resolution of the imaging device,
    3. The dye penetrant inspection apparatus according to claim 2, wherein said pedestal has a height higher than said imaging resolution, and is arranged so as to be hidden by said inspection target component in plan view.
  4. 　前記形状認識ユニットは、前記検査対象部品ごとに用意された形状コードを読み取るための読取装置を有している、請求項１から請求項３のいずれか１項に記載の染色浸透探傷検査装置。 The dye penetrant inspection apparatus according to any one of claims 1 to 3, wherein the shape recognition unit has a reader for reading a shape code prepared for each of the parts to be inspected.
  5. 　前記制御装置は、前記形状認識ユニットで認識した前記検査対象部品の形状を包含する領域に前記拭き取りユニットの拭き取りパスを設定する、請求項１から請求項３のいずれか１項に記載の染色浸透探傷検査装置。 The dye penetration according to any one of claims 1 to 3, wherein the control device sets the wiping pass of the wiping unit to a region including the shape of the part to be inspected recognized by the shape recognition unit. Flaw inspection equipment.
  6. 　検査対象部品を固定する置台と、
    　前記検査対象部品の形状を自動的に認識する形状認識ユニットと、
    　前記検査対象部品に染色用の浸透液を塗布する第１塗布ユニットと、
    　前記検査対象部品から浸透液を拭き取る拭き取りユニットと、
    　前記検査対象部品に現像液を塗布する第２塗布ユニットと、
    　を備える染色浸透探傷検査装置において、
    　前記形状認識ユニット、前記第１塗布ユニット、前記拭き取りユニット、および前記第２塗布ユニットを順に自動的に動作させるとともに、前記形状認識ユニットで認識した前記検査対象部品の形状に応じて前記拭き取りユニットの拭き取りパスを生成することを含む、染色浸透探傷検査方法。     a stand for fixing the parts to be inspected;
    a shape recognition unit that automatically recognizes the shape of the part to be inspected;
    a first application unit that applies a dyeing penetrant to the inspection object part;
    a wiping unit for wiping the penetrant liquid from the part to be inspected;
    a second coating unit for coating the component to be inspected with a developer;
    In a dye penetrant inspection device comprising
    The shape recognition unit, the first application unit, the wiping unit, and the second application unit are automatically operated in order, and the wiping unit is operated according to the shape of the inspection target component recognized by the shape recognition unit. A dye penetrant inspection method comprising generating a wipe pass.
PCT/JP2022/018317 2021-06-15 2022-04-20 Dye penetrant flaw inspecting device, and dye penetrant flaw inspecting method WO2022264685A1 (en)

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Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5871156U (en) * 1981-11-06 1983-05-14 株式会社東芝 Penetrant testing equipment
JPS6091244A (en) * 1983-10-26 1985-05-22 Hitachi Ltd Dye penetrating flaw detection apparatus
JP2009066702A (en) * 2007-09-13 2009-04-02 Seiko Epson Corp Lens cleaning method and cleaning device
WO2014184337A1 (en) * 2013-05-17 2014-11-20 Nanomex Limited An optical inspection system
JP2021085683A (en) * 2019-11-25 2021-06-03 ファナック株式会社 Object detection system using TOF sensor

Patent Citations (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5871156U (en) * 1981-11-06 1983-05-14 株式会社東芝 Penetrant testing equipment
JPS6091244A (en) * 1983-10-26 1985-05-22 Hitachi Ltd Dye penetrating flaw detection apparatus
JP2009066702A (en) * 2007-09-13 2009-04-02 Seiko Epson Corp Lens cleaning method and cleaning device
WO2014184337A1 (en) * 2013-05-17 2014-11-20 Nanomex Limited An optical inspection system
JP2021085683A (en) * 2019-11-25 2021-06-03 ファナック株式会社 Object detection system using TOF sensor

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