Workpiece sorting device and workpiece sorting method

Abstract

The invention relates to a workpiece sorting apparatus and a workpiece sorting method. The workpiece inspection device inspects the workpieces on the conveying line. The outside-conveyor-line observation device observes a position deviated from the conveyor line. The first taking-out unit takes out a workpiece from the conveying table, wherein the workpiece is judged to be good by the workpiece inspection device, and no other workpiece is judged to be near the position deviated from the conveying line by the outside-conveying-line observation device. The second taking-out unit takes out a workpiece from the conveying table, wherein the workpiece is judged to be a defective product by the workpiece inspection device, and no other workpiece is judged to be near the position deviated from the conveying line by the outside-conveying-line observation device. The third taking-out unit takes out, from the conveying table, a workpiece having another workpiece determined by the outside-conveying-line observation device to be in the vicinity of the position deviating from the conveying line and a workpiece located at the position deviating from the conveying line.

Description

Technical Field

[0001] The present disclosure relates to a workpiece sorting device and a workpiece sorting method. Background Art

[0002] A device is known that inspects workpieces such as chips and sorts them based on the inspection results. Workpieces are fed to a conveyor line. While being transported along the conveyor line, images are captured by an imaging device. The workpieces are inspected based on the captured images. Based on the inspection results, the workpieces are removed from the conveyor line using a removal device such as a blower. Prior art literature Patent Literature

[0003] Patent Document 1: Japanese Patent Application Laid-Open No. 4-107000 Summary of the Invention Problems to be solved by the invention

[0004] When workpieces are fed to a conveyor line, they may be located off the conveyor line due to, for example, unexpected rolling. Workpieces located off the conveyor line are not inspected. Uninspected workpieces may be removed along with inspected workpieces. Uninspected workpieces may be mixed in with workpieces that have been sorted based on the inspection results, potentially leading to inappropriate workpiece sorting results.

[0005] An object of the present disclosure is to suppress a workpiece located at a position deviated from a conveyor line from being taken out of the conveyor line together with inspected workpieces. Means of solving problems

[0006] One embodiment of the present disclosure relates to a workpiece sorting device, comprising: a conveyor table provided with a conveyor line for conveying workpieces; a workpiece supply portion for supplying the workpieces to the conveyor line; a workpiece inspection device for inspecting the workpieces on the conveyor line; an off-conveyor-line observation device for observing a position deviated from the conveyor line; a first removal unit for removing from the conveyor table the workpiece that is judged to be a good product by the workpiece inspection device and that is judged by the off-conveyor-line observation device to have no other workpieces near the position deviated from the conveyor line; a second removal unit for removing from the conveyor table the workpiece that is judged to be a defective product by the workpiece inspection device and that is judged by the off-conveyor-line observation device to have no other workpieces near the position deviated from the conveyor line; and a third removal unit for removing from the conveyor table the workpiece that is judged by the off-conveyor-line observation device to have other workpieces near the position deviated from the conveyor line and the workpiece located at a position deviated from the conveyor line. Effects of the Invention

[0007] According to the present disclosure, it is possible to suppress a workpiece located at a position deviated from the conveyor line from being taken out of the conveyor line together with the inspected workpiece. BRIEF DESCRIPTION OF THE DRAWINGS

[0008] Figure 1 It is a top view schematically showing the workpiece sorting device. Figure 2 It is along Figure 1 Cross-sectional view along line II-II. Figure 3 This is a flowchart showing a method for classifying workpieces. Description of Reference Signs 5: Workpiece; 10: Workpiece sorting device; 11: Conveyor platform; 12: Conveyor line; 13: Workpiece supply section; 14: Supply sensor; 15: Workpiece inspection device; 17: Conveyor line external observation device; 20: First take-out unit; 25: First storage section; 27: Take-out sensor; 30: Second take-out unit; 35: Second storage section; 40: Third take-out unit; 41: Guide unit; 45: Third storage section; 50: Workpiece recovery unit. DETAILED DESCRIPTION

[0009] In the drawings accompanying this specification, the scales and aspect ratios are appropriately changed or exaggerated from the actual objects for the sake of convenience and understanding. In some cases, the structures shown in some drawings are omitted in other drawings.

[0010] In this specification, terms such as "parallel", "orthogonal", "same", etc., lengths, angle values, etc. that determine shapes, geometric conditions and their degrees are not limited to strict meanings, but are interpreted within the range of degrees that can be expected to have the same function.

[0011] In this specification, when a plurality of upper limit value candidates and a plurality of lower limit value candidates are listed for a certain parameter, the parameter may be a numerical range formed by combining any one of the upper limit value candidates and any one of the lower limit value candidates.

[0012] One embodiment of the present disclosure relates to the following [1] to [5]. [1] A workpiece sorting device comprising: A conveying platform is provided with a conveying line for conveying workpieces; a workpiece supply unit, supplying the workpiece to the conveyor line; A workpiece inspection device for inspecting the workpiece on the conveyor line; An off-conveyor line observation device for observing a position deviating from the conveyor line; a first removal unit for removing, from the conveyor table, the workpiece which is judged by the workpiece inspection device to be a good product and which is judged by the off-conveyor line observation device to have no other workpiece near a position deviating from the conveyor line; A second removal unit that removes from the conveyor table the workpiece that is determined to be defective by the workpiece inspection device and to have no other workpiece near a position deviated from the conveyor line by the off-conveying line observation device; and The third removal unit removes from the conveyor table the workpiece determined by the off-conveying-line observation device to be near a position deviating from the conveyor line and the workpiece located at a position deviating from the conveyor line. [2] In the workpiece sorting device according to [1], the third removal unit is continuously activated while the workpiece is being conveyed. [3] According to the workpiece sorting device described in [1] or [2], the workpiece supply part, the workpiece inspection device, the off-conveyor line observation device, the first take-out unit, the second take-out unit and the third take-out unit are arranged in sequence from upstream to downstream of the conveyor line. [4] The workpiece sorting device according to any one of [1] to [3], further comprising a guide unit that fixes the workpiece at a position on the conveying table where the third removal unit removes the workpiece. [5] A workpiece classification method, comprising: Workpiece inspection process, inspecting the workpieces on the conveyor line set on the conveyor table; An off-line observation process is to observe the position deviated from the conveyor line; A first removing step of removing, from the conveyor table, the workpiece that was determined to be a good product in the workpiece inspection step and that was determined to have no other workpiece near a position deviated from the conveyor line in the off-conveyor line observation step; a second taking-out step of taking out, from the conveyor table, the workpiece that was determined to be defective in the workpiece inspection step and to have no other workpiece near a position deviated from the conveyor line in the off-conveyor line observation step; In a third removing step, the workpiece determined in the off-line observation step to be near a position deviating from the conveyor line and the workpiece located at a position deviating from the conveyor line are removed from the conveyor table.

[0013] An embodiment of the present disclosure will be described with reference to the accompanying drawings. Figure 1 1 is a top view of a workpiece sorting device 10 according to an embodiment of the present disclosure. The workpiece sorting device 10 sorts the workpieces 5. For example, the workpiece sorting device 10 sorts the supplied workpieces 5 into good and defective products.

[0014] The workpiece 5 may be, for example, an electronic component. More specifically, the workpiece 5 may be a diced semiconductor chip. The workpiece 5 may include a magnetic material. The workpiece 5 may be in the shape of a rectangular parallelepiped.

[0015] like Figure 1 As shown, the workpiece sorting device 10 includes a conveying platform 11, a workpiece supply part 13, a supply sensor 14, a workpiece inspection device 15, an off-conveyor line observation device 17, a first taking-out unit 20, a first storage part 25, a taking-out sensor 27, a second taking-out unit 30, a second storage part 35, a third taking-out unit 40, a guiding unit 41, a third storage part 45 and a workpiece recovery unit 50.

[0016] The conveyor table 11 conveys the workpiece 5. A conveyor line 12 is provided on the conveyor table 11. The conveyor line 12 is a portion extending from a position where the workpiece 5 is to be supplied by a workpiece supply unit 13 described later, along a direction in which the workpiece 5 is conveyed. The conveyor table 11 is arranged so that the conveyor line 12 becomes horizontal. Figure 1 In the example shown, the conveyor platform 11 is disc-shaped. The conveyor platform 11 rotates about the center of the disc, thereby conveying the workpiece 5 along a circular track. The conveyor line 12 is arranged along the circumference of the conveyor platform 11. The conveyor line 12 is a track for conveying the workpiece 5. The workpiece 5 is conveyed on the conveyor line 12 from upstream to downstream. The conveyor platform 11 can be transparent. The material of the conveyor platform 11 can be glass, for example.

[0017] exist Figure 1 In the example shown, in the workpiece sorting device 10, the workpiece supply unit 13, the workpiece inspection device 15, the off-line observation device 17, the first removal unit 20, the removal sensor 27, the second removal unit 30, the third removal unit 40, and the workpiece recovery unit 50 are arranged in order from upstream to downstream of the conveyor line 12. Without being limited to the example shown, the first removal unit 20, the second removal unit 30, and the third removal unit 40 may be arranged in any order from upstream to downstream of the conveyor line 12, between the off-line observation device 17 and the workpiece recovery unit 50. For example, the second removal unit 30, the first removal unit 20, and the third removal unit 40 may be arranged in order from upstream to downstream of the conveyor line 12, between the off-line observation device 17 and the workpiece recovery unit 50. In this case, the removal sensor 27 is located between the first removal unit 20 and the second removal unit 30 in the direction from upstream to downstream of the conveyor line 12.

[0018] The workpiece supply unit 13 supplies the workpiece 5 to the conveyor line 12. The workpiece supply unit 13 is also located at the uppermost end of the conveyor line 12. The workpiece supply unit 13 may be, for example, a linear feeder that supplies the workpiece 5 from a parts feeder (not shown) in a row. The workpiece supply unit 13 may transport and supply the workpiece 5 by vibration. The workpiece supply unit 13 may supply the workpiece 5 one by one. The workpieces 5 supplied to the conveyor line 12 by the workpiece supply unit 13 may be sufficiently separated from each other. The intervals between the workpieces 5 supplied to the conveyor line 12 by the workpiece supply unit 13 may be, for example, greater than or equal to 1.0 mm.

[0019] The supply sensor 14 detects the workpieces 5 supplied from the workpiece supply unit 13. The supply sensor 14 may be located immediately downstream of the position where the workpiece supply unit 13 supplies the workpieces 5 to the conveyor line 12. The supply sensor 14 can detect whether the intervals between the workpieces 5 supplied from the workpiece supply unit 13 are appropriate. The supply sensor 14 may be, for example, an optical sensor.

[0020] The workpiece inspection device 15 is controlled so that the supply sensor 14 inspects the conveyor line 12 based on the supply of the workpiece 5 from the workpiece supply section 13 and the speed at which the conveyor line 12 conveys the workpiece 5. When the workpiece 5 is located on the conveyor line 12, the workpiece inspection device 15 inspects the workpiece 5 on the conveyor line 12. When the workpiece 5 is not located on the conveyor line 12, for example, when the workpiece 5 is located at a position deviated from the conveyor line 12, the workpiece inspection device 15 determines that there is no workpiece 5. The workpiece inspection device 15 is located downstream of the workpiece supply section 13 along the conveyor line 12. The workpiece sorting device 10 may have a plurality of workpiece inspection devices 15. In Figure 1 In the example shown, the workpiece sorting device 10 has six workpiece inspection devices 15. The workpiece inspection device 15 can be, for example, a photographing device. The workpiece inspection device 15 photographs the workpiece 5. The workpiece inspection device 15 can photograph the left side, right side, front surface, rear surface, top surface, and bottom surface of the workpiece 5 on the conveyor line 12. The left and right, front and back, and top and bottom of the workpiece 5 are defined according to the direction in which the workpiece 5 is conveyed. When the conveyor table 11 is transparent, the workpiece 5 on the conveyor line 12 can be photographed through the conveyor table 11. The left and right, front and back of the workpiece 5 can be photographed by a mirror not shown. Based on the photographed image, the workpiece 5 is inspected. For example, the workpiece inspection device 15 inspects whether the workpiece 5 is a good product or a defective product. For example, the workpiece inspection device 15 judges a workpiece 5 in which damage, dirt, etc. are detected in any of the six photographed images as a defective product, and judges a workpiece 5 in which no damage, dirt, etc. are detected as a good product.

[0021] The off-line observation device 17 observes the position deviated from the conveyor line 12. Specifically, the off-line observation device 17 observes whether the workpiece 5 is located at a position deviated from the conveyor line 12. Figure 1 In the example shown, the position deviating from the conveyor line 12 includes any one of a position in the outer direction and a position in the inner direction of the conveyor line 12. The off-conveyor line observation device 17 is located downstream of the workpiece supply portion 13 along the conveyor line 12. The off-conveyor line observation device 17 can be located downstream of the workpiece inspection device 15 along the conveyor line 12. The off-conveyor line observation device 17 can observe the conveyor line 12 and the position deviating from the conveyor line 12. The off-conveyor line observation device 17 can observe whether a plurality of workpieces 5 are located on the conveyor line 12. The position observed by the off-conveyor line observation device 17 can be wider than the position photographed by the workpiece inspection device 15. The off-conveyor line observation device 17 can be, for example, a photographing device.

[0022] The first removal unit 20 removes a workpiece 5 from the conveyor table 11 that has been determined to be a good product by the workpiece inspection device 15 and that has been determined by the off-line observation device 17 to have no other workpieces 5 near a position deviating from the conveyor line 12. The first removal unit 20 is located downstream of the workpiece inspection device 15 and the off-line observation device 17 along the conveyor line 12. The first removal unit 20 may be, for example, an air blowing device that blows air. A workpiece 5 that has been determined to have no other workpieces 5 near a position deviating from the conveyor line 12 is, for example, a workpiece 5 that has been determined to be unable to be removed by blowing air from the first removal unit 20 toward other workpieces 5 located at a position deviating from the conveyor line 12 when the first removal unit 20 blows air to remove the workpiece 5. In other words, a workpiece 5 that has been determined to have no other workpieces 5 near a position deviating from the conveyor line 12 is a workpiece 5 that can be removed from the conveyor table 11 without involving other workpieces 5 located at a position deviating from the conveyor line 12. As a specific example, the absence of other workpieces 5 located near the workpiece 5 at a position deviating from the conveyor line 12 means that, in the direction along the conveyor line 12, there are no other workpieces 5 at a position deviating from the conveyor line 12 that is closer than the interval between the workpieces 5 supplied to the conveyor line 12 by the workpiece supply unit 13. As a more specific example, the absence of other workpieces 5 located near the workpiece 5 at a position deviating from the conveyor line 12 means that there is no workpiece 5 at a position deviating from the conveyor line 12 and less than 15 mm away from the workpiece 5. The first extraction unit 20 is driven only when the workpiece 5 is conveyed to a position where it can be removed. For example, the first extraction unit 20 blows air toward the workpiece 5 and removes it only when the workpiece 5 is conveyed to a position where it can be removed. The first extraction unit 20 removes the workpiece 5 in the radially outward direction of the conveyor table 11. The workpiece 5 removed by the first extraction unit 20 is directed toward the first storage unit 25.

[0023] The first storage section 25 stores the workpieces 5 taken out from the conveying table 11 by the first take-out unit 20. The first storage section 25 is located radially outward of the conveying table 11. The first storage section 25 stores good workpieces. Figure 2 It is along Figure 1The cross-sectional view of line II-II. Figure 2 FIG. 2 shows a situation where the workpiece 5 taken out from the conveyor platform 11 by the first taking-out unit 20 is stored in the first storage portion 25. Figure 2 As shown, the first storage section 25 includes a workpiece path 25a and a workpiece storage section 25b. The workpiece path 25a connects the conveyor table 11 and the workpiece storage section 25b. The workpiece path 25a is a passage that guides the workpiece 5 from the conveyor table 11 to the workpiece storage section 25b. The workpiece 5 removed from the conveyor table 11 moves along the workpiece path 25a toward the workpiece storage section 25b. The workpiece storage section 25b receives and stores the workpiece 5. The workpiece storage section 25b is box-shaped.

[0024] The take-out sensor 27 confirms that the first take-out unit 20 has properly taken out the workpiece 5. The take-out sensor 27 observes the conveyor line 12. The take-out sensor 27 can be, for example, a photographing device. The take-out sensor 27 is located between the first take-out unit 20 and the second take-out unit 30 along the conveyor line 12. The take-out sensor 27 confirms that the workpiece 5 that should be taken out by the first take-out unit 20 has been taken out, and that the workpiece 5 that should not be taken out by the first take-out unit 20 has not been taken out. Specifically, the take-out sensor 27 confirms that the first take-out unit 20 has taken out the workpiece 5 that is judged to be a good product by the workpiece inspection device 15, and has not taken out the workpiece 5 that is judged to be a defective product by the workpiece inspection device 15. The take-out sensor 27 ensures that good products are properly stored in the first storage section 25.

[0025] The second take-out unit 30 takes out the workpiece 5 that is judged as defective by the workpiece inspection device 15 and is judged by the off-line observation device 17 to have no other workpiece 5 near the position deviating from the conveyor line 12 from the conveyor table 11. The second take-out unit 30 is located downstream of the workpiece inspection device 15 and the off-line observation device 17 along the conveyor line 12. The second take-out unit 30 can be located downstream of the conveyor line 12 than the first take-out unit 20. The second take-out unit 30 can be, for example, an air blowing device that blows air. The second take-out unit 30 is driven only when the workpiece 5 is conveyed to a position where it can be taken out. For example, the second take-out unit 30 blows air toward the workpiece 5 and takes it out only when the workpiece 5 is conveyed to a position where it can be taken out. The second take-out unit 30 takes out the workpiece 5 in the radially outward direction of the conveyor table 11. The workpiece 5 taken out by the second take-out unit 30 is directed toward the second storage portion 35.

[0026] The second storage section 35 stores the workpiece 5 taken out from the conveyor 11 by the second removal unit 30. The second storage section 35 is located in the radially outer direction of the conveyor 11. Defective products are stored in the second storage section 35. The second storage section 35 may have Figure 2 The first receiving portion 25 shown has substantially the same structure.

[0027] The workpiece sorting device 10 may include a plurality of first and second take-out units 20 and 30 . The workpiece sorting device 10 may include a plurality of first and second storage portions 25 and 35 corresponding to the first and second take-out units 20 and 30 .

[0028] The third removal unit 40 removes from the conveyor table 11 workpieces 5 that have been determined by the off-line observation device 17 to be near other workpieces 5 at locations deviating from the conveyor line 12, as well as workpieces 5 located at locations deviating from the conveyor line 12. The third removal unit 40 is located downstream of the workpiece inspection device 15 and the off-line observation device 17 along the conveyor line 12. The third removal unit 40 can be located downstream of the first removal unit 20 and the second removal unit 30 along the conveyor line 12. The third removal unit 40 can be, for example, an air blowing device that blows air. The third removal unit 40 is continuously activated while the workpiece 5 is being conveyed. For example, the third removal unit 40 continuously blows air while the workpiece 5 is being conveyed. A workpiece 5 determined to be near other workpieces 5 at locations deviating from the conveyor line 12 is, for example, a workpiece 5 that is determined to be removable by the first removal unit 20 blowing air toward the other workpieces 5 located at locations deviating from the conveyor line 12 when the first removal unit 20 blows air to remove the workpiece 5. In other words, the workpiece 5 that is judged to have other workpieces 5 near a position deviating from the conveyor line 12 refers to the workpiece 5 that can be taken out from the conveyor table 11 in the case of the other workpieces 5 located at a position deviating from the conveyor line 12. As a specific example, the other workpieces 5 that are not located near the workpiece 5 and are deviated from the conveyor line 12 refer to the other workpieces 5 that are located at a position closer than the interval between the workpieces 5 supplied to the conveyor line 12 by the workpiece supply unit 13 in the direction along the conveyor line 12 and that are deviated from the conveyor line 12. As a more specific example, the other workpieces 5 that are located near the workpiece 5 and are deviated from the conveyor line 12 refer to the workpiece 5 that is deviated from the conveyor line 12 and is less than 15 mm away from the workpiece 5. The third removal unit 40 takes out the workpiece 5 in the radially outward direction of the conveyor table 11. The workpiece 5 taken out by the third removal unit 40 is directed toward the third storage section 45.

[0029] The guide unit 41 fixes the workpiece 5 at a position on the conveyor table 11 where the third removal unit 40 removes the workpiece 5. The guide unit 41 is arranged on the conveyor line 12 and at a position deviated from the conveyor line 12. The guide unit 41 is arranged at a position downstream of the conveyor line 12 than the position on the conveyor table 11 where the third removal unit 40 removes the workpiece 5. The guide unit 41 may be a rod-shaped component extending in the radial direction of the conveyor table 11. The guide unit 41 extends radially inward and outward from the conveyor line 12 of the conveyor table 11. The guide unit 41 fixes the workpiece 5 so that it can be removed by the third removal unit 40 even at the conveyor line 12 and at a position deviated from the conveyor line 12. The guide unit 41 may include a portion extending from the rod-shaped portion toward the upstream of the conveyor line 12. The end of the portion extending toward the upstream of the conveyor line 12 is inclined relative to the direction along the conveyor line 12. Thus, the workpiece 5 is prevented from getting stuck in the portion of the guide unit 41 extending toward the upstream of the conveyor line 12.

[0030] The third storage section 45 stores the workpieces 5 taken out from the conveyor 11 by the third removal unit 40. The third storage section 45 is located radially outward of the conveyor 11. The third storage section 45 stores the workpieces 5 that have not been inspected by the workpiece inspection device 15, good products, and defective products. Figure 2 The first receiving portion 25 shown has substantially the same structure.

[0031] The workpiece recovery unit 50 recovers the workpiece 5 left on the conveyor table 11. The workpiece recovery unit 50 is located downstream of the first removal unit 20, the second removal unit 30 and the third removal unit 40 along the conveyor line 12. The workpiece recovery unit 50 is located at the downstream end of the conveyor line 12. The workpiece recovery unit 50 is configured on the conveyor line 12 and at a position deviated from the conveyor line 12. The workpiece recovery unit 50 can be a rod-shaped component extending radially along the conveyor table 11. The workpiece recovery unit 50 also recovers the workpiece 5 on the conveyor line 12 and at a position deviated from the conveyor line 12. The workpiece recovery unit 50 can be, for example, a magnet. When the workpiece 5 is a magnetic body, the workpiece recovery unit 50 recovers the workpiece 5 by magnetic force.

[0032] A workpiece sorting method using the workpiece sorting device 10 will be described. Figure 3 This is a flowchart showing an example of a workpiece classification method. Figure 3 As shown, the workpiece classification method includes a workpiece supply process S1, a workpiece detection process S2, a workpiece inspection process S3, an off-line observation process S4, a first removal process S5, a second removal process S6 and a third removal process S7.

[0033] In the workpiece supply process S1, the workpiece supply unit 13 supplies the workpiece 5 to the conveyor line 12 provided on the conveyor table 11. The workpiece 5 supplied from the workpiece supply unit 13 may sometimes deviate from the conveyor line 12. The workpieces 5 are supplied to the conveyor line 12 one by one. A plurality of workpieces 5 may sometimes accumulate on the conveyor line 12. The workpieces 5 are supplied to the conveyor line 12 in a manner sufficiently separated from each other. The workpieces 5 supplied in the workpiece supply process S1 are detected in the workpiece detection process S2.

[0034] In the workpiece detection step S2, the supply sensor 14 detects the workpieces 5 supplied from the workpiece supply unit 13. In the workpiece detection step S2, it is possible to detect whether the spacing between the workpieces 5 supplied from the workpiece supply unit 13 is appropriate. In the workpiece detection step S2, it is determined whether the workpieces 5 can be properly inspected in the workpiece inspection step S3. For example, if the workpieces 5 are clustered and not sufficiently separated from each other, it is determined that the workpieces 5 cannot be properly inspected in the workpiece inspection step S3. Workpieces 5 determined to be properly inspected are inspected in the workpiece inspection step S3. Workpieces 5 determined to be uninspectable are removed in the third removal step S7.

[0035] In the workpiece inspection process S3, the conveyor line 12 is inspected based on the fact that the workpiece 5 has been supplied in the workpiece inspection process S2 and the speed at which the conveyor line 12 conveys the workpiece 5. When the workpiece 5 is located on the conveyor line 12, the workpiece inspection device 15 inspects the workpiece 5 on the conveyor line 12. In the workpiece inspection process S3, for example, the left side, right side, front surface, back surface, top surface, and bottom surface of the workpiece 5 are photographed. The workpiece 5 is inspected based on the photographed images. For example, in the workpiece inspection process S3, it is checked whether the workpiece 5 is a good product or a defective product. For example, a workpiece 5 in which damage, dirt, etc. is detected in any of the six images taken is judged to be a defective product, and a workpiece 5 in which damage, dirt, etc. is not detected is judged to be a good product. In the off-conveyor line observation process S4, both the workpiece 5 judged to be a good product and the workpiece 5 judged to be a defective product are observed. Workpieces 5 that cannot be determined as good or bad in the workpiece inspection step S3 due to factors such as the clustering of multiple workpieces 5 or improper orientation of the workpieces 5 are removed in the third removal step S7. If a workpiece 5 is not on the conveyor line 12, for example, if the workpiece 5 is located off the conveyor line 12, the workpiece inspection step S3 determines that there is no workpiece 5. Even if this is determined to be absent, the workpiece 5 may be located off the conveyor line 12 and, therefore, be removed in the third removal step S7.

[0036] In the off-line observation process S4, the position deviated from the conveyor line 12 is observed by the off-line observation device 17. In the off-line observation process S4, it is observed whether the workpiece 5 is located at a position deviated from the conveyor line 12. In the off-line observation process S4, the conveyor line 12 and the position deviated from the conveyor line 12 can be observed. In the off-line observation process S4, a plurality of workpieces 5 can be observed on the conveyor line 12. The workpiece 5 that is judged to be a good product in the workpiece inspection process S3 and is judged in the off-line observation process S4 that there are no other workpieces 5 located at a position deviated from the conveyor line 12 near the workpiece 5 is taken out in the first removal process S5. The workpiece 5 that is judged to be a defective product in the workpiece inspection process S3 and is judged in the off-line observation process S4 that there are no other workpieces 5 located at a position deviated from the conveyor line 12 near the workpiece 5 is taken out in the second removal process S5. Workpieces 5 that are judged to be near other workpieces 5 at positions deviating from the conveyor line 12 in the off-line observation step S4, as well as workpieces 5 located at positions deviating from the conveyor line 12, are removed in the third removal step S7. Even when multiple workpieces 5 are observed to be located on the conveyor line 12, the workpieces 5 are removed in the third removal step S7.

[0037] In the first removal step S5, the first removal unit 20 removes a workpiece 5 from the conveyor table 11. Workpieces 5 that were determined to be acceptable in the workpiece inspection step S3 and that were determined to have no other workpieces 5 near a position deviating from the conveyor line 12 in the off-line observation step S4 are removed. In the first removal step S5, the workpieces 5 are removed from the conveyor table 11, for example, by blowing air toward the workpieces 5. The workpieces 5 removed in the first removal step S5 are stored in the first storage section 25. Workpieces 5 stored in the first storage section 25 are considered acceptable.

[0038] In the second removal process S6, the second removal unit 30 removes from the conveyor table 11 a workpiece 5 that was determined to be defective in the workpiece inspection process S3 and that was determined to have no other workpiece 5 near a position deviating from the conveyor line 12 in the off-line observation process S4. In the second removal process S6, the workpiece 5 is removed from the conveyor table 11 by, for example, blowing air toward the workpiece 5. The workpiece 5 removed in the second removal process S6 is stored in the second storage section 35. The workpiece 5 stored in the second storage section 35 is considered defective.

[0039] In the third removal process S7, the workpiece 5 that was determined to be near a position deviated from the conveyor line 12 in the off-line observation process S4 and the workpiece 5 located at a position deviated from the conveyor line 12 are removed from the conveyor table 11 by the third removal unit 40. In the third removal process S7, the workpiece 5 is removed from the conveyor table 11 by, for example, blowing air toward the workpiece 5. The workpiece 5 removed in the third removal process S7 is stored in the third storage section 45. The workpiece 5 stored in the third storage section 45 is regarded as an uninspected product. The workpiece 5 stored in the third storage section 45 can be supplied to the workpiece sorting device 10 again by the workpiece supply section 13.

[0040] A workpiece recovery step may be included after the first, second, and third removal steps S5, S6, and S7. In the workpiece recovery step, workpieces 5 that were not removed in the first, second, and third removal steps S5, S6, and S7 and remain on the conveyor table 11 are recovered by the workpiece recovery unit 50. For example, in the workpiece recovery step, the workpieces 5 are recovered using magnetic force.

[0041] In conventional workpiece sorting devices, when workpieces are supplied to a conveyor line, for example, the workpieces are sometimes located at a position deviating from the conveyor line. For example, sometimes multiple workpieces are supplied together from a workpiece supply unit, and some of the workpieces roll to a position deviating from the conveyor line. Workpieces located at a position deviating from the conveyor line are not inspected by the workpiece inspection device. Uninspected workpieces are sometimes taken out together with inspected workpieces. For example, when air is blown to a workpiece located on a conveyor line to be taken out, a workpiece located near the workpiece and deviating from the conveyor line may also be blown with air and taken out together with the workpiece. Workpieces located at a position deviating from the conveyor line are considered uninspected workpieces and are mixed in with the workpieces that are sorted and taken out based on the inspection results. The classification results of the workpieces may become inappropriate. For example, uninspected workpieces may be mixed in with workpieces that are judged to be good products. If the uninspected workpieces are defective, the defective workpieces are mixed in with the workpieces that are considered to be good products.

[0042] The workpiece sorting device 10 of this embodiment includes an off-line observation device 17 for observing locations deviating from the conveyor line 12. A first removal unit 20 removes from the conveyor table 11 workpieces 5 that have been determined as acceptable by the workpiece inspection device 15 and that have been determined by the off-line observation device 17 to have no other workpieces 5 near the location deviating from the conveyor line 12. A second removal unit 30 removes from the conveyor table 11 workpieces 5 that have been determined as defective by the workpiece inspection device 15 and that have been determined by the off-line observation device 17 to have no other workpieces 5 near the location deviating from the conveyor line 12. Even if a workpiece 5 is determined to be acceptable or defective, a workpiece 5 that has other workpieces 5 near the location deviating from the conveyor line 12 is not removed as acceptable or defective. A third removal unit 40 removes from the conveyor table 11 workpieces 5 that have been determined by the off-line observation device 17 to have other workpieces 5 near the location deviating from the conveyor line 12, as well as workpieces 5 located at locations deviating from the conveyor line 12. The inspected workpieces 5 are removed together with the workpieces 5 located at locations deviating from the conveyor line. This prevents workpieces 5 located at positions deviated from the conveyor line 12 from being removed from the conveyor line 12 along with workpieces 5 that have been inspected and determined to be good or defective. This prevents uninspected workpieces 5 from being mixed with workpieces 5 that have been sorted and removed based on the inspection results. This ensures that the results of sorting the workpieces 5 are appropriate.

[0043] In this embodiment, the third removal unit 40 is continuously activated while the workpiece 5 is being conveyed. Workpieces 5 located at positions deviating from the conveyor line 12 are not inspected by the workpiece inspection device 15, making it difficult to determine their location on the conveyor table 11. Since the third removal unit 40 is continuously activated, workpieces 5 not inspected by the workpiece inspection device 15 can be reliably removed by the third removal unit 40. Workpieces 5 located at positions deviating from the conveyor line can be reliably recovered from the conveyor table 11.

[0044] In this embodiment, the workpiece supply unit 13, workpiece inspection device 15, off-line observation device 17, first removal unit 20, second removal unit 30, and third removal unit 40 are arranged in order from upstream to downstream of the conveyor line 12. Since the off-line observation device 17 is located directly in front of the first removal unit 20, even if the workpiece 5 moves while being conveyed on the conveyor line 12, it is possible to reliably determine whether the workpiece 5 is located at a position deviating from the conveyor line 12 when the first removal unit 20 removes the workpiece 5. Since the first removal unit 20 is located upstream of the second removal unit 30, it is possible to prevent defective products from being mixed with the workpiece 5 removed by the first removal unit 20. Since the third removal unit 40 is located downstream of the first and second removal units 20, it is possible to reliably remove workpieces 5 that have not been inspected by the workpiece inspection device 15. For example, a workpiece 5 located at a position deviating from the conveyor line 12 that cannot be observed by the off-line observation device 17 can also be removed by the third removal unit 40.

[0045] In this embodiment, the workpiece sorting device 10 further includes a guide unit 41 that secures the workpiece 5 at a position on the conveyor table 11 where the third removal unit 40 removes the workpiece 5. The guide unit 41 facilitates the third removal unit 40 in removing the workpiece 5 that has not been removed by the first and second removal units 20 and 30 and remains on the conveyor table 11.

[0046] The present disclosure is not limited to the above-described embodiments, but includes various modifications that can be conceived by those skilled in the art. The effects of the present disclosure are not limited to the contents defined in the above-described embodiments. Various additions, modifications, and partial deletions are possible without departing from the scope of the conceptual ideas and gist of each disclosure derived from the contents specified in the claims and their equivalents.

Claims

1. A workpiece sorting device, characterized in that: include: A conveying platform is provided with a conveying line for conveying workpieces; a workpiece supply unit, supplying the workpiece to the conveyor line; A workpiece inspection device for inspecting the workpiece on the conveyor line; An off-conveyor line observation device for observing a position deviating from the conveyor line; a first removal unit for removing, from the conveyor table, the workpiece which is judged by the workpiece inspection device to be a good product and which is judged by the off-conveyor line observation device to have no other workpiece near a position deviating from the conveyor line; a second taking-out unit for taking out, from the conveyor table, the workpiece which is judged as defective by the workpiece inspection device and which is judged by the off-conveyor-line observation device to have no other workpiece near a position deviated from the conveyor line; as well as The third removal unit removes from the conveyor table the workpiece determined by the off-conveying-line observation device to be near a position deviating from the conveyor line and the workpiece located at a position deviating from the conveyor line.

2. The workpiece sorting device according to claim 1, characterized in that: The third removal unit is continuously activated while the workpiece is being conveyed.

3. The workpiece sorting device according to claim 1, wherein: The workpiece supply portion, the workpiece inspection device, the off-conveying line observation device, the first taking-out unit, the second taking-out unit, and the third taking-out unit are arranged in sequence from upstream to downstream of the conveying line.

4. The workpiece sorting device according to claim 1, characterized in that: The workpiece sorting device further includes a guiding unit configured to fix the workpiece at a position on the conveying table where the third taking-out unit takes out the workpiece.

5. A workpiece classification method, characterized in that: include: Workpiece inspection process, inspecting the workpieces on the conveyor line set on the conveyor table; An off-line observation process is to observe the position deviated from the conveyor line; A first removing step of removing, from the conveyor table, the workpiece that was determined to be a good product in the workpiece inspection step and that was determined to have no other workpiece near a position deviated from the conveyor line in the off-conveyor line observation step; a second taking-out step of taking out, from the conveyor table, the workpiece that was determined to be defective in the workpiece inspection step and to have no other workpiece near a position deviated from the conveyor line in the off-conveyor line observation step; as well as In a third removing step, the workpiece determined in the off-line observation step to be near a position deviating from the conveyor line and the workpiece located at a position deviating from the conveyor line are removed from the conveyor table.

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