Workpiece visual inspection device

Abstract

Automatically adjusts various parameters in the workpiece visual inspection device. [Solution] Based on the signal from the work supply sensor 70, the control unit 40 automatically adjusts the parameters of the work feeder 1A to a predetermined supply speed and number of uninspected items, and also automatically adjusts the parameters of the work attitude control means 80.

Description

Technical Field

[0001] The present invention relates to an appearance inspection apparatus for a work that inspects the appearance of the work while transporting the work.

Background Art

[0002] Conventionally, as an appearance inspection apparatus for chip-shaped electronic components (hereinafter referred to as "work") such as hexahedral resistors and capacitors, the work is placed on a transport table made of a transparent body such as glass, and the transport table is rotated to transport the work while imaging means such as a camera images each surface to perform an appearance inspection.

[0003] In this case, the work transport table of the appearance inspection apparatus electrostatically adsorbs and transports the work by static electricity.

[0004] That is, first, a work feeder that aligns and transports the work by vibration places the work on the transport table and transports it to a predetermined work position. At the same time, the work placement surface of the transport table is charged by an electric field generated by a work holder provided below the transport table, and the work is electrostatically adsorbed there (see Patent Document 1). Further, the work supplied onto the transport table is adsorbed by a guide alignment guide by, for example, a vacuum mechanism, and is positioned by the alignment guide. In this case, the vacuum mechanism and the work holder provided on the guide alignment guide serve as work posture control means for controlling the posture of the work.

Prior Art Documents

Patent Documents

[0005]

Patent Document 1

Summary of the Invention

Problems to be Solved by the Invention

[0006] By the way, when supplying workpieces from a work feeder to a transport table, it is important to supply the appropriate amount of workpieces in the correct orientation. In other words, by setting the workpiece supply speed to an appropriate value and supplying the workpieces in the correct orientation, the number of uninspected workpieces can be reduced, thereby improving work efficiency.

[0007] This disclosure takes these points into consideration and aims to provide a workpiece visual inspection device that allows for easy and simple adjustment of the workpiece feeder parameters and the workpiece attitude control means parameters, thereby enabling the workpiece supply speed to be set to an appropriate value and reducing the number of uninspected workpieces. [Means for solving the problem]

[0008] This disclosure relates to a workpiece appearance inspection apparatus comprising: a transport table for transporting workpieces; a workpiece feeder for supplying workpieces to the transport table; an alignment guide provided on the transport table and having a guide surface for aligning the orientation of workpieces sent from the workpiece feeder onto the transport table; a workpiece attitude control means for adjusting the attitude of workpieces supplied from the workpiece feeder to the transport table; a workpiece supply sensor provided on the transport table for detecting the supply speed and attitude of workpieces supplied from the workpiece feeder; and a control unit, wherein the control unit adjusts the parameters of the workpiece feeder and the parameters of the workpiece attitude control means to satisfy a predetermined workpiece supply speed and number of uninspected workpieces based on signals from the workpiece supply sensor.

[0009] This disclosure relates to a workpiece appearance inspection apparatus in which the workpiece attitude control means is located below the transport table and includes a workpiece holder that generates an electric field to hold the workpiece, and a vacuum path provided on the guide surface of the alignment guide.

[0010] This disclosure provides a workpiece appearance inspection device comprising: a workpiece feeder parameter adjustment unit (lower limit speed) that adjusts the parameters of the workpiece feeder to satisfy a predetermined set value for the workpiece supply speed (lower limit speed) based on a signal from the workpiece supply sensor; a workpiece feeder parameter adjustment unit (upper limit speed) that adjusts the parameters of the workpiece feeder to satisfy a predetermined set value for the workpiece supply speed (upper limit speed) based on a signal from the workpiece supply sensor; and a workpiece attitude control means parameter adjustment unit that adjusts the parameters of the workpiece attitude control means to satisfy a predetermined set value for the number of uninspected workpieces based on a signal from the workpiece supply sensor.

[0011] This disclosure provides a workpiece appearance inspection device comprising: a parameter adjustment unit (lower limit speed) for the workpiece feeder, which adjusts the parameters of the workpiece feeder based on a signal from the workpiece supply sensor until the supply speed of the workpiece feeder satisfies a predetermined lower limit speed setting; a parameter adjustment unit (upper limit speed) for the workpiece feeder, which adjusts the parameters of the workpiece feeder based on a signal from the workpiece supply sensor until the supply speed of the workpiece feeder satisfies a predetermined upper limit speed setting; and a parameter adjustment unit for the workpiece attitude control means, which adjusts the parameters of the workpiece attitude control means based on a signal from the workpiece supply sensor until the number of uninspected workpieces satisfies a predetermined uninspected workpiece setting.

[0012] This disclosure provides that the control unit comprises a parameter adjustment unit (lower speed limit) for the work feeder, a parameter adjustment unit (upper speed limit) for the work feeder, and a control unit prior to the work attitude control means, The workpiece appearance inspection device includes: a supply speed / position determination unit that determines whether predetermined set values ​​for the workpiece supply speed (lower limit speed), the workpiece supply speed (upper limit speed), and the number of uninspected workpieces are met based on a signal from the workpiece supply sensor; and an adjustment count determination unit that, if the supply speed / position determination unit determines it to be NG, determines the number of adjustments, and if the number of adjustments is less than or equal to a predetermined value, performs parameter adjustments by the parameter adjustment unit (lower limit speed) of the workpiece feeder, the parameter adjustment unit (upper limit speed) of the workpiece feeder, and the parameter adjustment unit of the workpiece position control means.

[0013] This disclosure provides a workpiece appearance inspection device in which the control unit comprises a parameter adjustment unit (lower speed limit) for the work feeder, a parameter adjustment unit (upper speed limit) for the work feeder, and an additional supply speed / attitude determination unit located downstream of the workpiece attitude control means, which re-determines whether the workpiece supply speed from the workpiece supply sensor satisfies a predetermined set value for the workpiece supply speed (lower speed limit) and the workpiece supply speed (upper speed), and whether the number of uninspected workpieces from the workpiece supply sensor satisfies a predetermined set value for the number of uninspected workpieces, and if the additional supply speed / attitude determination unit determines that it is NG, the adjustment count determination unit re-determines the adjustment count. [Effects of the Invention]

[0014] According to this disclosure, the parameters of the work feeder and the work attitude control means can be easily and simply adjusted, thereby setting the work supply speed to an appropriate value and reducing the number of uninspected workpieces, thereby improving the work efficiency of the work inspection device. [Brief explanation of the drawing]

[0015] [Figure 1] Figure 1 is a flowchart showing the parameter adjustment of the work feeder and work attitude control means in the control unit. [Figure 2] Figure 2 is a flowchart showing the parameter adjustment in the parameter adjustment section (lower limit speed) of the work feeder. [Figure 3] Figure 3 is a flowchart showing parameter adjustment in the parameter adjustment section (upper limit speed) of the work feeder. [Figure 4] Figure 4 is a flowchart showing parameter adjustment in the parameter adjustment section of the work attitude control means. [Figure 5] Figure 5 is a plan view of the appearance inspection device for the work. [Figure 6] Figure 6 is a perspective view showing the work. [Figure 7] Figure 7 is an enlarged plan view showing the area S of Figure 5. [Figure 8] Figure 8 is a perspective view of the area S of Figure 5 as viewed from the direction of arrow Y. [Figure 9] Figure 9 is a schematic diagram showing the adsorption action of the work on the transfer table. [Figure 10] Figure 10 is a perspective view showing the electric line of force generation part and the magnetic line of force generation part. [Figure 11] Figure 11 is a diagram showing the vertical positional relationship between the transfer table and the alignment guide and the electric line of force generation part and the magnetic line of force generation part in Figure 10. [Figure 12] Figure 12 is an enlarged plan view of the vicinity of the electric line of force generation part and the magnetic line of force generation part in Figure 10. [Figure 13] Figure 13 is a front view of the vicinity of the electric line of force generation part and the magnetic line of force generation part in Figure 10 as viewed from the direction of arrow H in Figure 7. [Figure 14] Figure 14 is a front view of the vicinity of the electric line of force generation part and the magnetic line of force generation part in Figure 10 as viewed from the direction of arrow N in Figure 7.

Embodiments for Carrying Out the Invention

[0016] Hereinafter, embodiments of the present invention will be described with reference to the drawings. Figures 1 to 10 are diagrams showing embodiments of the appearance inspection device for the work according to the present invention.

[0017] First, the work inspected by the appearance inspection device for the work will be described with reference to Figure 6. In Figure 6, the workpiece W, which will be a chip component such as a capacitor or resistor, has a hexahedral shape and consists of a main body Wd made of an insulator and electrodes Wa and Wb made of a conductive material formed at both ends of the main body Wd in the longitudinal direction. When performing an external inspection of this workpiece W, the workpiece W is placed on a transport table 2, which will be described later, and the transport table 2 is rotated in the direction of arrow Z in Figure 6 to transport the workpiece W. The imaging means 20 then images the side opposite to the paper from the direction of arrow A, the side in front of the paper from the direction of arrow B, the top from the direction of arrow C, the bottom from the direction of arrow D, the front from the direction of arrow E, and the rear from the direction of arrow F. At this time, by using a transport table 2 made of transparent glass, it is possible to image all six sides of the workpiece W while the workpiece W is placed on it.

[0018] Next, the entire workpiece visual inspection apparatus will be described. As shown in Figures 5 and 7, the workpiece visual inspection apparatus 30 comprises a parts feeder 1a and a linear feeder 1 that sequentially transport workpieces W, a circular transport table 2 made of a transparent material on which workpieces W are transferred from the linear feeder 1 at a transfer point 4x and transported on a workpiece transport arc 5, a transfer and alignment means 21 that transfers and aligns the workpieces W from the linear feeder 1 onto the transport table 2, and an imaging means 20 that images the six faces of the workpieces W on the transport table 2. In this embodiment, workpieces W are sent from a hopper (not shown) to the parts feeder 1a, and the workpieces W sent by the parts feeder 1a are supplied to the transport table 2 via the linear feeder 1. In this case, the parts feeder 1a and the linear feeder 1 constitute the workpiece feeder 1A.

[0019] The transfer and alignment means 21 also has an alignment guide 7 for aligning the workpiece W, and the alignment guide 7 includes a guide surface 7a for aligning the workpiece W. This guide surface 7a is straight when viewed from a plane (viewed from above) (see Figure 7).

[0020] Furthermore, the imaging means 20 includes a side camera section 8, an inner camera section 9, an upper camera section 10, a lower camera section 11, a front camera section 12, and a rear camera section 13, as will be described later.

[0021] Next, the individual components of the workpiece visual inspection device 30 will be further explained with reference to Figures 5 to 8. Here, Figure 5 is a plan view of a workpiece visual inspection device for a workpiece W with the shape shown in Figure 6, Figure 7 is an enlarged plan view of the area S enclosed by the dashed line in Figure 5, and Figure 8 is a perspective view of area S in Figure 5 as seen from the direction of arrow Y.

[0022] In Figure 5, the linear feeder 1 and parts feeder 1a are vibrated by the vibrators 73 and 75 (see Figure 16), aligning the workpieces W fed into the parts feeder 1a located upstream of the linear feeder 1 in a line and transporting them in the direction of arrow N by vibration.

[0023] The transport table 2, located below the linear feeder 1, is made of transparent glass and is installed horizontally. It rotates clockwise around a rotation axis 3 (in the direction of arrow X in Figure 5) by a drive source (not shown). As shown in Figure 8, the linear feeder 1 is slightly inclined downwards toward the transport table 2. As a result, the workpiece W is gradually lowered from the linear feeder 1 and transferred to the transport table 2.

[0024] Near the outer edge of the upper surface of the transport table 2, a workpiece transport arc 5 is formed as a circular arc centered on the rotation axis 3, as shown by the dashed line in Figure 5. After the workpiece W is transferred from the vibration-free section 4 to the transport table 2, it is aligned along the workpiece transport arc 5 by the action of the alignment guide 7, which will be described later. Here, the workpiece transport arc 5 is a target position assumed for aligning the workpiece W, and there is no mark on the upper surface of the transport table 2 that allows for visual identification of the workpiece transport arc 5.

[0025] Here, Figure 8 is a perspective view of the area S enclosed by the dashed line in Figure 5, viewed from the direction of arrow Y. In Figure 8, a conductive plate 15 made of a conductor is placed on the underside of the transport table 2, separated from the underside of the transport table 2 by a small gap. The conductive plate 15 has a planar shape, and as shown in Figure 9, its surface 15a is approximately parallel to the transport table 2. A DC power supply 16 is connected to the conductive plate 15, and a DC voltage is applied, constituting an electric field generating means (also called an electric field generating means). Figure 7 shows the placement of the conductive plate 15. Figure 7 is an enlarged plan view of the area S enclosed by the dashed line in Figure 5. In Figures 7 and 10, the conductive plate 15 extends horizontally in an elongated shape and is placed on the underside of the transport table 2, corresponding to the work transport arc 5 of the workpiece W on the transport table 2 and the guide surface 7a of the alignment guide 7, with its longitudinal direction aligned with the work transport arc 5 of the workpiece W.

[0026] Of the above components, the transfer and alignment means 21 is formed by the alignment guide 7 having a guide surface 7a.

[0027] Furthermore, in Figure 7, the alignment guide 7, which has a linear guide surface 7a, is provided directly above the outer edge of the transport table 2, with a small gap between it and the transport table 2. In Figure 7, the straight line connecting the transfer point 4x and the rotation axis 3 of the transport table 2 is shown as a dashed line K.

[0028] As shown in Figure 7, the alignment guide 7 is installed such that the angle α between the guide surface 7a and the dashed line K is an acute angle of 75 to 88 degrees, and the guide surface 7a is tangent to the workpiece transport arc 5 at the confluence point 7x, which is located downstream of the transfer point 4x in the transport direction of the workpiece W. That is, when the straight line connecting the confluence point 7x and the rotation axis 3 of the transport table 2 is represented by the dashed line L, the angle β between the dashed line L and the guide surface 7a is 90°.

[0029] Furthermore, as shown in Figure 5, the imaging means 20 is configured with a side camera section 8, an inner camera section 9, an upper camera section 10, a lower camera section 11, a front camera section 12, and a rear camera section 13, all aligned with the rotation direction of the transport table 2. This imaging means 20 allows for visual inspection of the workpiece W on the workpiece transport arc 5 by imaging each surface of the workpiece W, indicated by arrows A to F in Figure 6. At this time, the transport direction of the workpiece W, indicated by arrow Z in Figure 6, coincides with the rotation direction X of the transport table 2 in Figure 5.

[0030] Specifically, the side camera unit 8 captures the side A opposite to the paper surface of the workpiece W, the inner camera unit 9 captures the side B in front of the paper surface, the top camera unit 10 captures the top surface C, the bottom camera unit 11 captures the bottom surface D, the front camera unit 12 captures the front surface E, and the rear camera unit 13 captures the rear surface F.

[0031] Furthermore, as shown in Figure 5, a discharge unit 14 is provided as a discharge means downstream of the imaging means 20 in the rotational direction of the transport table 2. After the visual inspection is completed, the workpiece W is discharged by the discharge unit 14 from the workpiece transport arc into a storage box (not shown) in accordance with the results of the visual inspection.

[0032] Incidentally, below the transport table 2, there is an electric field line generating unit 15e and a magnetic field line generating unit 18. Here, Figure 10 is a perspective view of the electric field line generating unit 15e and the magnetic field line generating unit 18 in the present invention. In Figure 10, as with Figure 7, only the workpiece W2 immediately after being transferred from the linear feeder 1 to the transfer point 4x in Figure 7, and the workpiece W9 that is separated from the guide surface 7a at the confluence point 7x and transported along the workpiece transport arc 5 are shown as the workpiece W (Figure 6) to be transported. Furthermore, Figure 11 is a diagram showing the vertical positional relationship between the transport table 2 and the alignment guide 7 and the electric field line generating unit 15e and the magnetic field line generating unit 18 in Figure 10. Furthermore, Figure 12 is an enlarged plan view of the vicinity of the electric field line generating unit 15e and the magnetic field line generating unit 18 in Figure 10. For explanatory purposes, a part of it is shown as a perspective view. Furthermore, Figure 13 is a view of the vicinity of the electric field line generation section 15e and the magnetic field line generation section 18 in Figure 10, as seen from the direction of arrow H in Figure 7. And Figure 14 is a view of the vicinity of the electric field line generation section 15e and the magnetic field line generation section 18 in Figure 10, as seen from the direction of arrow N in Figure 7. Note that in Figures 12 to 14, the only workpieces W (Figure 6) being transported are workpiece W2 immediately after being transferred from the linear feeder 1 to the transfer point 4x in Figure 7, and workpiece W9 that is separated from the guide surface 7a at the confluence point 7x and transported along the workpiece transport arc 5.

[0033] In Figure 10, the electric field line generation unit 15e is located on a conductive plate frame 15f1 made of an insulating material, positioned below the transport table 2 with a small gap between them. The magnetic field line generation unit 18 is housed inside the conductive plate frame 15f1. Figure 11 shows their relative positions. Specifically, when assembling the electric field line generation unit 15e and the magnetic field line generation unit 18, the magnetic field line generation unit 18, shown at the bottom of Figure 11, is moved in the direction of arrow U1 (vertically upward) and housed inside the conductive plate frame 15f1 of the electric field line generation unit 15e, shown in the center of Figure 11. Then, the conductive plate frame 15f1 with the magnetic field line generation unit 18 housed inside is moved in the direction of arrow U2 (vertically upward) and positioned directly below the transport table 2, shown at the top of Figure 11 with a small gap between them. The entire assembled system is shown in Figure 10. Here, the vertical positional relationship between the transport table 2 and the conductive plate frame 15f1 is as shown in Figures 13 and 14.

[0034] Next, the detailed configuration of the electric field line generation section 15e will be explained using Figure 12. The electric field line generation section 15e shown in Figures 10 and 11 is composed of a conductive plate frame 15f1. The area in which the conductive plate frame 15f1 is located is the part along the transport path of the workpiece W, as shown in Figure 12, from directly below the transfer point 4x, through the confluence point 7x along the alignment guide 7, to the front surface 7b of the alignment guide 7, which is the downstream position where the workpiece W9 located on the workpiece transport arc 5 is transported. Of this, a rectangular recess, the straight-line housing groove 15sd, is formed on the upper surface of the conductive plate frame 15f1 from directly below the transfer point 4x to a position slightly downstream of the confluence point 7x. A straight section 15s (hereinafter referred to as the straight section 15s) of a conductive plate, which is formed in the shape of a thin rectangular parallelepiped made of a conductor, is housed in the straight-line housing groove 15sd. When viewed from above, the straight section 15s is a rectangle whose longer side aligns with the direction of transport of the workpiece W, and the guide surface 7a is located directly above the approximate midpoint of its shorter side.

[0035] Furthermore, in Figure 12, further downstream from a position slightly downstream of the confluence point 7x, a curved storage groove 15wd, which is a recess having the same depth as the straight storage groove 15sd, is provided adjacent to the straight storage groove 15sd, along the workpiece transport arc 5 on the transport table 2. Inside the curved storage groove 15wd, a curved section 15w (hereinafter referred to as curved section 15w) of a thin conductive plate made of a conductor electrically connected to the straight section 15s is housed. As shown in Figure 12, the curved section 15w has a shape in which the approximate midpoint of its horizontal width direction, which is perpendicular to the transport direction of the workpiece W, lies directly below the workpiece transport arc 5. Comparing the width 15wb1 at a position close to the straight section 15s, i.e., upstream, with the width 15wb2 at a position farther away, i.e., downstream, there is a relationship 15wb1 > 15wb2. In other words, the width of the curved section 15w narrows as it goes downstream. Furthermore, at the downstream point of the conductive plate frame 15f1 in the transport path of the workpiece W, the tip 15t of the curved section 15w is pointed, and the pointed point is located approximately directly below W90, shown as a dashed line in Figure 2, that is, the line W90 connecting the midpoints of the short sides whose width Wem is equal to Wem = We / 2, with respect to the width We of the two opposing faces Ws1 and Ws2 of the workpiece W. The straight section 15s and the curved section 15w are connected to the DC power supply 16 shown in Figure 5, but the DC power supply 16 is not shown in Figures 10 to 14.

[0036] The conductive plate frame 15f1, the straight section 15s, the curved section 15w, and the DC power supply 16 shown in Figure 9 constitute the electric field line generation unit 15e. The straight section 15s and the curved section 15w constitute the conductive plate (also called a conductor) 15. In this embodiment, the electric field line generation unit 15e and the conductive plate 15 constitute the workpiece holder 15A that holds the workpiece W on the transport table 2.

[0037] Next, the magnetic field line generating unit 18 will be briefly explained using Figures 12 to 14, but this magnetic field line generating unit 18 is not necessarily required. The magnetic field line generating unit 18 shown in Figures 10 and 11 is housed within the conductive plate frame 15f1 as described above. The main components of the magnetic field line generating unit 18 are the element magnets 18m shown in Figures 12 to 14. The element magnets 18m are permanent magnets, and as shown in Figures 13 and 14, magnet blocks 18mb are stacked in three layers vertically with their longitudinal direction aligned with the conveying direction of the workpiece W, arranged in three rows in the conveying direction of the workpiece W and two rows horizontally perpendicular to the conveying direction. The position where the magnet blocks 18mb are placed is approximately directly below the guide surface 7a of the alignment guide 7, as shown in Figure 12. The range in which they are placed is along the conveying path of the workpiece W, from directly below the transfer point 4x to a position slightly downstream of the confluence point 7x along the alignment guide 7.

[0038] In Figure 13, nine visible element magnets 18m are individually numbered from [m11] to [m33]. Here, when i=1,2,3, [mi1] to [mi3] constitute one magnet block 18mb. In Figures 12 to 14, the magnet blocks 18mb are arranged in three rows in the direction of transport of the workpiece W and two rows in the horizontal direction perpendicular to the transport direction, but the number of rows of magnet blocks 18mb is not limited to this. Furthermore, if it is possible to use a large permanent magnet as an element magnet 18m and construct a magnet block 18mb with one element magnet 18m, or if it is possible to construct the entire magnet block 18mb arranged in three rows and two rows with one element magnet 18m, then this may also be done.

[0039] Furthermore, as shown in Figures 13 and 14, each element magnet 18m is positioned such that the side closer to the transport table 2 is the north pole and the side further away is the south pole. However, the arrangement of the north and south poles is not limited to this; they may also be arranged so that the side closer to the transport table 2 is the south pole and the side further away is the north pole.

[0040] On top of the magnet block 18mb, a magnetic superposition bar 18p made of magnetic material is positioned with its longitudinal direction aligned with the longitudinal direction of each element magnet 18m. The magnetic superposition bar 18p extends along the transport direction of the workpiece W from the transfer point 4x to the end of the conductive plate frame 15f1, i.e., near the tip 15t of the curved section 15w. Also, as shown in Figure 14, the magnet blocks 18mb are arranged in two horizontal rows perpendicular to the transport direction, so the magnetic superposition bars 18p are also positioned on top of each row, forming two rows. By positioning the magnetic superposition bar 18p here, the magnetic field lines emanating from the N pole of the magnet block 18mb are suppressed from diffusing into the surroundings and are concentrated on the workpiece W placed on the upper surface of the transport table 2.

[0041] Furthermore, as shown in Figures 13 and 14, an auxiliary member 18s made of a non-magnetic material is placed beneath each magnet block 18mb. In Figure 13, each auxiliary member 18s corresponding to each magnet block 18mb is numbered [S1] to [S3]. The auxiliary member 18s is a component that adjusts the distance between the top surface of the magnet block 18mb and the top surface of the transport table 2, thereby applying an optimal magnetic attraction force to the workpiece W placed on the top surface of the transport table 2. In addition, as shown in Figures 13 and 14, a magnet fixing frame 18f made of a non-magnetic material is placed to surround the underside and sides of each magnet block 18mb and each auxiliary member 18s in an L-shape. In Figure 13, each magnet fixing frame 18f corresponding to each magnet block 18mb and each auxiliary member 18s is numbered [F1] to [F3]. Each magnet block 18mb, along with its corresponding auxiliary member 18s and magnet fixing frame 18f, is integrally fixed to the conductive plate frame 15f1 by fixing screws (not shown) along with the magnetic superposition bar 18p.

[0042] The element magnets 18m, magnetic superposition bar 18p, auxiliary member 18s, and magnet fixing frame 18f constitute the magnetic field line generating unit 18. The element magnets 18m and magnetic superposition bar 18p constitute the jump prevention means.

[0043] Furthermore, the workpieces W supplied from the linear feeder 1 are aligned on the transport table 2 by the alignment guide 7. The transport table 2 is equipped with a workpiece supply sensor 70 that detects the amount of workpieces W supplied (also called the supply speed of workpieces W) and the orientation of the workpieces W as they move along the guide surface 7a of the alignment guide 7 (see Figure 7).

[0044] As shown in Figure 7, a vacuum passage 72 is provided upstream of the alignment guide 7 to attract the workpiece W supplied from the linear feeder 1 to the guide surface 7a of the alignment guide 7. This vacuum passage 72 is connected to a vacuum mechanism 72a (see Figure 15).

[0045] As mentioned above, the work feeder 1A consists of a linear feeder 1 and a parts feeder 1a that sends workpieces W to the linear feeder 1 (see Figure 16). Of these, the linear feeder 1 receives vibrations from the vibrating body 73 to transport the workpieces W. The parts feeder 1a also receives vibrations from the vibrating body 75 to transport the workpieces W.

[0046] Furthermore, the amount of air drawn through the vacuum path 72 (L / min) can be adjusted by the vacuum mechanism 72a.

[0047] Furthermore, the vibrations generated by the vibrating body 73 of the linear feeder 1 can be adjusted by changing the voltage and frequency applied to the vibrating body 73.

[0048] Furthermore, the vibrations generated by the vibrating body 74 of the parts feeder 1a can be adjusted by changing the voltage and frequency applied to the vibrating body 75.

[0049] Incidentally, the workpiece visual inspection device 30 has a control unit 40 for driving and controlling various devices such as a transport table 2, a vacuum mechanism 72a, a linear feeder 1, a parts feeder 1a, and an imaging means 20.

[0050] Next, we will explain in detail a method for visually inspecting a workpiece using a workpiece visual inspection device configured in this way.

[0051] In Figure 5, workpieces W are fed from a hopper (not shown) into a parts feeder located upstream of the linear feeder 1. The workpieces W fed into the parts feeder are aligned in a line by the action of the linear feeder 1, which vibrates due to a drive source (not shown), and are conveyed in series in the direction of arrow N in Figure 5. At this time, the workpieces W are aligned so that their longitudinal direction coincides with the conveying direction, and arrow Z in Figure 6 is the conveying direction of the workpieces W. That is, the direction of arrow Z in Figure 6 coincides with the direction of arrow N in Figure 5.

[0052] Next, the operation of the linear feeder 1 will be described in detail with reference to Figure 8. Figure 8 shows the state of the workpiece W being transported by the linear feeder 1, and is a perspective view of the area S enclosed by the dashed line in Figure 5, viewed from the direction of arrow Y. Figure 8 is a perspective view in which the position of the alignment guide 7 is indicated by a dashed line to make the state of the workpiece W on the transport table 2 easier to see. Furthermore, the workpieces on individual components are shown as workpieces W0 to W6, and the general workpiece is shown as workpiece W regardless of its location.

[0053] As shown in Figure 8, the linear feeder 1 has a slight incline toward the transport table 2 located horizontally below it. The workpiece W, pushed forward by the vibration of the linear feeder 1, moves forward and gradually descends toward the transport table 2 in a continuous forward-backward direction, as indicated by W0.

[0054] In Figure 7, the workpieces W, which have been transported in a single line by the vibration of the linear feeder 1, are moved to the transfer point 4x on the transport table 2 and are attracted to the upper surface of the transport table 2 by electrostatic induction and dielectric polarization caused by the charge generated on the conductive plate 15 connected to the DC power supply 16.

[0055] Figure 9 shows the adsorption process. In Figure 9, the conductive plate 15 is positioned with a small gap between it and the underside of the transport table 2, and a DC power supply 16 is connected to the conductive plate 15, applying a positive DC voltage. As a result, a positive charge appears on the conductive plate 15.

[0056] Due to the action of this positive charge, dielectric polarization occurs, causing negative charges to appear on the lower surface and positive charges to appear on the upper surface of the transport table 2 facing the conductive plate 15. Similarly, in the workpiece W2 transferred from the linear feeder 1 to the transfer point 4x on the transport table 2, negative charges appear on the lower surface and positive charges appear on the upper surface of electrodes Wa and Wb due to electrostatic induction, and in the main body Wd due to dielectric polarization.

[0057] Then, an electrostatic attraction force G, indicated by the arrow, acts between the negative charges appearing on the lower surfaces of electrodes Wa, Wb and the main body Wd and the positive charges on the conductive plate 15. As a result, the workpiece W2 is attracted to the upper surface of the transport table 2 and transported in the direction of arrow X by the rotation of the transport table 2. In this case, the transport table 2 rotates continuously at a constant rotational speed.

[0058] Next, the workpiece W, which has been transferred to the transfer point 4x on the transport table 2, is shown as workpiece W2 and is transported in the direction of arrow X by the rotation of the transport table 2 while being held in place by the transport table 2.

[0059] In this case, the transport speed due to the rotation of the transport table 2 is made greater than the transport speed by the linear feeder 1, so that there is a gap between the workpieces on the transport table 2 (for example, between W2 and W3). By creating this gap between the workpieces on the transport table 2, the front camera unit 12 in Figure 1 can reliably capture the front surface E of the workpiece W shown in Figure 2, and the rear camera unit 13 in Figure 1 can reliably capture the rear surface F of the workpiece W shown in Figure 2.

[0060] In other words, when the workpiece W is transferred from the transfer point 4x to the transport table 2 and transported, in section P in Figure 7, the workpiece W is electrostatically attracted and quickly accelerated to the transport speed of the transport table 2, as in W2→W3→W4, and in section Q, the spacing between the workpieces widens, for example, between W4 and W5.

[0061] During this time, the workpiece W2, which has been transferred to the transfer point 4x, is attracted to the guide surface 7a of the alignment guide 7 by a vacuum path 72 located upstream of the alignment guide 7 and connected to the vacuum mechanism 72a. The workpiece W2 attracted to the guide surface 7a of the alignment guide 7 is then aligned in orientation by this guide surface 7a.

[0062] Furthermore, a work supply sensor 70 is provided downstream of the alignment guide 7. This work supply sensor 70 detects the amount of workpieces W being supplied (work supply speed) and the orientation of the workpieces W as they move along the guide surface 7a of the alignment guide 7. The information on the work supply speed and orientation of the workpieces W detected by the work supply sensor 70 is sent to the control unit 60. Workpieces W whose orientation is deemed inappropriate are then discharged from the discharge unit 14 as uninspected workpieces without being imaged by the imaging means 20.

[0063] Next, the operation of the electric field line generation unit 15e and the magnetic field line generation unit 18 will be explained using Figures 12 to 14. In Figure 12, the workpiece W (Figure 6) transferred to the transfer point 4x is attracted to the upper surface of the transport table 2 by electrostatic attraction due to the electric field lines generated by the straight section 15s, and by magnetic attraction due to the magnetic field lines generated by the magnet block 18mb (composed of [m11][m12][m13] in Figure 13). Here, the magnetic field lines generated by the magnet block 18mb will be explained using Figures 13 and 14. In Figures 13 and 14, the magnetic field lines starting from the N pole on the upper surface of each element magnet 18m and ending at the S pole on the lower surface are shown by dashed lines. Of the magnetic field lines, the magnetic field lines φ0a1 and φ0b1 near both ends of the magnet block 18mb in Figure 13 are shown in their entirety from the starting point to the ending point. However, the other magnetic field lines φ1N1 and φ1S1 reach extremely far distances (sometimes to infinity) from the starting point before reaching the endpoint, so only the vicinity of the starting point and the vicinity of the endpoint are shown. The same applies to the magnetic field lines φ0c1 and φ0d1, and the magnetic field lines φ1N2 and φ1S2 in Figure 14. Here, the magnetic attraction acting on the workpiece W at the transfer point 4x is caused by the magnetic field lines that penetrate the transport table 2, i.e., the magnetic field line φ1N1 in Figure 9 and the magnetic field line φ1N2 in Figure 10. In this way, by using both electrostatic attraction and magnetic attraction at the transfer point 4x, more stable attraction can be achieved compared to the case of electrostatic attraction alone.

[0064] Next, in Figure 12, the workpiece W, which has been transferred to the transfer point 4x, is attracted to the upper surface of the transport table 2 by electrostatic and magnetic attraction. As the transport table 2 rotates in the direction of arrow X, it is pressed against the guide surface 7a of the alignment guide 7 and transported as workpiece W2. Then, as it moves from the transfer point 4x to the confluence point 7x, the workpiece W is accelerated to the rotational speed of the transport table 2, and at the confluence point 7x, it separates from the guide surface 7a and is placed and aligned on the workpiece transport arc 5 for transport. Here, for a while after the workpiece W separates from the guide surface 7a and is placed and aligned on the workpiece transport arc 5, specifically until it reaches the tip 15t of the curved section 15w, i.e., the position of workpiece W9 in Figure 12, electrostatic attraction by the curved section 15w located directly below the workpiece transport arc 5 acts on the workpiece W. For this reason, the workpiece W is attracted to the upper surface of the transport table 2 and transported until it reaches the position of workpiece W9, which corresponds to the tip 15t of the curved section 15w. Thus, by using both electrostatic and magnetic attraction between the transfer point 4x and the confluence point 7x, more stable attraction can be achieved compared to the conventional method using only electrostatic attraction. Therefore, stable attraction is achieved even when a large acceleration is applied while the workpiece W is being transported from the transfer point 4x to the confluence point 7x. Due to this stable attraction, when the workpiece W reaches the confluence point 7x and is placed and aligned on the workpiece transport arc 5 for transport, the workpiece W will not fly off the workpiece transport arc 5 due to the centrifugal force acting on it regardless of its size. Furthermore, immediately after the workpiece W is placed and aligned on the workpiece transport arc 5, it remains attracted to the upper surface of the transport table 2 for a while due to electrostatic attraction by the curved section 15w, enabling even more stable transport.

[0065] As mentioned above, because the transport speed due to the rotation of the transport table 2 is greater than the transport speed due to the linear feeder 1, the positioned workpiece W is electrostatically attracted in section P in Figure 7 and is quickly accelerated to the transport speed due to the rotation of the transport table 2, as in W2→W3→W4, and in section Q the spacing between the workpieces widens, for example, between W4 and W5. Workpiece W5 is then transported while being pressed against the guide surface 7a, similar to section P, and gradually approaches the workpiece transport arc 5. When workpiece W6 reaches the junction point 7x where the guide surface 7a touches the workpiece transport arc 5, the transport direction of workpiece W6 coincides with the direction of the workpiece transport arc 5 in section R, and workpiece W6 is transported away from the guide surface 7a. That is, because an electrostatic attraction force acts on workpiece W6 on the transport table 2 from the positive charge present on the lower surface of the transport table 2, workpiece W6 is attracted to the transport table 2 and moves away from the guide surface 7a, and thereafter is transported in a state of being placed and aligned on the workpiece transport arc 5.

[0066] The workpiece W then reaches the imaging means 20, where the side camera section 8, inner camera section 9, top camera section 10, bottom camera section 11, front camera section 12, and rear camera section 13 of the imaging means 20 image each surface from the directions indicated by arrows A to F in Figure 6 to perform an external inspection. In this case, the workpiece W is positioned accurately by the attraction of the charge present on the lower surface of the transport table 2 and the action of the guide surface 7a, thus improving the imaging accuracy of the imaging means 20. After the external inspection is complete, the workpiece W reaches the discharge section 14 and is discharged towards a storage box (not shown) according to the results of the external inspection.

[0067] In this embodiment, however, prior to the actual operation of the workpiece visual inspection device 30 described above, an adjustment operation is performed to adjust the drive parameters (also simply called parameters) of the workpiece feeder 1A, the drive parameters (also simply called parameters) of the workpiece holder 15A, and the parameters of the vacuum path 72 provided on the guide surface 7a of the alignment guide 7 (see Figures 1 to 4).

[0068] In this case, the work feeder 1A consists of a linear feeder 1 and a parts feeder 1a, and the drive parameters of the work feeder 1A include the voltage and frequency applied to the vibrating body 73 of the linear feeder 1, and the voltage and frequency applied to the parts feeder 1a.

[0069] Furthermore, the drive parameter for the workpiece holder 15A is the voltage applied to the workpiece holder 15A. In addition, the parameter for the vacuum path 72 provided on the guide surface 7a is the amount of air (L / min) sucked in by the vacuum mechanism 72a connected to the vacuum path 72.

[0070] The vacuum path 72 attracts the workpiece W supplied from the linear feeder 1 onto the transport table 2 to the guide surface 7a of the alignment guide 7, and the workpiece holder 15A attracts and holds the workpiece W on the transport table 2 by electrostatic induction and electrostatic polarization.

[0071] Thus, both the vacuum path 72 and the workpiece holder 15A control the orientation of the workpiece W on the transport table 2, and the vacuum path 72 and the workpiece holder 15A constitute the workpiece orientation control means 80.

[0072] Next, Figures 1 to 4 illustrate the adjustment process of various parameters performed prior to the actual operation of the workpiece visual inspection device 30.

[0073] As shown in Figures 1 to 4, the operator first inputs and sets the drive parameters of various devices, the supply speed including the lower and upper limits of the workpiece W, the number of uninspected workpieces allowed, and the invalid interval information into the parameter setting unit 61 while the device is stopped.

[0074] Here, "uninspected workpieces" refer to workpieces W detected by the workpiece supply sensor 70 that have an unsuitable orientation and should be discharged from the discharge unit 14 as uninspected workpieces without being imaged by the imaging means 20. There is a certain tolerance for the number of these uninspected workpieces, but it is required to keep them as small as possible.

[0075] Next, the setting confirmation unit 62 checks whether the drive parameters of various devices, the workpiece supply speed, and the number of uninspected workpieces that have been input and set in the parameter setting unit 61 are appropriate.

[0076] If the drive parameters for various devices, the supply speed including the lower and upper limits of the workpiece speed, the number of uninspected workpieces allowed, and the invalid section information entered in the parameter setting unit 61 are appropriate, the information entered in the parameter setting unit 61 is sent from the setting confirmation unit 62 to the control unit 40, and the control unit 40 automatically adjusts the parameters while operating the workpiece visual inspection device 30.

[0077] On the other hand, if the drive parameters of various devices, the supply speed including the lower and upper limits of the workpiece speed, the number of allowable uninspected workpieces, and the invalid section information entered in the parameter setting unit 61 are unsuitable, the drive parameters of various devices, etc. will be entered again in the parameter setting unit 61.

[0078] The drive parameters for various devices input to the parameter setting unit 61 include the voltage and frequency applied to the vibrating body 73 of the linear feeder 1, and the amount of suction air from the vacuum mechanism 72a connected to the vacuum path 72.

[0079] Next, the control unit 40 adjusts the drive parameters of the work feeder 1A, the drive parameters of the work holder 15A, and the parameters of the vacuum path 72 based on the information regarding the drive parameters of various devices that has been input to and set in the parameter setting unit 61.

[0080] While the control unit 40 adjusts the parameters, it operates the workpiece visual inspection device 30 to transport the workpieces W on the transport table 2 while performing the parameter adjustments. During this time, the workpiece visual inspection device 30 adjusts the parameters while processing, for example, 2000 workpieces W within the invalid section. Workpieces supplied to the transport table 2 during this parameter adjustment period (invalid section) are referred to as workpieces supplied to the invalid section.

[0081] The control unit 40 first checks with the invalid section confirmation unit 41 whether the parameter adjustment to be performed in the future is within the invalid section (2000 workpieces) for parameter adjustment, and then monitors the supply speed of the workpieces W supplied from the linear feeder 1 onto the transport table 2 and the number of uninspected workpieces with the monitoring unit 42 based on the information detected by the workpiece supply sensor 70.

[0082] The control unit 40 compares the work supply speed and the number of uninspected workpieces monitored by the monitoring unit 42 with the work supply speed and the number of uninspected workpieces input by the parameter setting unit 61 and confirmed by the setting confirmation unit 62 in the attitude / speed determination unit 43.

[0083] If the posture / speed determination unit 43 determines that the work supply speed and the number of uninspected workpieces monitored by the monitoring unit 42 are appropriate (OK), the monitoring unit 42 performs monitoring again. This monitoring by the monitoring unit 42 is repeated during the invalid section.

[0084] Next, if the posture / speed determination unit 43 determines that at least one of the work supply speed and the number of uninspected workpieces is unsuitable (NG), the parameters are adjusted. In this case, the adjustment count determination unit 44 determines the number of parameter adjustments. If the number of parameter adjustments exceeds a predetermined number (10 to 20 times), it is determined that parameter adjustment is impossible. If parameter adjustment is impossible, this signal is sent to the error stop unit 55, and the workpiece visual inspection device 30 as a whole is stopped.

[0085] Next, if the number of parameter adjustments is less than a predetermined number, the adjustment count determination unit 44 determines that parameter adjustment is possible (OK), and the parameter setting value acquisition unit 45 of the work feeder 1A and work attitude control means 80 acquires the parameter setting value set by the parameter setting unit 61.

[0086] Next, among the parameters of various devices, the parameters of the work feeder 1A are adjusted in the work feeder parameter adjustment unit (lower limit speed) (also called the first work feeder parameter adjustment unit) 51, the parameters of the work feeder 1A are adjusted in the work feeder parameter adjustment unit (upper limit speed) (also called the second work feeder parameter adjustment unit) 53, and the parameters of the work attitude control means 80 are adjusted in the work attitude control means parameter adjustment unit 52.

[0087] Next, the parameter adjustments in the work feeder parameter adjustment unit (lower speed limit) 51, the work feeder parameter adjustment unit (upper speed limit) 53, and the work attitude control means parameter adjustment unit 52 will be explained below with reference to Figures 2 to 4.

[0088] First, the parameter adjustment of the work feeder parameter adjustment unit (lower limit speed) 51 will be explained with reference to Figure 2. As shown in Figure 2, the drive parameters of the work feeder 1A are adjusted in the work feeder parameter adjustment unit (lower limit speed) 51.

[0089] Specifically, the drive parameters for the work feeder 1A include the voltage and frequency applied to the vibrating body 73 of the linear feeder 1, and further, the voltage and frequency applied to the vibrating body 75 of the parts feeder 1a.

[0090] First, the parameter settings of the work feeder acquired by the parameter setting value acquisition unit 45 of the work feeder 1A and work attitude control means 80 are sent to the work feeder parameter setting value acquisition unit 51a.

[0091] Next, the parameters of the work feeder, which have been sent to the work feeder parameter setting value acquisition unit 51a, are automatically adjusted by the parameter adjustment unit 51b.

[0092] In this case, the parameter adjustment unit 51b automatically adjusts the parameters while determining whether the parameters set in the parameter setting unit 61 are appropriate.

[0093] Specifically, if the parameter of the work feeder is the voltage value applied to the vibrating body 73 of the linear feeder 1, this set voltage value is changed by a predetermined amount. At this time, while operating the work inspection device 30, the supply speed of the work W is read from the work supply sensor 70.

[0094] Next, the monitoring unit 51c monitors the lower limit of the supply speed of the workpiece W read by the workpiece supply sensor 70, and the determination unit 51d compares the supply speed of the workpiece W read by the workpiece supply sensor 70 with the set value of the lower limit of the supply speed of the workpiece W sent from the setting confirmation unit 62.

[0095] In the determination unit 51d, if the supply speed of the workpiece W read by the workpiece supply sensor 70 is outside the set value set by the parameter setting unit 61, the determination unit 51d determines it to be NG. In this case, the parameter adjustment unit 51b further changes the voltage value applied to the vibrating body 73 of the linear feeder 1 by a predetermined amount, and the determination unit 51d repeats the above operation until the lower limit of the supply speed of the workpiece W read by the workpiece supply sensor 70 is within the range of the set value set by the parameter setting unit 61.

[0096] In this way, the parameter adjustment unit (lower limit speed) 51 of the work feeder can automatically determine the parameters related to the voltage applied to the vibrating body 73 of the linear feeder 1 so as to satisfy the work supply speed (lower limit speed) input by the parameter setting unit 61.

[0097] Next, the parameters for the frequency of linear feeder 1, the voltage of parts feeder 1a, and the frequency of parts feeder 1a are automatically adjusted in the same manner as the parameter setting unit 61 to satisfy the work supply speed (lower limit speed) input to linear feeder 1, the voltage of parts feeder 1a, and the frequency of parts feeder 1a.

[0098] Next, the parameter adjustment of the work feeder parameter adjustment unit (upper speed limit) 53 will be explained with reference to Figure 3. As shown in Figure 3, the drive parameters of the work feeder 1A are adjusted in the work feeder parameter adjustment unit (upper speed limit) 53.

[0099] Specifically, the drive parameters for the work feeder 1A include the voltage and frequency applied to the vibrating body 73 of the linear feeder 1, and further, the voltage and frequency applied to the vibrating body 75 of the parts feeder 1a.

[0100] First, the parameter settings of the work feeder acquired by the parameter setting value acquisition unit 45 of the work feeder 1A and work attitude control means 80 are sent to the work feeder parameter setting value acquisition unit 53a.

[0101] Next, the parameters of the work feeder, which have been sent to the work feeder parameter setting value acquisition unit 53a, are automatically adjusted by the parameter adjustment unit 53b.

[0102] In this case, the parameter adjustment unit 53b of the work feeder automatically adjusts the parameters in the parameter adjustment unit 51b while determining whether the parameters set in the parameter setting unit 61 are appropriate.

[0103] Specifically, if the parameter of the work feeder is the voltage value applied to the vibrating body 73 of the linear feeder 1, this set voltage value is changed by a predetermined amount. At this time, the workpiece visual inspection device 30 is operated, and the supply speed of the workpiece W at this time is read from the workpiece supply sensor 70.

[0104] Next, the monitoring unit 51c monitors the supply speed of the workpiece W read by the workpiece supply sensor 70, and the determination unit 51d compares the supply speed of the workpiece W read by the workpiece supply sensor 70 with the set value of the upper limit of the supply speed of the workpiece W sent from the setting confirmation unit 62.

[0105] In the determination unit 51d, if the supply speed of the workpiece W read by the workpiece supply sensor 70 is outside the set value set by the parameter setting unit 61, the determination unit 51d determines it to be NG. In this case, the parameter adjustment unit 51b further changes the voltage value applied to the vibrating body 73 of the linear feeder 1 by a predetermined amount, and the determination unit 51d repeats the above operation until the supply speed of the workpiece W read by the workpiece supply sensor 70 is within the range of the set value set by the parameter setting unit 61.

[0106] In this way, the parameter adjustment unit (upper limit speed) 53 of the work feeder can automatically determine the parameters related to the voltage applied to the vibrating body 73 of the linear feeder 1 so as to satisfy the work supply speed (upper limit speed) input by the parameter setting unit 61.

[0107] Next, the parameters for the frequency of linear feeder 1, the voltage of parts feeder 1a, and the frequency of parts feeder 1a are automatically adjusted in the same manner as the parameter setting unit 61 to satisfy the work supply speed (lower limit speed) input to linear feeder 1, the voltage of parts feeder 1a, and the frequency of parts feeder 1a.

[0108] Next, the parameter adjustment of the parameter adjustment unit 52 of the workpiece attitude control means 80 will be explained with reference to Figure 4. As shown in Figure 4, the drive parameters of the workpiece attitude control means 80 are adjusted in the parameter adjustment unit 52 of the workpiece attitude control means.

[0109] Specifically, the drive parameters for the workpiece attitude control means 80 include the amount of suction air from the vacuum mechanism 72a connected to the vacuum path 72 of the alignment guide 7, or the voltage applied to the workpiece holder 15A.

[0110] First, the parameter setting values ​​of the workpiece attitude control means 80, acquired by the parameter setting value acquisition unit 45 of the workpiece feeder 1A and the workpiece attitude control means 80, are sent to the parameter setting value acquisition unit 52a of the workpiece attitude control means.

[0111] Next, the parameters of the workpiece attitude control means, which have been sent to the parameter setting value acquisition unit 52a, are automatically adjusted by the parameter adjustment unit 52b.

[0112] In this case, the parameter adjustment unit 52b automatically adjusts the parameters while determining whether the parameters set in the parameter setting unit 61 are appropriate.

[0113] Specifically, if the parameter of the workpiece attitude control means is the amount of suction air from the vacuum mechanism 72a connected to the vacuum path 72, this set amount of suction air is changed by a predetermined amount. At this time, while operating the workpiece visual inspection device 30, the number of uninspected workpieces of workpiece W is read from the workpiece supply sensor 70.

[0114] Next, the monitoring unit 52c monitors the number of uninspected workpieces of workpiece W read by the workpiece supply sensor 70, and the determination unit 52d compares the number of uninspected workpieces of workpiece W read by the workpiece supply sensor 70 with the set value for the number of uninspected workpieces of workpiece W sent from the setting confirmation unit 62.

[0115] In the determination unit 52d, if the number of uninspected workpieces W read by the workpiece supply sensor 70 falls outside the set value set by the parameter setting unit 61, the determination unit 52d determines it to be NG. In this case, the parameter adjustment unit 52b further changes the amount of suction air from the vacuum mechanism 72a by a predetermined amount, and the determination unit 52d repeats the above operation until the number of uninspected workpieces read by the workpiece supply sensor 70 falls within the set value set by the parameter setting unit 61.

[0116] In this way, the parameter adjustment unit 52 of the workpiece attitude control means can automatically determine the parameters related to the amount of suction air of the vacuum mechanism 72a that satisfy the number of uninspected workpieces input by the parameter setting unit 61.

[0117] Next, the voltage applied to the workpiece holder 15A is also adjusted in the same manner, and the parameters related to the voltage of the workpiece holder 15A are automatically adjusted by the parameter setting unit 61 to satisfy the number of uninspected workpieces input.

[0118] As explained above, the parameter adjustment unit (lower limit speed) 51 of the work feeder automatically adjusts the parameters of the work feeder 1A to satisfy the work supply speed (lower limit speed) input by the parameter setting unit 61.

[0119] Furthermore, the parameter adjustment unit (upper limit speed) 53 of the work feeder automatically adjusts the parameters of the work feeder 1A to satisfy the work supply speed (upper limit speed) input by the parameter setting unit 61.

[0120] Furthermore, the parameter adjustment unit 52 of the workpiece posture control means automatically adjusts the parameters of the workpiece posture control means 80 that have been input by the parameter setting unit 61.

[0121] Next, the parameter adjustment results from the work feeder parameter adjustment unit (lower speed limit) 51, the parameter adjustment results from the work feeder parameter adjustment unit (upper speed limit) 53, and the parameter adjustment results from the work attitude control means parameter adjustment unit 52 are sent to the additional attitude / speed determination unit 54.

[0122] If the additional posture / speed determination unit 54 determines that the parameter adjustment to satisfy the desired setting value entered in the parameter setting unit 61 is not properly performed (NG) in any of the work feeder parameter adjustment unit (lower speed limit) 51, work feeder parameter adjustment unit (upper speed limit) 53, and work posture control means parameter adjustment unit 52, the adjustment count determination unit 44 determines again whether the number of adjustments is appropriate, and the above operation is repeated to perform parameter adjustment by the work feeder parameter adjustment unit (lower speed limit) 51, parameter adjustment by the work feeder parameter adjustment unit (upper speed limit) 53, and parameter adjustment by the work posture control means parameter adjustment unit 52.

[0123] On the other hand, if the additional posture / speed determination unit 54 is unable to properly adjust the parameters to satisfy the desired set values ​​input in the parameter setting unit 61, or if it is determined that parameter adjustment is difficult, a signal is sent to the error stop unit 55, and the workpiece visual inspection device 30 as a whole is stopped.

[0124] Furthermore, in the additional attitude / speed determination unit 54, if it determines that the parameter adjustments to satisfy the desired set values ​​entered in the parameter setting unit 61 have been properly performed (OK) in all parameter adjustment units 51, 52, and 53 of the work feeder parameter adjustment unit (lower speed limit) 51, the work feeder parameter adjustment unit (upper speed limit) 53, and the work attitude control means parameter adjustment unit 52, the invalid section confirmation unit 41 checks whether the current parameter adjustment is within the invalid section. After it is confirmed to be within the invalid section, monitoring in the monitoring unit 42 and determination in the attitude / speed determination unit 43 are performed sequentially as described above.

[0125] If the posture / speed determination unit 43 determines that the work supply speed and the number of uninspected workpieces input to the monitoring unit 42 are within the range of the set values ​​for work supply speed and the number of uninspected workpieces input and set in the parameter setting unit 61, the monitoring by the monitoring unit 42 and the operation of the posture / speed determination unit 43 described above are repeated. After that, when the invalidation period is reached, the parameter adjustment operation described above ends, and the parameters of the work feeder and the parameters of the posture control means are determined.

[0126] As described above, according to this embodiment, the operator sets the desired work supply speed (lower limit speed), work supply speed (upper limit speed), and the number of uninspected workpieces to the parameter setting unit 61. This allows the parameter adjustment unit (lower limit speed) 51 and the parameter adjustment unit (upper limit speed) 53 of the work feeder to automatically adjust and determine the parameters related to the voltage and frequency applied to the vibrators 73 and 75 of the linear feeder 1 and parts feeder 1a, respectively, so as to satisfy the set values ​​of the work supply speed (lower limit speed) and work supply speed (upper limit speed) described above. At the same time, the parameter adjustment unit 52 of the work attitude control means can automatically adjust and determine the parameters related to the amount of suction air from the vacuum mechanism 72a connected to the vacuum path 72 and the voltage applied to the work holder 15A so as to satisfy the set value of the number of uninspected workpieces described above.

[0127] As a result, compared to a situation where an operator intuitively adjusts the voltage and frequency applied to the vibrators 73 and 75 of the linear feeder 1 and parts feeder 1a, or the amount of suction air of the vacuum mechanism 72a and the voltage applied to the workpiece holder 15A, by repeatedly performing trial runs until the desired workpiece supply speed and number of uninspected workpieces are reached, this embodiment allows for accurate and rapid adjustment and determination of the voltage and frequency applied to the vibrators 73 and 75 of the linear feeder 1 and parts feeder 1a, and the amount of suction air of the vacuum mechanism 72a and the voltage applied to the workpiece holder 15A. [Explanation of symbols]

[0128] 1 Linear feeder 1a Parts Feeder 1A Work Feeder 2. Transport Table 3. Rotation axis of the transport table 4 Non-vibration section 4x transfer points 5. Workpiece transport arc 7. Queueing Guide 7a Guide surface 7x confluence 8. Side camera section 9. Internal camera section 10 Top camera section 11. Bottom camera section 12 Front camera section 13 Rear camera section 14 Discharge section 15 Conductive plate 15A Workpiece holder 15e Electric field line generation section 15f1 Conductive plate frame 15s Straight section of conductive plate 15W conductive plate curved section 18 Magnetic field line generation section 18f Magnetic Fixing Frame 18m element magnet 18MB Magnetic Block 18p Magnetic superposition bar 18s Auxiliary Member 20 Imaging means 21 Transfer and Alignment Means 30. Workpiece visual inspection device 40 Control Unit 41 Invalid section confirmation unit 42 Monitoring Department 43 Attitude / speed determination section 44 Adjustment count determination unit 45 Parameter setting value acquisition unit for work feeder and work posture control means 51 Workfeeder parameter adjustment section (lower limit speed) 51a Workfeeder parameter setting value acquisition unit 51b Parameter adjustment section 51c Monitoring Department 51d Judgment section 52 Parameter adjustment unit for workpiece attitude control means 52a Parameter setting value acquisition unit for workpiece posture control means 52b Parameter adjustment section 52c Monitoring Department 52d Judgment section 53. Workfeeder parameter adjustment section (maximum speed) 53a Workfeeder parameter setting value acquisition unit 53b Parameter adjustment section 53c Monitoring Department 53d Judgment section 61 Parameter setting section 62. Configuration Confirmation Section 70 Workpiece supply sensor 72 Vacuum path 72a Vacuum mechanism 73. Vibrating Body 75 Vibrating Body 80 Workpiece posture control means Double job Electrodes of Wa, Wb workpieces WD Work Body

Claims

1. In a workpiece visual inspection device, A transport table for transporting workpieces, A work feeder that supplies the workpiece to the transport table, An alignment guide provided on the transport table and having a guide surface for aligning the orientation of the workpieces sent from the work feeder onto the transport table, A workpiece posture control means for adjusting the posture of the workpiece supplied from the workpiece feeder to the transport table, A work supply sensor is provided on the transport table and detects the supply speed and orientation of the workpiece supplied from the work feeder. It includes a control unit, A workpiece appearance inspection device, wherein the control unit adjusts the parameters of the workpiece feeder and the parameters of the workpiece attitude control means based on a signal from the workpiece supply sensor to satisfy a predetermined workpiece supply speed and the number of uninspected workpieces.

2. The workpiece appearance inspection apparatus according to claim 1, wherein the workpiece attitude control means is arranged below the transport table and includes a workpiece holder that generates an electric field to hold the workpiece, and a vacuum path provided on the guide surface of the alignment guide.

3. The control unit includes a work feeder parameter adjustment unit (lower limit speed) that adjusts the parameters of the work feeder to satisfy a predetermined set value for the work supply speed (lower limit speed) based on the signal from the work supply sensor, A work feeder parameter adjustment unit (upper speed limit) adjusts the parameters of the work feeder to satisfy a predetermined set value for the work supply speed (upper speed limit) based on the signal from the work supply sensor, A workpiece appearance inspection apparatus according to claim 1 or 2, further comprising: a parameter adjustment unit for the workpiece attitude control means that adjusts the parameters of the workpiece attitude control means to satisfy a predetermined set value for the number of uninspected workpieces based on a signal from the workpiece supply sensor.

4. The parameter adjustment unit (lower limit speed) of the work feeder adjusts the parameters of the work feeder based on the signal from the work supply sensor until the supply speed of the work feeder meets a predetermined lower limit speed setting. The parameter adjustment unit (upper speed limit) of the work feeder adjusts the parameters of the work feeder based on the signal from the work supply sensor until the supply speed of the work feeder meets a predetermined upper speed limit setting. The workpiece appearance inspection apparatus according to claim 3, wherein the parameter adjustment unit of the workpiece attitude control means adjusts the parameters of the workpiece attitude control means based on a signal from the workpiece supply sensor until the number of uninspected workpieces satisfies a predetermined set value for uninspected workpieces.

5. The control unit includes a parameter adjustment unit (lower speed limit) for the work feeder, a parameter adjustment unit (upper speed limit) for the work feeder, and, in front of the work attitude control means, A supply speed / position determination unit determines whether the predetermined set values ​​for the work supply speed (lower limit speed), the work supply speed (upper limit speed), and the number of uninspected workpieces are met based on the signal from the work supply sensor. The workpiece appearance inspection apparatus according to claim 3, further comprising: an adjustment count determination unit that determines the number of adjustments when the supply speed / attitude determination unit determines that it is NG, and performs parameter adjustments by the workpiece feeder parameter adjustment unit (lower limit speed), the workpiece feeder parameter adjustment unit (upper limit speed), and the workpiece attitude control means parameter adjustment unit when the number of adjustments is less than or equal to a predetermined value.

6. The control unit includes a parameter adjustment unit (lower speed limit) for the work feeder, a parameter adjustment unit (upper speed limit) for the work feeder, and an additional supply speed / attitude determination unit located downstream of the work attitude control means, which determines again whether the work supply speed from the work supply sensor satisfies a predetermined set value for the work supply speed (lower speed limit) and the work supply speed (upper speed), and whether the number of uninspected workpieces from the work supply sensor satisfies a predetermined set value for the number of uninspected workpieces. If the additional supply speed / position determination unit determines that it is NG, the adjustment count determination unit determines the adjustment count again, the workpiece appearance inspection apparatus according to claim 5.

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