Visual inspection equipment

Abstract

To provide an appearance inspection device capable of imaging the inner surface of an object to be inspected without turning the object upside down. In the visual inspection device (1), the stage unit (2) fixes the position of an object to be inspected (5a) and the imaging unit (4) is provided with a freely movable camera (421), The stage section 2 is characterized in that spaces 23a, 23b in which the camera 421 of the imaging section 4 moves are provided above and below the opening 212, and the outer surface 51a of the object to be inspected 5a is imaged from above and the inner surface 52a from below by the camera 421 of the imaging section 4 moving in the spaces 23a, 23b above and below the opening 212, with the edge of the object to be inspected 5a being fixed in position relative to the periphery of the opening 212 of the stage section 2.

Description

[Technical Field]

[0001] The present invention relates to a visual inspection apparatus for inspecting whether or not there are scratches on the surface of an object to be inspected, such as a die-cast product. [Background technology]

[0002] For example, a die-cast product (inspection object) is inspected for scratches on its surface using a visual inspection device. The "blemishes" inspected by a visual inspection device are abnormalities or defects in appearance, such as casting defects, blowholes, and stains in the case of a die-cast product. The visual inspection device has a stage unit (holding device) that fixes the position of the object to be inspected, and an imaging unit (imaging unit and arm) that has a movable camera (imaging device) (Patent Document 1, [Claim 1]). The image data (video or still images) captured by the camera are sent to a judgment unit (e.g., a computer) that is configured as an integral part of or separate from the visual inspection device, and the presence or absence of scratches on the surface is judged through image processing and AI inference processing (Patent Document 1,

[0049] ).

[0003] In the appearance inspection device disclosed in Patent Document 1, a camera and a light (lighting device) are held by a robot arm (arm), and the camera and light are moved together. There are also appearance inspection devices in which multiple cameras and lights are arranged in fixed positions, and the light that is turned on is switched according to the camera taking the image. The appearance inspection device disclosed in Patent Document 1 raises the stage unit while keeping the position of the object to be inspected fixed, allowing the camera to move under the object to enable imaging of the underside (backside, etc.) of the object to be inspected (Patent Document 1

[0034] ). [Prior art documents] [Patent documents]

[0004] [Patent Document 1] Japanese Patent Application Publication No. 2023-118304 Summary of the Invention [Problem to be solved by the invention]

[0005] In some cases, it is necessary to inspect not only the outer surface from above but also the inner surface from below while the object is fixed in position (e.g., a die-cast product such as a gear case). The stage unit disclosed in Patent Document 1 appears to be a table that can be raised and lowered and rotated horizontally, as shown in the example diagram (Patent Document 1, Figure 5). Because the object is placed on the table, even if the imaging unit is placed under the table, the table's support pillars interfere with camera movement and imaging, and the inner surface cannot be imaged due to the contact area with the table. While the inner surface can be imaged from above by inverting the object upside down, this requires time and effort (especially when the object is heavy, such as a die-cast product). Therefore, we investigated a visual inspection device that can also image the inner surface of the object without inverting it upside down. [Means for solving the problem]

[0006] As a result of the investigation, we have developed a visual inspection device having a stage unit that fixes the position of the object to be inspected and an imaging unit that is equipped with a movable camera, in which the stage unit has openings with spaces above and below through which the camera of the imaging unit moves, and the outer surface of the object to be inspected is imaged from above and the inner surface from below by the camera of the imaging unit that moves in the spaces above and below the opening, with the edge of the object to be inspected being fixed in position relative to the periphery of the opening of the stage unit.If the image data required for the judgment process are still images, the imaging unit is configured to capture still images of the object to be inspected with a camera stopped in a predetermined attitude at each preset inspection point, and if the image data required for the judgment process may be moving images, it can also be configured to capture moving images continuously while the camera is moving.

[0007] The appearance inspection device is constructed as a whole by housing a stage unit, an imaging unit, and lighting, leaving space above the stage unit for the camera of the imaging unit to move, and a judgment unit that judges the presence or absence of scratches from image data (video or still images) captured by the camera, which is provided either integrally with or separately from the housing. The imaging unit only needs to be able to move the camera in all directions (front-back, left-right, and up-down) of the object to be inspected placed on the stage unit, and examples of this include a moving frame that moves the camera linearly back-back, left-right, and up-down, and a multi-axis robot arm with a camera attached as an end effector. The lighting is either fixed in position to the stage unit or the housing, or moved integrally with the camera of the imaging unit.

[0008] The stage unit is exemplified by a table supported by pillars or walls. The stage unit "fixes the position of the object to be inspected" means that the object does not shift position while being imaged by the camera of the imaging unit. For example, the object to be inspected may be fixed in position by a fixing means provided on the table (such as a block or pin that engages with the edge, or a clamp that clamps the edge), or by an object that is simply placed on the table being fixed in position by friction with the table. The object to be inspected may be fixed in position directly relative to the stage unit, or indirectly via an auxiliary tool or the like. The opening of the stage unit may be of a size equivalent to the object to be inspected and may have any shape as long as the edge of the object to be inspected can be fixed in position around the periphery of the opening, but a regular polygon or circle is preferred.

[0009] The stage unit may have an opening periphery that is horizontally rotatable, and the edge of the object to be inspected may be positioned and fixed on the horizontally rotating opening periphery of the stage unit. The horizontally rotating opening periphery may be the entire stage unit including the opening periphery, or just the opening periphery. For a regular polygonal or circular opening, it is desirable to align the center of rotation of the horizontally rotating opening periphery with the center of gravity. The horizontally rotatable opening periphery may be configured as a rotating ring that rotates horizontally along, for example, an annular rail provided around the opening, and may be rotated manually or automatically. The automatically horizontally rotating rotating ring is rotated horizontally by a rotational driving force transmitted from, for example, an electric motor via a transmission means such as a belt, gear, or chain.

[0010] The stage unit may have a plurality of support parts protruding from the periphery of the opening toward the inside of the opening, and the edge of the object to be inspected may be fixed to the support parts and positioned on the periphery of the opening via the support parts. The support parts protruding from the periphery of the opening fix the edge of the object to be inspected from the periphery of the opening toward the inside of the opening, thereby fitting the object to be inspected as much as possible within the opening. Examples of the support parts include blocks or stays that protrude toward the inside of the opening. Any or all of the plurality of support parts may be provided with fixing means.

[0011] If the support parts are detachable from the periphery of the opening, their position and shape can be changed to suit the object to be inspected. However, it is preferable that the stage part has multiple support parts protruding inside the opening from an auxiliary tool that is detachable from the periphery of the opening, and the edge of the object to be inspected is fixed in position to the support parts of the auxiliary tool, and the object to be inspected is fixed in position to the periphery of the opening via the support parts and the auxiliary tool. The support parts protruding from the auxiliary tool may be fixed in position or detachable. The auxiliary tool allows the multiple support parts to be handled as a unit, and multiple support parts can be replaced at once by replacing the auxiliary tool.

[0012] The auxiliary tool with a support part is attached and detached in a specific positional relationship to the opening periphery edge. When the opening periphery rotates horizontally, the auxiliary tool rotates horizontally together with the opening periphery. The auxiliary tool being detachable from the opening periphery includes cases where the auxiliary tool is simply placed on the opening periphery edge without misalignment, cases where the auxiliary tool is fixed in position to the opening periphery by positioning means such as pins or blocks provided on the opening periphery edge, and cases where the auxiliary tool is integrated with the opening periphery by fixing means such as screws, bolts, nuts, or clamps. The support part protruding from the auxiliary tool, like the support part protruding from the opening periphery edge, fixes the edge of the object to be inspected from the opening periphery to the inside of the opening, so that the object to be inspected fits as much as possible within the opening. [Effects of the Invention]

[0013] The visual inspection device of the present invention can image an object to be inspected, whose edge is fixed to the periphery of the opening of the stage unit, from all directions without interference from, for example, supports supporting the table. This eliminates the need to turn the object upside down, particularly to image the inner surface from below, eliminating the labor and time required to turn the object upside down and shortening the inspection time required for the visual inspection. If the periphery of the opening of the stage unit can be rotated horizontally, the outer and inner surfaces can be imaged from the front, back, left, and right without having to move the camera of the imaging unit significantly, thereby further shortening the inspection time required for the visual inspection.

[0014] In the visual inspection device of the present invention, the edge of the object to be inspected is fixed in position on a support portion that protrudes inside the opening, thereby allowing the object to fit within the opening and reducing the area that the camera of the imaging unit cannot capture. This expands the imaging range of the inner surface and improves the accuracy of the evaluation by the evaluation unit. Furthermore, if the visual inspection device of the present invention is configured so that the support portion protrudes from an auxiliary device that is detachable from the stage unit, the arrangement and shape of the support portion can be adjusted to suit the object to be inspected simply by replacing the auxiliary device, reducing the labor and effort required for inspection preparation between visual inspections and shortening the preparation time. [Brief explanation of the drawings]

[0015] [Figure 1] 1 is a perspective view illustrating an example of a visual inspection apparatus to which the present invention is applied. [Figure 2] FIG. 2 is a perspective view of a stage unit in the visual inspection apparatus of the present embodiment. [Figure 3] 1 is a perspective view showing a visual inspection apparatus in a preparation state for imaging an object to be inspected from above. [Figure 4] 10 is a plan view showing the stage unit and the imaging unit when an image of an object to be inspected is being captured from above. FIG. [Figure 5] FIG. 10 is a right side view showing the stage unit and the imaging unit when an image of the object to be inspected is being captured from above. [Figure 6] 1 is a perspective view showing a visual inspection apparatus in a preparation state for imaging an object to be inspected from below. FIG. [Figure 7]10 is a plan view showing the stage unit and the imaging unit when an image of an object to be inspected is being captured from below. FIG. [Figure 8] 8 is a cross-sectional view taken along the line AA in FIG. 7, illustrating the stage unit and the imaging unit when an image of the object to be inspected is being captured from below. [Figure 9] 10 is a plan view showing the stage unit and the imaging unit in a state where an image of an object to be inspected is being captured from the side. FIG. [Figure 10] FIG. 10 is a perspective view showing an object to be inspected and an auxiliary tool according to a first modified example. [Figure 11] FIG. 10 is a perspective view showing an object to be inspected and an auxiliary tool according to a second modified example. [Figure 12] FIG. 11 is a perspective view showing an object to be inspected and an auxiliary tool according to a third modified example. DETAILED DESCRIPTION OF THE INVENTION

[0016] Hereinafter, an embodiment of the present invention will be described with reference to the drawings. As shown in FIG. 1, an appearance inspection device 1 to which the present invention is applied is configured as follows: the stage unit 2, the image capture unit 4, and lighting (not shown) are housed in a housing 11, leaving a space 23a above the stage unit 2 in which the camera 421 of the image capture unit 4 can move; a determination unit 12 that determines the presence or absence of scratches from image data is provided separately from the housing 11. The power required for the stage unit 2 and the image capture unit 4 is supplied from an external power source (not shown). The appearance inspection device 1 of this example includes a stage unit 2 having a horizontally rotating rotating ring 24 mounted on a table 21 with spaces 23a and 23b above and below it, and an image capture unit 4 having a camera 421 built into an end effector 42 of a robot arm 41.

[0017] For ease of explanation, each figure shows the housing 11 simply by attaching plates to six sides of a rectangular frame, while omitting the ceiling, front, and right side, which are the front side of the drawing. The housing 11 is provided with safety doors on the front and sides as appropriate, for accessing the stage unit 2 and the imaging unit 4, and for fixing or retrieving the inspection object 5a on the stage unit 2. The judgment unit 12 uses a computer capable of judging the presence or absence of scratches from image data. In this example, when the judgment unit 12 receives an inspection request signal from the PLC 13, which controls the operation of the stage unit 2 and the imaging unit 4, it captures image data using the camera 421, sequentially processes the obtained image data, and assigns a pass or fail flag to each image data.

[0018] 2, in the stage unit 2 of this example, the object to be inspected 5a is fixed in position to an auxiliary tool 3a that is detachable from a rotating ring 24 that rotates horizontally on a table 21. The table 21 is rectangular in plan view and elongated from side to side, with a flat surface from which a semicircular overhang 211 in plan view protrudes toward the imaging unit 3 at the rear, and a circular opening 212 is formed including the overhang 211. The table 21 is fixed to the housing 11 by plate-like support legs 22 that are lowered from the left and right ends and fixed to the bottom surface of the housing 11. As a result, the table 21 forms spaces 23a and 23b above (the space inside the housing 11) and below (between the table 21 and the bottom surface of the housing 11) in which the camera 421 of the imaging unit 4 moves.

[0019] Table 21 has a large opening 212 that straddles overhanging portion 211 that protrudes rearward and has a front-to-rear width that is about half the opening 212. In this example, imaging unit 4 has camera 421 attached to the tip of L-shaped end effector 42 attached to multi-axis robot arm 41, and camera 421 is moved by bending or horizontally rotating robot arm 41 or by rotating end effector 42 about its axis. When camera 421 moves vertically across table 21, imaging unit 4 passes camera 421 beside overhanging portion 211, thereby shortening the time required to retreat away from table 21 and ultimately shortening the inspection time.

[0020] In the visual inspection device 1 of this example, the object under inspection 5a is not directly fixed to the periphery of the opening 212 of the table 21, but an auxiliary tool 3a having the same shape as the rotating ring 24 in a plan view is detachably attached to the rotating ring 24, which is circular in a plan view and rotates horizontally on the table 21 concentrically with the opening 212, and the object under inspection 5a is fixed to the auxiliary tool 3a. The inner peripheral edges of the rotating ring 24 and the auxiliary tool 3a are the same circle as the inner peripheral edge of the opening 212. As a result, the object under inspection 5a fixed to the auxiliary tool 3a is indirectly fixed to the periphery of the opening 212 of the table 21 via the rotating ring 24 and the auxiliary tool 3a.

[0021] The rotating ring 24 has its underside supported by ball casters 216 arranged in plurality on the upper surface of the table 21 along the opening 212, and is horizontally rotatable while being fixed in position by having cam followers 215 arranged in plurality on the inner peripheral surface of the opening 212 inscribed on the inner peripheral surface. In this example, the rotating ring 24 has a gear on its outer peripheral surface meshed with a drive gear (not shown) of a gear box 213 placed on the upper left surface of the table 21, and receives rotational power transmitted via the gear box 213 from a motor 214 fixed to the lower left surface of the table 21, thereby rotating horizontally in either the left or right direction. As a result, the horizontal orientation of the object to be inspected 5a, which is fixed in position by the auxiliary tool 3a attached to the rotating ring 24, can be freely changed.

[0022] In this example, the auxiliary tool 3a has a circular shape in plan view, the same shape as the rotating ring 24, and is provided with a support portion 31a at a circumferential position corresponding to the flange 53 of the object to be inspected 5a. The support portion 31a is configured with an upward-facing pin 312a extending from the end of a linear stay 311a that protrudes radially inward. The linear stay 311a is a portion of the inner periphery of the auxiliary tool 3a that protrudes radially inward, i.e., a portion of the inner periphery of the same opening 212 that protrudes radially inward on the inner periphery of the auxiliary tool 3a. The flange 53a, which is the edge of the object to be inspected 5a, is placed on the linear stay 311a. As a result, only the flange 53 of the object to be inspected 5a overlaps the linear stay 311a, allowing the entire object to be seen from below the opening 212.

[0023] In this example, the auxiliary tool 3a rotates along with the rotatable ring 24 via the connection pin 241 by inserting the connection pin 241 (see FIG. 8 below) protruding from the top surface of the rotatable ring 24 into the connection hole and placing it on the top surface of the rotatable ring 24, but can be removed from the rotatable ring 24 by lifting it up. During inspection, the auxiliary tool 3a will not come off upward from the rotatable ring 24 because the heavy object to be inspected 5a is placed on it. In this way, the auxiliary tool 3a in this example can stably rotate the object to be inspected 5a horizontally in conjunction with the rotatable ring 24, and can be easily attached to and detached from the rotatable ring 24.

[0024] The specimen 5a in this example is a hollow, approximately truncated pyramidal die-cast product with an open bottom (bottom). A flange 53a with a cast-in hole 531a protrudes horizontally from each corner of the bottom. The specimen 5a is brought close to the auxiliary tool 3a from above, the flange 53 is placed on the linear stay 311a of the support part 31a, and the pin 312a is inserted into the cast-in hole 531a of the flange 53, thereby securing the specimen 5a to the auxiliary tool 3a. Because the specimen 5a in this example is heavy, the support part 31a rotates with the auxiliary tool 3a without disengaging from the pin 312a. However, the specimen 5a can be easily removed from the auxiliary tool 3a by lifting it upward. This easy attachment and detachment of the specimen 5a shortens the time required to replace the specimen 5a.

[0025] 1, the imaging unit 4 of this example is configured by attaching an end effector 42 with a built-in camera 421 to a multi-axis robot arm 41 fixed to a base 411 on the rear left side of the stage unit 2. Because the robot arm 41 of this example is fixed to the base 411 on the rear left side of the stage unit 2, the camera 421 of the end effector 42 can be moved closer to or farther away from the object 5a to be inspected on the stage unit 2 simply by rotating it horizontally, without bending the entire robot arm 41. As a result, the appearance inspection device 1 of this example reduces the time required for the bending operation of the robot arm 42 that moves the camera 421, thereby shortening the inspection time.

[0026] Furthermore, since the end effector 42 of this example has the camera 421 built into the tip of its L-shaped bend, the tilt attitude of the camera 421 can be easily changed by rotating the end effector 42 about its axis. For example, when the camera 421 is to transition from a state in which it is imaging the plane of the outer surface 51a of the object to be inspected 5a to a state in which it is imaging the side of the outer surface 51a of the object to be inspected 5a, the camera 421 can be directed toward the side of the outer surface 51a of the object to be inspected 5a simply by horizontally rotating the robot arm 41 slightly backward and rotating the end effector 42 90 degrees about its axis. In addition, the end effector 42 of this example is equipped with green markers 422 and red markers 423 that mark the object to be inspected 5a as pass or fail.

[0027] The inspection procedure using the appearance inspection device 1 of this example will be described. Before the start of inspection, the appearance inspection device 11 is in a retracted state (with the robot arm 41 bent toward the left on the rear side of the housing 11) as shown in FIG. 1. When the same inspection object 5a is inspected repeatedly, the auxiliary tool 3a remains attached to the rotating ring 24 of the stage unit 2 (as shown in FIG. 1). When attaching or detaching the auxiliary tool 3a to or from the rotating ring 24, the auxiliary tool 3a is taken in or out of the housing 11 through the opened safety door. The auxiliary tool 3a can be moved or attached or detached from the rotating ring 24 using a dedicated replacement device, or manually by an operator. When handling the auxiliary tool 3a manually, it is advisable to provide a handle on the auxiliary tool 3a.

[0028] The inspection object 5a is brought into the housing 11 by opening the safety door, just like the auxiliary tool 3a. As shown in FIG. 2, the flange 53a is placed on the linear stay 311a of the support part 31a from above the auxiliary tool 3a, and the pin 312a of the support part 31a is inserted into the cast hole 531a. The inspection object 5a is then horizontally fixed to the table 21 via the auxiliary tool 3a and the rotating ring 24. The inspection object 5a can be moved or attached / detached to / from the auxiliary tool 3a using a dedicated replacement device or manually by an operator. In this example, the inspection object 5a fits entirely within the inner periphery of the auxiliary tool 3a except for the flange 53a. The outer surface 51a can be imaged from above, and most of the inner surface 52a (see FIG. 8 below) can be imaged except for the flange 53a.

[0029] In the visual inspection device 1, the inspection object 5a is placed in the housing 11, the inspection object 5a is placed on the auxiliary tool 3a, and the safety door is closed. Then, by pressing a start button (not shown) provided on the housing 11, the safety door is locked so that it cannot be opened or closed. The motor 214 of the stage unit 2 and the robot arm 41 and camera 421 of the imaging unit 4 are preferably started in advance. In the visual inspection device 1 of this example, the robot arm 41 of the imaging unit 4 is surrounded by the housing 11 to which the safety door is fixed, thereby eliminating the possibility of the robot arm 41 interfering with the outside of the device and ensuring the safety of the surrounding area. This allows the robot arm 41 to bend and rotate horizontally at high speed, thereby shortening the inspection time related to the movement of the imaging unit 4.

[0030] The start button not only locks the safety door so that it cannot be opened or closed, but also sends a start signal to the PLC 13. Upon receiving the start signal, the PLC 13 drives the motor 214 to horizontally rotate the rotating ring 24, the auxiliary tool 3a, and the object under test 5a together, changing the horizontal orientation of the object under test 5a, and then drives the robot arm 41 to orient the camera 421 toward the inspection point. For example, if the outer surface 51a of the object under test 5a is the inspection point, as shown in FIG. 3, the camera 421 is first oriented so as to face the vertical direction. Then, as shown in FIGS. 4 and 5, the robot arm 41 is rotated horizontally, and the front-to-back direction of the object under test 5a is horizontally rotated so as to align with the horizontally rotated robot arm 41. The tilted orientation of the camera 421 may also be adjusted to match the inspection point.

[0031] When preparations for imaging the first inspection point are complete in this way, PLC 13 transmits an inspection request signal to determination unit 12. Upon receiving the inspection request signal from PLC 13, determination unit 12 images the first inspection point with camera 421, acquires the first image data, and performs a determination process on the first image data (a process for determining the presence or absence of scratches). At the same time, upon acquiring the first image data, determination unit 12 transmits an imaging completion signal to PLC 13. Upon receiving the imaging completion signal, PLC 13 rotates object to be inspected 5a horizontally and drives robot arm 41 to orient camera 421 toward the inspection point in order to prepare for imaging at the next inspection point.

[0032] The visual inspection device 1 of the present invention is characterized by its ability to acquire image data of the inner surface 52a of the object under inspection 5a without turning the object under inspection upside down. In this example, after the outer surface 51a of the object under inspection 5a is imaged (see FIGS. 4 and 5), as shown in FIG. 6, the robot arm 41 is rotated horizontally backward and then bent, the end effector 42 is turned upside down, and the camera 421 is pointed directly upward. After that, the robot arm 41 is rotated horizontally, and as shown in FIGS. 7 and 8, the camera 421 enters the space 23b below the table 21 and is positioned directly below the object under inspection 5a. The tilt attitude of the camera 421 is further adjusted to match the inspection point (see FIG. 8).

[0033] In the visual inspection device 1 of this example, a table 21, which is about three times wider than the object 5a to be inspected, is elevated by left and right support legs 22, thereby enlarging a space 23b below the table 21. The table 21 also has a protruding portion 211 to form an opening 212 large enough to accommodate the object 5a to be inspected, and the rotating ring 24 and auxiliary tool 3a have an annular shape in a plan view, with the inner periphery coinciding with the opening 212. Therefore, a camera 421 inserted into the space 23b below the table 21 can capture the entire inner surface 52a of the object 5a to be inspected, except for the flange 53a hidden by the support portion 31a. In this way, the visual inspection device 1 of this example can continuously capture the outer and inner surfaces 51a, 52a of the object 5a to be inspected using the imaging unit 4 without turning the object 5a upside down, thereby shortening the inspection time.

[0034] 9, the imaging unit 4 can orient the camera 421 horizontally by rotating the end effector 42 90 degrees around its axis, thereby imaging, for example, the side of the outer surface 51a of the object to be inspected 5a. The order in which the inspection points of the object to be inspected 5a are imaged is up to the user. However, from the perspective of shortening the time required for bending and horizontally rotating the robot arm 41, which can increase the inspection time, it is preferable to image the plane and side of the outer surface 51a of the object to be inspected 5a in that order in the first half of the inspection, and then image the inner surface 52a of the object to be inspected 5a in the second half of the inspection, while utilizing the rotation of the end effector 42 around its axis, so as to reduce the amount of bending and horizontally rotating movement of the robot arm 41.

[0035] The judgment unit 12 sequentially judges the obtained image data. The judgment process may be any image process capable of determining the presence or absence of scratches in the image data, and may be any of various conventionally known image processes, as well as image processing using AI. Recent image processing using AI has a very short processing time. Therefore, even if the judgment unit 12 of the appearance inspection device 1 of this example uses image processing using AI for the judgment process, the obtained image processing can be sequentially judged while the PLC 13 horizontally rotates the inspection object 5a to switch the shooting point and drives the robot arm 41 to position the camera 421 facing the inspection point, thereby preventing the inspection time from becoming too long.

[0036] If the judgment unit 12 judges that the image data does not contain any flaws, it assigns a pass flag to the image data. If the image data contains flaws, it assigns a fail flag to the image data. The image data with the pass or fail flag is stored in the memory device of the judgment unit 12. The inspection ends when a fail flag is assigned to the judged image data. If the inspection object 5a fails, the visual inspection device 1 of this example marks the inspection object 5a as failing with the red marker 423 of the end effector 42, then moves the robot arm 41 to a standby state, sounds a buzzer (not shown) on the housing 11 to notify the failure, and unlocks the safety door. The inspection object 5a can be easily removed by pulling it up from the auxiliary tool 3a and then removed from the housing 11. The failed portion can be identified from the image data with the fail flag stored in the judgment unit 12.

[0037] Furthermore, the inspection ends when a pass flag is attached to all image data that has undergone the judgment process. In the visual inspection device 1 of this example, if the inspection object 5a passes, the inspection object 5a is marked with a pass mark using the green marker 422 of the end effector 42, the robot arm 41 is then retracted, the safety door is unlocked, and the inspection object 5a that has passed is removed from the housing 11. As described above, the inspection object 5a can be easily removed by pulling it up from the auxiliary tool 3a, and can be easily removed from the housing 11. If the captured image data is stored in the judgment unit 12, it can also be checked individually later.

[0038] In the visual inspection device 1 of this example, auxiliary tool 3a having support part 31a suitable for fixing the position of inspection object 5a to be inspected is attached to rotating ring 24. Auxiliary tool 3a is simply engaged with rotating ring 24 in the horizontal rotation direction by connecting pin 241, and can be easily removed upward. Therefore, when inspecting inspection objects 5b, 5c, and 5d of Alternative Examples 1 to 3 using the visual inspection device 1 of this example, auxiliary tools 3b, 3c, and 3d having support parts 31b, 31c, 32c, 31d, and 32d corresponding to inspection objects 5b, 5c, and 5d can be attached to rotating ring 24, respectively (see FIGS. 10 to 12).

[0039] As shown in Figure 10, the test object 5b of Alternative Example 1 is a hollow, approximately truncated quadrangular pyramid-shaped die-cast product with an open bottom (bottom) and a rectangular parallelepiped outer surface 51b, similar to this example (see Figure 2), but it has no flanges and no cast-out holes. The auxiliary tool 3b of Alternative Example 1 is, like this example (see Figure 2), annular in plan view and has the same shape as the rotatable ring 24, which is annular in plan view, but is provided with four support portions 31b equally spaced circumferentially to engage with the corners 53b of the test object 5b.

[0040] The support part 31b is configured by providing a corner engaging part 312b, which is Y-shaped in plan view and is a transferred structure of the corner part 53b of the test object 5b, at the tip of a linear stay 311b that protrudes radially inward. The test object 5b is placed with the corner part 53b on the flat surface of the corner engaging part 312b from above, and by engaging the corner part 53b with the wall surfaces that are open on the left and right, the test object 5b rotates horizontally together with the auxiliary tool 3b, but can also be easily removed upward.

[0041] 11, the object 5c to be inspected in Alternative Example 2 has a configuration in which an attachment flange 53c is provided at one end of a pipe main body where outer and inner surfaces 51c, 52c are continuous, and two attachment holes 531c are provided in a pair in the flange 53c. Like this example (see FIG. 2), the auxiliary tool 3c in Alternative Example 2 has the same circular shape in plan view as the rotatable ring 24, which is circular in plan view, but is provided with two support parts 31c with pins 312c to be inserted into the attachment holes 531c of the object 5b to be inspected, and one support part 32c that supports the pipe main body from below.

[0042] Support portion 31c has a pin 312c standing at the tip of straight stay 311c that protrudes radially inward. Support portion 32c has a Y-shaped receiver 322c at the tip of bent stay 321c that protrudes radially inward and is further bent upward. With the pipe body of object 5c placed on Y-shaped receiver 322c, flange 53c is placed across two straight stays 311c, and pins 312c are inserted into and engaged with mounting holes 531c. This allows object 5c to rotate horizontally together with auxiliary tool 3c, but can also be easily removed upward.

[0043] 12, the specimen 5d of Alternative Example 3 is a die-cast product in the shape of a hollow deformed truncated square pyramid with an open bottom surface (bottom base) and a step on the outer surface 51d, with flanges 53d and 54d with cast holes 531d and 541d protruding from the bottom corners on the lower side of the step and the top corners on the higher side of the step, respectively. The auxiliary tool 3d of Alternative Example 3, like the present example (see FIG. 2), has the same circular shape in plan view as the rotatable ring 24, which is circular in plan view, but is provided with two support parts 31d corresponding to the flange 53d on the lower side of the step and two support parts 32d corresponding to the flange 54d on the higher side of the step.

[0044] Support part 31d has a pin 312d protruding from the tip of straight stay 311d that protrudes radially inward. Support part 32d has a pin 322d protruding from the tip of bent stay 321d that protrudes radially inward and is further bent upward. For object 5d, flange 53d is placed on the upper surface of the corresponding straight stay 311d, and flange 54d is placed on the tip of the corresponding bent stay 321d. Pins 312d and 322d are inserted into and engaged with cast holes 531d and 541d, respectively. This allows object 5d to rotate horizontally together with auxiliary tool 3d, but can be easily removed upward. [Explanation of symbols]

[0045] 1. Visual inspection equipment 11. Housing 12 Judgment section 13 PLC 2 Stage Section 21 tables 22 Support legs 23a Upper Space 23b Lower Space 24 rotating rings 3a Auxiliary equipment 31a Support part 3b Auxiliary equipment 31b Support part 3c Auxiliary equipment 31c Support part 32c Support part 3d aids 31d Support part 32d support part 4. Imaging unit 41 Robot Arm 42 End Effector 421 Camera 5a Test object 51a outer surface 52a Inner surface 53a flange 5b Test object 51b outer surface 53b Corner 5c Object to be inspected 51c outer surface 52c inner surface 53c flange 5d Inspection object 51d outer surface 53d flange 531d Mounting hole 54d flange

Claims

1. In a visual inspection apparatus having a stage unit for fixing the position of an object to be inspected and an imaging unit having a movable camera, the stage unit has an opening above and below which a space in which a camera of the imaging unit moves is provided, and a plurality of support parts protrude from a periphery of the opening toward the inside of the opening; The object to be inspected is fixed at its edge to the support, and is fixed in position relative to the periphery of the opening of the stage via the support, and the entire object is contained in the opening. The outer surface is imaged from above and the inner surface is imaged from below by a camera of the imaging unit that moves in the space above and below the opening. Visual inspection equipment.

2. The stage section has an opening periphery that can rotate horizontally, The edge of the object to be inspected is positioned and fixed on the periphery of the horizontally rotating opening of the stage part. The visual inspection device according to claim 1.

3. The stage portion has a plurality of support portions protruding from an auxiliary tool detachably attached to the periphery of the opening toward the inside of the opening; The edge of the object to be inspected is positioned and fixed to the support part of the auxiliary tool, and the object is positioned and fixed to the periphery of the opening via the support part and the auxiliary tool.

3. The visual inspection device according to claim 1 or 2.

Images