JP4665014B2 - Multi-face appearance inspection equipment - Google Patents

Description

  The present invention relates to a multi-face appearance inspection apparatus suitable for, for example, inspecting the shape and surface state of a small molded part, and in particular, an improved small size that can be easily added on-line or off-line in a part manufacturing process. The present invention relates to an inexpensive multi-surface appearance inspection apparatus.

An image processing apparatus that compares a captured image of an object to be inspected captured by an electronic camera with comparison reference data to determine whether or not the object to be inspected has specificity in appearance, and includes various aspects of a three-dimensional component. A multi-surface appearance inspection apparatus that simultaneously observes the external appearances of these is known.
For example, according to a conventional appearance inspection apparatus, an apparatus for inspecting the appearance of an inspection object, the holding means for holding the inspection object in a fixed position, and images of each surface of the held inspection object It comprises an aggregating means for aggregating in a predetermined direction and an image receiving means for projecting the aggregated images, and recognizes a plurality of images obtained by an operator or an automatic inspection apparatus as one pattern, thereby performing an appearance inspection. An appearance inspection apparatus that can be easily and efficiently performed is disclosed (for example, see Patent Document 1).

  In addition, according to the multidirectional simultaneous observation optical system image reading device, one or more side image acquisition prism systems or bottom image for obtaining each side image for one or two or more side surfaces of the test object is obtained. A multi-directional simultaneous observation optical system having at least one of a bottom-surface image acquisition prism system, and the side-surface image acquisition prism system has an optical path direction conversion prism function or an optical path direction conversion prism function. The prism system is provided on the side of the space so that an open space for acquiring the upper surface image is secured in the direction directly above the test object and a test object placement space is secured. The prism systems are arranged in such a way that the optical paths of the light emitted by each of them are directed upward of the object to be inspected or are parallel to each other and in the same direction, and are not obstructed by the optical paths. Te, thereby become possible to simultaneously observe the object to be inspected from surfaces with high precision (e.g., see Patent Document 2).

Japanese Patent Laid-Open No. 06-273339 Table 2005-083399

However, in the appearance inspection apparatus according to Patent Document 1, a reflecting mirror is arranged around the object to be inspected, and the top image, the bottom image, and the first and second side images of the object to be inspected from one direction. If a six-plane image is to be obtained, the entire configuration becomes large and complicated, and there is a problem that it is difficult to perform the process of loading / unloading the object to be inspected.
In addition, the multi-directional simultaneous observation optical system image reading device disclosed in Patent Document 2 has a prism arranged around the object to be inspected so that a 6-plane image of the object to be inspected can be observed simultaneously from one direction. The six-plane images are dispersed around the object to be inspected, requiring a large space as a whole.
Further, the optical path for obtaining the back image of the object to be inspected is particularly long, and there is a problem that it is difficult to obtain a uniform image.

  An object of the present invention is to provide a compact and compact multi-surface appearance inspection apparatus in which six surfaces of an object to be inspected are arranged and arranged without any problem, and the spread of a photographing surface by an electronic camera is suppressed to a minimum. It is another object of the present invention to provide a multi-face appearance inspection apparatus that can easily input and carry out an object to be inspected and can be easily added and used in the production process of mass-produced parts.

  The multi-surface appearance inspection apparatus according to the present invention compares the image data of the object to be inspected photographed by the electronic camera with the comparison reference data to determine whether or not the object to be inspected has specificity in appearance. A multi-face visual inspection apparatus provided with the image processing apparatus, wherein the object to be inspected is put into a storage recess formed of five wall surfaces made of a transparent body, and an observation plane portion including an opening surface of the storage recess is Four inclined surfaces that are illuminated by a light source, and the transparent body illuminates the upper, lower, left, and right peripheral surfaces of the object to be inspected by orthogonally reflecting the illumination light from the light source incident from the observation plane portion. And an opposing slope that illuminates the back surface of the object to be inspected by orthogonally reflecting the illumination light twice, and the illumination light from the light source is reflected back on the surface of the object to be inspected as an opaque body, The reflected light is the electron The bottom surface dimension and depth dimension of the storage recess correspond to the back surface dimension and the height dimension when the outer dimension of the object to be inspected is maximum, and at least a plurality of surfaces of the object to be inspected are The electronic camera is inserted so as to come into contact with the inner wall of the storage recess, and the electronic camera images the appearance of the plurality of surfaces of the inspection object aligned and projected on the observation plane portion, and the image processing apparatus visually applies the inspection object to the inspection object. It is determined whether there is any specificity.

The multi-surface visual inspection apparatus according to the present invention is configured such that a plurality of surfaces of an object to be inspected put into a storage concave portion of a transparent body are concentrated and aligned on the same observation plane portion, and a plurality of surfaces of the object to be inspected are stored. It comes into contact with the inner wall of the recess.
Accordingly, the illumination area and the imaging area by the light source can be suppressed to the minimum, the electrical energy for illumination can be reduced, and the electronic camera can be used in a small and inexpensive manner by reducing the aperture of the electronic camera. effective.
In addition, by capturing the appearance of multiple faces of the object to be inspected, it is possible to specify the presence / absence of unevenness and the position of unevenness even in a planar image, so there is no need to obtain a stereoscopic image by a plurality of cameras, and the whole is small and inexpensive. There is an effect that can be configured.

Embodiment 1 FIG.
FIG. 1 is a perspective view of an object to be inspected for explaining a multi-surface appearance inspection apparatus according to Embodiment 1 of the present invention. FIG. 2 is a front view of the multi-surface appearance inspection apparatus according to Embodiment 1 of the present invention. FIG. 3 is a plan view of the multi-surface appearance inspection apparatus according to Embodiment 1 of the present invention. FIG. 4 is a configuration diagram of the observation plane portion 79. In FIG. 2, the second prism is omitted, and in FIG. 3, the third prism is omitted so that the inside can be understood.

  As shown in FIG. 1, the object 60 to be inspected is surrounded by an A surface that is a front surface, a B surface that is an upper surface, a C surface that is a back surface, a D surface that is a lower surface, an E surface that is a left surface, and an F surface that is a right surface. Cube. The height dimension a, the front-rear dimension b, and the left-right dimension c are shown as outer dimensions, the front-rear direction is shown as the X axis, the left-right direction is shown as the Y-axis, and the up-down direction is shown as the Z-axis.

As shown in FIGS. 2 and 3, the inspected object 60 is put into a storage recess 82 formed by assembling the first to fifth prisms 10, 20, 30, 40, 50, which are isosceles right triangular prisms. As shown in FIG. 3, the end surface of the storage recess 82 in the Y-axis direction is sealed by the second prism 20 and the fourth prism 40.
In addition, one orthogonal surface of the fifth prism 50 constituting the bottom surface of the storage recess 82 abuts on one orthogonal surface of the third prism 30, and the third prism 30 has a cross-sectional dimension compared to the other prisms. It is getting bigger.
The observation flat surface 79 including the opening surface of the storage recess 82 is illuminated by the light source 93, the light source 94 or the light source 95 described with reference to FIGS. The reflected light is photographed by the electronic camera 70.
The first to fifth prisms 10, 20, 30, 40, and 50 are bonded and fixed to the inner surface of the outer frame plate 87 that goes around the four sides to form a transparent body 81, and the transparent body 81 is attached to and detached from the jig 83. Semi-fixed installation is possible.

One orthogonal plane of the first prism 10 constitutes an observation plane portion 79 that is directly illuminated from the light source 93, the light source 94, or the light source 95, and the illumination light orthogonally reflected by the inclined surface of the first prism 10 is orthogonal to the other. The surface B is transmitted through the surface and illuminated and reflected by the surface B, which is the upper surface of the object 60 to be inspected. Yes.
Similarly, one orthogonal plane of the second prism 20, the third prism 30, and the fourth prism 40 constitutes an observation plane portion 79 that is directly illuminated from the light source 93, the light source 94, or the light source 95. The illumination light orthogonally reflected by the inclined surface is transmitted through the other orthogonal surface, and is illuminated and reflected by the left surface E, the lower surface D, and the right surface F of the object to be inspected 60, and is again orthogonally reflected by the inclined surface and is reflected by the observation surface portion 79 E, the appearances of the left surface E, the lower surface D, and the right surface F are projected onto the observation surface D for the lower surface and the observation surface F for the right surface.
Also, the illumination light that is orthogonally reflected by the inclined surface of the third prism 30 whose one orthogonal surface is directly illuminated by the light source 93, the light source 94, or the light source 95 is orthogonally reflected by the inclined surface of the fifth prism 50. The back surface C of the back surface C is illuminated and reflected, and again is orthogonally reflected by the slopes of the fifth prism 50 and the third prism 30, and the appearance of the back surface C is projected onto the back surface C of the observation plane 79. Yes.

The electronic camera 70 that captures each inspection surface of the inspection object 60 projected onto the observation plane 79 can be moved in three axial directions by a distance movement motor 71 and parallel movement motors 72 and 73 by a servo motor or a stepping motor. It is configured as follows.
The distance moving motor 71 adjusts the relative distance between the electronic camera 70 and the observation plane 79, and the optical path length from the object 60 to be photographed to the electronic camera 70 is substantially constant. (Or the transparent body 81 of each prism) is moved.

The reference relative distance L is a distance as close as possible so that the entire target imaging area on the observation plane unit 79 is included in the maximum area of the imaging screen of the electronic camera 70.
On the other hand, LA to LF are relative distances between the electronic camera 70 and the observation plane unit 79 suitable for photographing the A plane to the F plane, and the relative distances when each plane is photographed at the same magnification are as follows. It is shown by the equations (1) to (6). However, X is the depth dimension of the storage recess 82, and Y is the length dimension of the storage recess 82.

LA = L− (X−b) (1)
LB = L− (2X−a) (2)
LC = L-3X (3)
LD = L-2X (4)
LE = L−X (5)
LF = L−X− (Y−c) (6)

As is clear from the above formulas (1) to (6), the front opening surface A is set so that the optical path length from the back surface C of the object 60 to be inspected to the back observation surface C of the observation plane 79 becomes the shortest distance. However, the optical path length from the lower surface D of the inspected object 60 to the lower surface observation surface D of the observation plane portion 79 is still shorter.
If the rear observation surface C is not interposed between the lower surface observation surface D and the front opening surface A, the optical path length from the lower surface D of the object to be inspected 60 to the lower surface observation surface D of the observation plane portion 79. Is shorter, but the optical path length is longer due to the presence of the rear observation surface C.
However, since it is shorter than the optical path length related to the back surface C, it is an important feature that there is no surface that is averaged and has an extremely long optical path length as a whole.
In the case of the electronic camera 70 using a telecentric optical system lens in which incident light is parallel to the optical axis even outside the optical axis, the relative distance between the electronic camera 70 and the observation plane portion 79 is not adjusted. However, since each inspection surface of the inspected object 60 is imaged at the same magnification, the distance moving motor 71 is unnecessary.
Further, when the entire observation plane portion 79 is smaller than the aperture of the electronic camera 70, the parallel movement motors 72 and 73 are not necessary, but when the observation plane portion 79 is a surface elongated in the horizontal direction or the vertical direction. If one of the parallel movement motors 72 and 73 is used for relative movement in the longitudinal direction, the electronic camera 70 having a small aperture can be used.

Next, an arrangement example of light sources applied to FIG. 2 will be described with reference to FIGS.
In FIG. 5 showing the first arrangement example, a half mirror 91 is provided between the prism transparent body 81 and the electronic camera 70, and the illumination light from the light source 93 is orthogonally reflected by the half mirror 91 to observe the transparent body 81. Light rays that are orthogonally incident on the flat surface 79 and reflected back from each inspection surface of the inspection object 60 pass through the half mirror 91 and enter the electronic camera 70.
In this first arrangement example, the light source 93 and the half mirror 91 are spread over the entire area of the observation plane 79 to perform wide-area illumination, and the electronic camera 70 has a distance movement motor 71 and parallel movement motors 72 and 73. Is moved in the direction of three axes.

In FIG. 6 showing the second arrangement example, a half mirror 92 is provided between the prism transparent body 81 and the electronic camera 70, and illumination light from the light source 94 is orthogonally reflected by the half mirror 92 to observe the transparent body 81. Light rays that are orthogonally incident on the flat surface 79 and reflected back from each inspection surface of the inspection object 60 pass through the half mirror 92 and enter the electronic camera 70.
In this second arrangement example, the light source 94 and the half mirror 92 are configured to illuminate a partial region of the observation plane portion 79, and the half mirror 92 and the light source 94 are integrated with the electronic camera 70 and moved in the near and far directions. The motor 71 and the parallel movement motors 72 and 73 are moved in three axial directions.
However, by moving the light source 94 and the half mirror 92 close to the observation plane portion 79, the distance moving motor 71 may move only the electronic camera 70.
Further, the light source 94 can be moved backward and stationary to the right position in FIG. 6 to move the half mirror 92 and the electronic camera 70 to the left and right.

In FIG. 7 showing the third arrangement example, an annular light source 95 is provided between the prism transparent body 81 and the electronic camera 70, and illumination light from the annular light source 95 is irradiated substantially orthogonally to the observation plane portion 79. The reflected light from the inspected object 60 passes through the central portion of the annular light source 95 and enters the electronic camera 70.
In this third arrangement example, the prism transparent body 81 is driven in the triaxial direction, the optical path length is adjusted by the distance moving motor 71, and the observation plane portion by the one or two axis parallel moving motors 72, 73. On the moving surface parallel to 79, the image is translated relative to the electronic camera 70, and imaging can be performed at a plurality of positions corresponding to each surface of the inspected object 60.
Further, as described later, the transparent body 81 is rotationally driven by a rotational drive motor 80.
Instead of driving the transparent body 81 in the three-axis direction, the electronic camera 70 and the light source 95 may be integrally moved in the one-axis to three-axis directions. It only needs to be able to move.

FIG. 8A is a bird's-eye view of the rotational drive mechanism of the multi-surface appearance inspection apparatus of FIG. FIG. 8B is an end view thereof.
8A and 8B, the transparent body 81 in which the first to fifth prisms are combined is mounted on a jig 83, and is rotated from the first station S1 to the fifth by a rotation driving motor 80. It is driven to rotate to the position of the station S5.
The first station S1 is a position where the inspected object 60 is thrown into the storage recess 82, and the observation plane 79 including the opening surface of the storage recess 82 is parallel to the ceiling surface.
In addition, a hopper 84 of a parts feeder (not shown) is provided above the first station S1. The second station S2 is a position where imaging by the electronic camera 70 is performed, and is a position rotated clockwise by about 45 degrees from the first station S1.
Thus, when the second station S2 is in the inclined position, the back surface C and the lower surface D come into contact with the wall surface of the storage recess 82, and the position of the object 60 to be inspected in the storage recess 82 is determined.
The rotation axis of the jig 83 is slightly inclined so that the left surface E of the inspection object 60 is closer to the floor surface than the right surface F. Alternatively, by inclining the transparent body 81 once by an air cylinder mechanism (not shown), the left surface E of the inspection object 60 is brought into contact with the inner wall of the housing recess 82, and the front, rear, left and right positions of the inspection object 60 are determined. ing.

The third station S3 is a non-defective product take-out position when the inspected object 60 is a non-defective product, and is a position rotated clockwise by about 135 degrees from the first station S1.
A non-defective product storage box 85 is installed below the third station S3, or the leading portion of the non-defective product takeout conveyor is arranged.
The fourth station S4 is at a position opposite to the third station S3 across the first station S1, and is a defective product discharge position when the inspected object 60 is a defective product. A defective product storage box 86 is installed below the station S4.
The fifth station S5 is at a position opposite to the second station S2 across the first station S1, and is a position for cleaning the surface of the fifth prism 50 from the first prism 10. .

FIG. 9 is a system configuration diagram of the multifaceted appearance inspection apparatus according to Embodiment 1 of the present invention.
As shown in FIG. 9, the multi-face appearance inspection apparatus 100 is configured, for example, via an overall control device 101 that is a commercially available programmable controller, an image processing device 102 that is a commercially available industrial personal computer, and a commercially available positioning control device 103. A multi-axis drive mechanism 104 and a rotation drive mechanism 105 that are driven and controlled, and a setting display device 106 that is a commercially available man-machine interface device are provided.
The multi-axis drive mechanism 104 includes a far-near movement motor 71 and parallel movement motors 72 and 73.
The rotation drive mechanism 105 includes a rotation drive motor 80.
The lighting device 90 includes a light source 93, a light source 94 or a light source 95, and a half mirror 91 or a half mirror 92, and a part or all of them are driven by the multi-axis drive mechanism 104 together with the electronic camera 70.

The image processing apparatus 102 stores comparison reference data 107 related to the object 60 to be inspected, and includes a control program and a monitor screen 109 serving as pass / fail judgment means 108.
The comparison reference data 107 includes either standard image data obtained by photographing the standard inspection object 60 or standard dimension data of the standard inspection object 60.
The pass / fail judgment means 108 is obtained by photographing the inspected object 60, or an image comparing means for discriminating whether or not there is an image difference by comparing the image data obtained by photographing the inspected object 60 and the reference image data. It is one of the dimension comparison means for calculating and calculating the dimension of the object 60 to be inspected from the image data, and determining the presence or absence of the dimension difference compared with the reference dimension data.
The pass / fail judgment means 108 is a monitor display means for displaying a photographed image of the object 60 to be inspected on the monitor screen 109 and displaying whether the images based on the reference image data are displayed side by side or switched. Whether the inspection object is good or bad is determined by visual observation of the operator.

The comparison reference data 107 further includes limit reference image data or sample image data in a state where the inspection object 60 is not inserted.
The quality determination unit 108 further compares the image data obtained by excluding the inspected object 60 with the limit reference image data, and determines whether the first prism 10 to the fifth prism 50 are soiled or damaged. Monitor display means for displaying a captured image excluding the object to be inspected 60 on the comparison means or the monitor screen 109, and for displaying the selection based on the limit reference image data or the sample image data side by side. Whether the first prism 10 to the fifth prism 50 are stained or damaged by the means is determined by visual observation of the operator.

Next, the operation of the multi-surface visual inspection apparatus of the present invention will be described in detail.
FIG. 10 is a flowchart showing a process of operation of the multi-surface appearance inspection apparatus according to Embodiment 1 of the present invention.
The operation of the multifaceted appearance inspection apparatus 100 includes a maintenance / inspection operation for determining whether the storage recess 82 is soiled or damaged in a state where the object 60 is not inserted into the storage recess 82, and a storage recess. In the case of the stage change operation in which the object 60 to be inspected as a standard sample is input to 82 and the standard image data to be the comparison reference data 107 is acquired, the standard image data or the standard dimension that has already become the comparison reference data 107 There are cases where the data is stored and the actual operation for determining the quality of the given object 60 to be inspected. The following description will be made in relation to the actual operation.

  In FIG. 10, when power is supplied to the multi-surface appearance inspection apparatus 100 and an operation start command is given to the overall control apparatus 101 via the setting display apparatus 106, the operation start processes 800, 810, and 820 are activated, and the overall control is performed. The apparatus 101, the positioning control apparatus 103, and the image processing apparatus 102 are ready to start operation. In the following description, an example using the light source 93 will be described.

A process 801a following the process 800 is a step of giving an operation preparation command to the overall control apparatus 101 via the setting display device 106. In this step, the distance moving motor 71 and the parallel moving motors 72 and 73 are driven. The electronic camera 70 is returned to a predetermined origin position, the light source 93 is turned on, and the rotation drive motor 80 is rotated to the first station S1 to put the first product of the inspected object 60 into the storage recess 82. The operation is performed.
Step 811a following step 810 is a step in which the positioning controller 103 moves the electronic camera 70 to the initial position and moves the housing recess 82 of the transparent body 81 to the position of the first station S1.
The subsequent stroke 811b is a step for generating a movement / loading completion report when the movement operation and the rotation operation in the stroke 811a are completed and the inspection object 60 is loaded.
The process 801b following the process 801a determines whether or not the completion report by the process 811b has been received. If it is not completed, the determination of NO is made, the process returns to the process 801a, the preparation command is continued, and the completion report is received. This is a determination step in which a determination of YES is made and the process proceeds to step 802a.

Step 802 a is a step of transmitting target position information and a movement start command from the overall control device 101 to the positioning control device 103.
A process 812a following the process 811b is a step of moving the electronic camera 70 to the commanded position based on the command from the process 802a and rotating the transparent body 81 to the position of the second station S2. The movement / rotation completion is reported by.
The process 802b following the process 802a determines whether or not the completion report by the process 812b has been received. If it is not completed, the determination of NO is made and the process returns to the process 802a to continue the movement command, and if the completion report is received. This is a determination step in which a determination of YES is made and the process proceeds to step 803.
In addition, although the movement command by the process 802a is repeatedly executed via the process 806a described later, the order of the movement command precedes, for example, photographing of the C plane, the D plane, and the E plane, and then the F plane, B Surface A and A side are photographed.

The reason for this is that, as shown in equations (3), (4), and (5), the relative distances LC, LD, and LE are calculated using only the known relative constant reference distance L and the depth dimension X of the storage recess 82. This is because the relative distances LC, LD, and LE can be calculated even if the height dimension a, the front-rear dimension b, and the left-right dimension c of the object 60 are not included.
Step 803 is a step in which position information (relative distance from the observation plane unit 79) of the electronic camera 70 moved in step 802a and an imaging command are transmitted to the image processing apparatus 102.
In a process 823 following the process 820, the inspection target surface is imaged based on the position information in the process 803 and the imaging command, and compared with the reference image data already stored, or inspected on the imaging screen. The height dimension or the front-rear dimension or the left-right dimension of the object 60 is measured, and the height dimension a, the front-rear dimension b, and the left-right dimension c are multiplied by the ratio of (object distance / focal length) to this image dimension. It comes to calculate.
Note that the position of the electronic camera 70 is adjusted so that the objective distance used here always matches the reference relative distance L, and the focal length is a constant determined by the lens of the applied electronic camera 70.

When the height dimension “a”, the front-rear dimension “b”, and the left-right dimension “c” of the inspected object 60 are calculated in this way, it is possible to determine whether or not these dimensions are within the already registered allowable dimensions. .
In addition, since the dimensions a, b, and c necessary for calculating the relative distances LA, LB, and LF shown by the equations (1), (2), and (6) are determined, the A surface, B surface, F It is possible to photograph the surface.
In step 824 following step 823, the result of the quality determination by image comparison or size comparison and the calculated values of the height dimension “a”, the front-rear dimension “b”, and the left-right dimension “c” of the inspected object 60 are transmitted to the overall control apparatus 101. Is done.
In step 804 following step 803, the determination result in step 824 is received to identify whether the determination is normal, and if it is normal, a determination of YES is made and the process proceeds to step 805. If it is abnormal, a determination of NO is made. And a determination step for moving to step 807 is performed.

In step 805, a flag (not shown) is checked to determine whether all of the surfaces A to F of the inspected object 60 that need to be inspected have been inspected. This is a determination step in which the process proceeds to step 806a, and if the inspection is completed, a determination of YES is made and the process proceeds to step 806b.
Step 806a is a step of returning to step 802a after transmitting the next command generation notice signal to the positioning control device 103 and the image processing device 102.
Step 806 b is a step in which inspection completion information is transmitted to the positioning control apparatus 103 and the image processing apparatus 102 and then the process proceeds to Step 808.
In the process 816a following the process 812b, it is determined whether or not the warning signal from the process 806a has been received. If there is a warning signal, a determination of YES is made and the process returns to the process 812a. This is a determination step for shifting to 817a.
In the process 826a following the process 824, it is determined whether or not the warning signal from the process 806a has been received. If there is a warning signal, the determination is YES and the process returns to the process 823. This is a determination step for shifting to 826b.

In step 826b, if completion information is received in step 806b, if completion information is received, a determination of YES is made and the process proceeds to operation end step 829. If completion information is not received, a determination of NO is made and determination is made. This is a determination step for returning to 826a.
In step 807, which is executed when the step 804 is defective product determination, a command for discharging the inspected object 60 to the defective product storage box 86 is generated, and the operation end step 809 is performed.
In step 808, which is executed when the process 804 is a non-defective product determination and the process 805 is complete inspection, a command for discharging the inspected object 60 to the non-defective product storage box 85 is generated and the process proceeds to the operation end process 809. .
The process 817a operates depending on whether or not a defective product discharge command is received in the process 807. If it is not received, the determination is NO and the process proceeds to the process 818a, and if it is received, the determination is YES and the process proceeds to the process 817b. This is a determination step.
In step 817b, the transparent body 81 is rotated to the fourth station S4, and after waiting for the inspected object 60 to fall into the defective product storage box 86, the process proceeds to step 818a.
The process 818a operates depending on whether or not a non-defective product takeout command is received in the process 808. If it is not received, the determination is NO and the process proceeds to the process 816b. If it is received, the determination is YES and the process proceeds to the process 818b. It is a step.

In step 818b, the transparent body 81 is rotated to the third station S3, and after waiting for the inspected object 60 to fall into the non-defective product storage box 85, the process proceeds to step 816b.
In step 816b, depending on whether or not the completion information in step 806b has been received, if completion information is received, a determination of YES is made and the process proceeds to step 819a. If completion information has not been received, a determination of NO is made and determination is made to step 816a. This is a determination step for returning.
Step 819a is a step in which the transparent body 81 is rotated to the first station S1, the electronic camera 70 is moved back to the initial position, and then the operation end step 819b is started.
The overall control device 101, the positioning control device 103, and the image processing device 102 perform other control operations in the operation end steps 809, 819b, and 829, respectively, and synchronize with each other within a predetermined time, and the operation start steps 800, 810, Returning to 820, the subsequent control operation is repeated.
In the second and subsequent operations, since the origin position has already been returned by the stroke 819a, the stroke 811a does not operate, and the inspected object 60 may be immediately put in the stroke 801a.

  As is clear from the above description, the multi-surface appearance inspection apparatus 100 according to the first embodiment of the present invention compares the image data of the object to be inspected 60 photographed by the electronic camera 70 with the comparison reference data. A multi-surface appearance inspection apparatus 100 including an image processing apparatus 102 for determining whether or not an inspection object 60 has a peculiarity in appearance, and the inspection object 60 is composed of five wall surfaces made of a transparent body 81. The observation plane portion 79 including the opening surface A of the storage recess 82 is illuminated by the light source 93, 94 or 95, and the transparent body 81 is illuminated by the light source incident from the observation plane portion 79. And four inclined surfaces that illuminate the upper, lower, left and right peripheral surfaces of the inspected object 60 that is an opaque body, and opposite inclined surfaces that illuminate the back surface of the inspected object 60 by orthogonally reflecting the illumination light twice. With Illumination light from the light source 93, 94 or 95 is reflected back on the surface of the inspected object 60, which is an opaque body, and the reflected light is imaged by the electronic camera 70. The bottom and depth dimensions of the storage recess 82 are inspected. This corresponds to the rear dimension and height dimension when the outer dimension of the object 60 is maximum, and at least a plurality of surfaces of the object 60 to be inspected are put in contact with the inner wall of the housing recess 82, and the electronic camera 70 is observed. The appearance of a plurality of surfaces of the inspection object aligned and projected on the flat surface is photographed, and the image processing apparatus 102 determines whether or not the inspection object 60 has peculiarities in appearance.

The observation plane portion 79 is provided with a rear observation surface C for observing a rear image adjacent to the opening surface A of the storage recess 82, and an upper surface observation for observing the upper surface image with the opening surface A and the rear observation surface C interposed therebetween. Surface B and a lower surface observation surface D for observing the lower surface image are disposed, and a left surface observation surface E for observing the left surface image and a right surface observation surface F for observing the right surface image are disposed on the left and right sides of the opening surface A. Yes. That is, the rear observation surface C of the inspection object 60 is disposed adjacent to the front observation opening surface A.
Therefore, the optical path length of the back image in which a plurality of reflecting surfaces are interposed in the optical path is suppressed, and an accurate image can be obtained.

The transparent body 81 uses a plurality of prisms, which are polygonal columns having a pair of orthogonal surfaces and inclined surfaces, and the prisms are bonded and fixed to the inner surface of the outer frame plate 87 and integrated. That is, the transparent body 81 that constitutes the housing recess 82 for inserting the object 60 to be inspected is configured by combining a plurality of prisms that are polygonal columns.
Therefore, the transparent body 81 having a complicated shape can be formed using a simple mold, and an inexpensive transparent body 81 can be obtained.

The transparent body 81 is configured by combining five prisms, and each of the five prisms includes a pair of orthogonal surfaces and inclined surfaces, and is a first prism that is a polygonal column that changes the optical path direction on the inclined surfaces or orthogonal surfaces. The prism 10 is changed to the fifth prism 50, and the orthogonal surfaces or inclined surfaces of the first prism 10 to the fourth prism 40 are directly illuminated from the light source 93, the light source 94, or the light source 95, and the other orthogonal surfaces or inclined surfaces. Is a direct light receiving prism that constitutes the upper, lower, left, and right peripheral walls of the housing recess 82, and the illumination light from the light source 93, the light source 94, or the light source 95 is directly reflected by the inclined surface of the light receiving prism to One orthogonal surface of the fifth prism 50 is in direct contact with or integrated with one of the light receiving prisms, and the other orthogonal surface forms the wall surface of the bottom surface of the housing recess 82. To have a indirect light receiving prism, light source 93, illumination light from the light source 94 or the light source 95 directly through the light receiving prisms and indirect light receiving prism is adapted to illuminate the back surface of the inspected object 60. That is, the plurality of prisms are configured so that a plurality of surfaces of the inspected object 60 are concentrated and aligned on the same observation plane portion, and a joint surface of the plurality of prisms is not generated in the illumination of the peripheral surface of the inspected object. It is configured as follows.
Accordingly, it is possible to suppress the illumination area and the imaging area by the light source to the minimum by using a prism with a simple mold, and to suppress the generation of noise due to the irregular reflection of light generated on the joint surfaces of the plurality of prisms.

The appearances of the plurality of surfaces of the inspection object 60 aligned and projected on the observation plane 79 are sequentially photographed by the electronic camera 70 whose object distance is relatively adjusted by the distance movement motor 71. The optical path length from the surface to be inspected to the electronic camera 70 is at least adjusted and controlled so as to be substantially equal to the plurality of surfaces to be inspected. That is, a near-far movement motor 71 that controls the optical path length from the surface to be inspected of the object 60 to be inspected to the electronic camera 70 is provided.
Therefore, it is possible to perform a multi-surface appearance inspection of an object to be inspected with high accuracy by using a small and inexpensive non-telecentric optical electronic camera whose image size is reduced as the optical path is extended.
Further, since the plurality of surfaces of the inspected object 60 are in contact with the inner wall of the housing recess 82, the objective distance of the captured images of the plurality of surfaces is determined, and the ratio between the objective distance and the focal length of the lens is multiplied by the image size. Thus, the three dimensions of the inspected object 60 can be equalized.
As a result, it is possible to determine the abnormality of the outer dimension in comparison with the standard dimension provided in advance, and when the dimension of the object to be inspected is smaller than the dimension of the storage recess 82, it contacts the wall surface of the storage recess 82. It is possible to calculate the objective distance when imaging the inspection surface that has not been performed.

Illumination light from the light source 93 or the light source 94 is irradiated in a parallel direction with respect to the observation plane portion 79, and is orthogonally reflected by the half mirror 91 or the half mirror 92 provided in the optical path and orthogonally incident on the observation plane portion 79. The reflected light from the inspected object 60 passes through the half mirror 91 or the half mirror 92 and enters the electronic camera 70. The electronic camera 70 is a one-axis or two-axis parallel movement motor 72, 73 is relatively translated on a moving plane parallel to the observation plane portion 79, and images are taken at a plurality of positions corresponding to the respective surfaces of the inspected object 60. In other words, the electronic camera 70 is configured to be relatively movable in one or two directions on a plane parallel to the observation plane portion 79.
Therefore, even if the object 60 to be inspected is relatively large, the electronic camera 70 can be used by moving the electronic camera 70 and performing divided imaging to use a small-sized and inexpensive small-diameter electronic camera 70.

Among the half mirror 92 and the light source 94, at least the half mirror 92 is translated relative to the observation plane portion 79 in conjunction with the electronic camera 70 by the parallel movement motors 72 and 73, and the light source 94 is the observation plane portion. Illuminate 79 partial areas in a concentrated manner. In other words, the half mirror 92 can be relatively translated on a plane parallel to the observation plane portion 79 in conjunction with the electronic camera 70.
Therefore, the illumination range of the light source 94 can be reduced, and a small and energy-saving light source can be used. Further, when the light source 94 is moved in a plane in conjunction with the half mirror 92, the optical path length from the light source 94 to the observation plane portion 79 can be made uniform, and the detection error for each divided screen can be reduced.

The light source 95 is an annular light source that surrounds the periphery of the electronic camera 70, and illumination light from the annular light source is irradiated substantially orthogonally to the observation plane portion 79, and reflected light from the object 60 to be inspected is the center of the annular light source 95. The electronic camera 70 and the light source 95 are integrated with each other, and are parallel to the observation plane portion 79 by one or two-axis parallel movement motors 72 and 73. The image is picked up at a plurality of positions corresponding to each surface of the inspected object 60 by relatively translating on the moving surface. In other words, the electronic camera 70 and the annular light source 95 are configured so as to be relatively movable in one or two directions on a plane parallel to the observation plane portion 79.
Therefore, even if the object 60 to be inspected is relatively large, the electronic camera 70 can be used by moving the electronic camera 70 and performing divided imaging to use a small-sized and inexpensive small-diameter electronic camera 70.
Further, since the annular light source 95 concentrates and illuminates a partial area of the observation plane part 79, the illumination range of the light source can be reduced and a small and energy-saving light source can be used.

As the electronic camera 70, an electronic camera 70 of a telecentric optical system in which the incident image size does not change as the optical path is extended is used. That is, the observation plane portion can be divided and imaged using a telecentric electronic camera.
Therefore, the electronic camera 70 having a small aperture can be used, and the distance moving motor 71 is not required, and the overall structure is reduced in size and simplified.

The transparent body 81 is rotationally driven by the rotational driving motor 80 from the first station S1 to the fourth station S4. The first station S1 is an upper position where the object 60 to be inspected is put into the storage recess 82. The second station S2 is an inclined position where imaging by the electronic camera 70 is performed. The third station S3 is a non-defective product drop-out position when the inspected object 60 is non-defective. The fourth station S4 is located at a position opposite to the third station S3 across the first station S1, and is a defective product drop discharge position when the object 60 to be inspected is defective. That is, the transparent body 81 is rotated by the rotation driving motor 80 from the first station S1 to the fourth station S4.
Therefore, it is possible to automate from the introduction of the inspection object 60 to the pass / fail discrimination discharge with a simple configuration. In particular, in a normal state in which the object 60 to be inspected is a non-defective product, the transparent body 81 circulates through the movement of the first station S1, the second station S2, the third station S3, and the first station S1, and in rare cases it is not possible. When a non-defective product is generated, an operation of returning from the second station S2 to the fourth station S4 and then returning to the first station S1 is performed, and an extra station is not passed in the normal operation, so that the movement efficiency can be improved.

The transparent body 81 is further rotationally driven by the rotational driving motor 80 to the position of the fifth station S5. The fifth station S5 is at a position opposite to the second station S2 across the first station S1, and is a position for cleaning and cleaning the surface of the transparent body 81. That is, the transparent body 81 can be stopped at the fifth station S5 by the rotation driving motor 80.
Therefore, since it does not pass through the fifth station S5 in normal operation, cleaning and maintenance can be easily performed without reducing the efficiency of the rotational movement of the transparent body 81.

The image processing apparatus 102 further stores comparison reference data 107 relating to the object 60 to be inspected, and includes a control program and a monitor screen 109 serving as pass / fail judgment means 108. The comparison reference data 107 is standard image data obtained by photographing the standard inspection object 60 or standard dimension data of the standard inspection object 60. The pass / fail judgment means 108 is an image comparison means for comparing the image data obtained by photographing the inspected object 60 and the reference image data to determine the presence / absence of an image difference, or by photographing the inspected object 60. It is a dimension comparison means that calculates and calculates the size of the inspected object 60 from the obtained image data, and determines whether there is a difference in size in comparison with the reference dimension data, or the inspected object 60 with respect to the monitor screen 109. This is a monitor display means for displaying the photographed images and displaying the images based on the reference image data side by side or selecting and switching them. The monitor display means determines whether the inspected object 60 is good or not by visual observation of the operator. That is, the image processing apparatus 102 includes an image comparison unit, a size comparison unit, or a quality determination unit that is a monitor display unit for visual determination.
Therefore, by using a control program suitable for each customer, it is possible to easily select and adopt an appropriate quality determination means.

The comparison reference data 107 further includes limit reference image data or sample image data in a state where the inspection object 60 is not inserted. The pass / fail judgment means 108 is further an image comparison means for comparing the image data obtained by excluding the inspected object 60 and the limit reference image data to determine whether the transparent body 81 is stained or damaged, or a monitor. The screen 109 is provided with monitor display means for displaying a photographed image excluding the inspected object 60 and displaying whether the images based on the limit reference image data or the sample image data are displayed side by side. The transparent body 81 by the monitor display means is provided. The determination of the presence / absence of contamination / damage is made by visual observation of the operator. In other words, the pass / fail judgment means includes means for inspecting the transparent body for contamination / damage in a state where the inspected object 60 is not inserted.
Accordingly, there is a feature that preventive management can be performed so as to prevent occurrence of abnormality of the apparatus by performing cleaning care in a timely manner by periodic inspection at the start of operation.

Embodiment 2. FIG.
FIG. 11 is a front view of a multi-surface visual inspection apparatus according to Embodiment 2 of the present invention. FIG. 12 is a plan view of a multi-surface appearance inspection apparatus according to Embodiment 2 of the present invention.
The multi-face appearance inspection apparatus 100B according to Embodiment 2 of the present invention differs from the multi-face appearance inspection apparatus 100 according to Embodiment 1 of the present invention in that the transparent body 81B is the same, and the other parts are the same. Reference numerals are added and description is omitted.
The transparent body 81B according to Embodiment 2 of the present invention is different from the transparent body 81 according to Embodiment 1 of the present invention in the storage recess 82B. In the storage recess 82 according to the first embodiment, the wall surface in the Z-axis direction is one orthogonal surface of the first prism 10 and one orthogonal surface of the third prism 30, and the wall surface in the Y-axis direction is the second wall surface. Whereas the storage recess 82B according to the second embodiment is formed by one orthogonal surface of the prism 20 and one orthogonal surface of the fourth prism 40, the wall surface in the Z-axis direction is the first prism. The wall surface in the Y-axis direction is formed by one orthogonal surface of the second prism 20B and the inclined surface of the fourth prism 40B, with the 10B inclined surface and one orthogonal surface of the third prism 30B.

The inspected object 60 is the same as that used for explaining the first embodiment.
The inspected object 60 is configured by combining the first prism 10B, the second prism 20B, the fourth prism 40B, the fifth prism 50B, which are isosceles right triangular prisms, and the third prism 30B, which is a trapezoidal quadrangular prism. The storage recess 82B is inserted.
Further, the lower half of the slope of the fifth prism 50B constituting the bottom surface of the storage recess 82B is in contact with the trapezoidal flat surface portion of the third prism 30B, and the upper half forms the bottom surface of the storage recess 82B.
The observation flat surface 79 including the opening surface of the storage recess 82B is illuminated by the light source 93B or the light source 94B described with reference to FIGS. 13 and 14, and the reflected light from the object 60 to be inspected put into the storage recess 82B is received. Images are taken by the electronic camera 70.
The first prism 10B to the fifth prism 50B are bonded and fixed to the inner surface of the outer frame plate 87B that goes around the four sides to form a transparent body 81B. The transparent body 81B is detachably installed on the jig 83 in a semi-fixed manner. It has come to be.
FIG. 8 shows the rotation drive mechanism of the prism transparent body 81B according to the second embodiment, FIG. 9 shows the system configuration of the multi-face appearance inspection apparatus 100B, and FIG. 10 shows the flowchart for explaining the operation of the multi-face appearance inspection apparatus 100B. It is the same.

The inclined surface of the first prism 10B is directly illuminated from the light source 93B or the light source 94B, and the illumination light orthogonally reflected outside the inclined surface of the first prism 10B illuminates and reflects the upper surface B of the object 60 to be inspected, and again on the inclined surface. The external appearance of the upper surface B is projected onto the observation surface B for the upper surface of the observation plane 79 by orthogonal reflection.
One orthogonal surface of the second prism 20B constitutes an observation plane portion 79 that is directly illuminated from the light source 93B or the light source 94B, and the illumination light orthogonally reflected by the inclined surface of the second prism 20B is transmitted through the other orthogonal surface. Then, the left surface E of the inspection object 60 is illuminated and reflected, and again is orthogonally reflected by the inclined surface, and the appearance of the left surface E is projected on the left observation surface E of the observation plane portion 79.
One orthogonal surface of the third prism 30B constitutes an observation plane portion 79 that is directly illuminated from the light source 93B or the light source 94B, and the illumination light orthogonally reflected by the inclined surface of the third prism 30B is transmitted through the other orthogonal surface. Then, the lower surface D of the object to be inspected 60 is illuminated and reflected, and again is orthogonally reflected by the inclined surface, and the appearance of the lower surface D is projected onto the lower surface observation surface D of the observation plane part 79.

The slope of the fourth prism 40B is directly illuminated from the light source 93B or the light source 94B, and the illumination light orthogonally reflected outside the slope of the fourth prism 40B illuminates and reflects the right surface F of the object 60 to be inspected, and again on the slope. The external appearance of the right surface F is projected on the observation surface F for the right surface of the observation plane 79 by orthogonal reflection.
The inclined surface of the fifth prism 50B is indirectly illuminated from the trapezoidal plane portion of the third prism 30B that is directly illuminated from the light source 93B or the light source 94B, and the illumination light is orthogonally reflected by the pair of orthogonal surfaces of the fifth prism 50B. So that the back surface C of the inspection object 60 is illuminated and reflected, and the appearance of the back surface C is projected onto the back observation surface C of the observation plane part 79 again via the fifth prism 50B and the third prism 30B. It has become.

With such an arrangement, the opening surface of the storage recess 82B becomes wider, so that the storage recess 82B can be easily cleaned and cleaned.
Note that the fourth prism 40B may be directly illuminated from one orthogonal plane in the same manner as in the first embodiment, using only the slope of the first prism 10B.
Even with such a configuration, it is shown that the back surface of the inspection object 60 can be illuminated and the back observation surface C can be secured at a position adjacent to the front opening surface A.

Next, an arrangement example of light sources applied to the multi-surface appearance inspection apparatus shown in FIG. 11 will be described with reference to FIGS.
In FIG. 13 showing the fourth arrangement example, a half mirror 91B is provided between the prism transparent body 81B and the electronic camera 70, and the illumination light from the light source 93B is transmitted through the half mirror 91B and the observation plane of the transparent body 81B. Light rays that are orthogonally incident on the portion 79 and reflected back on each inspection surface of the inspection object 60 are orthogonally reflected by the half mirror 91 </ b> B and enter the electronic camera 70.
In the fourth arrangement example, the light source 93B spreads over the entire area of the observation plane portion 79 and performs wide-area illumination, and the electronic camera 70 and the half mirror 91B are integrated with the distance movement motor 71 in parallel. The motors 72 and 73 are used to move in three axial directions.

In FIG. 14 showing the fifth arrangement example, a half mirror 92B is provided between the prism transparent body 81B and the electronic camera 70, and the illumination light from the light source 94B passes through the half mirror 92B and is an observation plane of the transparent body 81B. Light rays that are orthogonally incident on the portion 79 and reflected back on each inspection surface of the inspection object 60 are orthogonally reflected by the half mirror 92B and enter the electronic camera 70.
In the fifth arrangement example, the light source 94B illuminates a partial area of the observation plane portion 79, and the electronic camera 70, the half mirror 92B, and the light source 94B are integrated with the distance moving motor 71. The motors 72 and 73 for translation are moved in the three-axis direction.

  In the system configuration diagram of FIG. 9, an imaging command for the electronic camera 70 is directly transmitted from the overall control apparatus 101 to the electronic camera 70, and imaging data from the electronic camera 70 is transmitted through the overall control apparatus 101 to the image processing apparatus. Can be changed to be sent to 102. In this case, the monitor screen 109 can use the screen of the setting display device 106 by transmitting image data from the overall control device 101 to the setting display device 106.

In the operation explanation flowchart of FIG. 10, the electronic camera 70 is moved to the position where the next inspection surface is imaged after the inspection of the specific inspection surface of the object 60 to be inspected. When the image pickup is completed, the electronic camera 70 immediately moves to the next image pickup position and waits for the image pickup, and when the image processing apparatus 102 finishes the previous image pickup data determination operation, the electronic camera 70 moves forward so that the next image pickup can be performed immediately. You may control.
Further, if the electronic camera 70 is of a telecentric optical system, adjustment of the objective distance is unnecessary, and when the entire area of the observation plane portion 79 is smaller than the aperture of the electronic camera 70, the electronic camera 70 is used. There is no need to translate the.

Even when the observation plane portion 79 is divided and imaged using the electronic camera 70 having a small aperture, the order of shooting is free and the movement path is the shortest if the electronic camera 70 is a telecentric optical system. It suffices to shoot each inspection surface in the order of distance.
Further, even when the electronic camera 70 is moved in the three-axis direction, the relative positional relationship between the electronic camera 70 and the observation plane portion 79 may be adjusted, and a part or all of the three-axis direction is observed. It can be replaced by the movement of the plane part 79.
Further, it is desirable that the inspected object 60 is in contact with the three surfaces of the housing recesses 82 and 82B at the time of imaging, and the rotation axis of the jig 83 on which the prism transparent bodies 81 and 81B are mounted is also inclined. However, as a matter of fact, there is no particular problem even if the rotation axis is horizontal.
This will be described with reference to FIG. 12. Even when the object 60 is not in contact with the wall surface of the second prism 20B, the object 60 is inspected by the front image A or the back image C from the opening surface. Since the gap to the contact wall surface of the second prism 20B can be measured, the imaging position of the electronic camera 70 with respect to the E plane can be determined by calculating the gap size.

In the above description, the transparent bodies 81 and 81B have been described as an assembly of a plurality of prisms that are polygonal columns. For example, the joint surfaces of the third prism 30 and the fifth prism 50 in FIG. 2 are integrated. be able to.
Similarly, the joint surfaces of the third prism 30B and the fifth prism 50B in FIG. 11 can also be integrated. If the joint surfaces of the prisms are integrated, irregular reflection of light on the joint surface does not occur, and an overview inspection is performed. Noise generation can be prevented.

At least one of the first prism 10B and the fourth prism 40B constituting part of the peripheral wall of the housing recess 82B constitutes the wall surface of the housing recess 82B by the slope of the prism, and illumination light from the light source 93B or the light source 94B. Is externally reflected by the slope of the prism to illuminate the peripheral surface of the object 60 to be inspected. That is, a part of the direct light receiving prism that illuminates the peripheral surface of the object 60 to be inspected is an external reflection type prism, and a part of the wall surface of the housing recess 82B into which the object 60 to be inspected is thrown is an inclined surface. Yes.
Accordingly, when the outer surface of the prism is cleaned, the bottom surface of the storage recess 82B can be easily cleaned.

Further, the illumination light from the light source 93B or the light source 94B is transmitted through the half mirror 91B or the half mirror 92B provided in the optical path and orthogonally irradiated to the observation plane 79, and the reflected light from the inspection object 60 is reflected from the half mirror 91B. Alternatively, the light is incident on the electronic camera 70 by being orthogonally reflected by the half mirror 92B. Of the half mirror 91B or the half mirror 92B and the electronic camera 70, at least the half mirror 91B or the half mirror 92B is relatively moved on the moving plane parallel to the observation plane portion 79 by the uniaxial or biaxial translation motors 72 and 73. The electronic camera 70 takes an image at a plurality of positions corresponding to each surface of the object 60 to be inspected. That is, the half mirror 91 </ b> B or the half mirror 92 </ b> B is relatively translated in one or two directions on a plane parallel to the observation plane portion 79 so as to supply reflected light from different observation planes to the electronic camera 70. It has become.
Therefore, even if the object 60 to be inspected is relatively large, it is possible to use a small-sized and inexpensive small-diameter electronic camera 70 by moving the observation surface and performing divided imaging.
When the electronic camera 70 and the half mirror 91B or the half mirror 92B are operated in conjunction with each other, the optical path length of incident light to the electronic camera 70 does not change with the change of the observation surface.

In addition, the light source 94B and the half mirror 92B are integrated and translated relative to the observation plane portion 79 by the parallel movement motors 72 and 73, and the light source 94B concentrates a partial area of the observation plane portion 79. It comes to illuminate. That is, the half mirror 92B can be relatively translated on a plane parallel to the observation plane portion 79 in conjunction with the light source 94B.
Therefore, it is possible to reduce the illumination range of the light source 94B and use a small and energy-saving light source.

It is a perspective view of the to-be-inspected object for demonstrating the multi-surface visual inspection apparatus which concerns on Embodiment 1 of this invention. It is a front view of the multi-surface visual inspection apparatus according to Embodiment 1 of the present invention. It is a top view of the multi-surface visual inspection apparatus according to Embodiment 1 of the present invention. It is a block diagram of an observation plane part. It is a block diagram of the multi-surface visual inspection apparatus arrange | positioned according to the 1st example of arrangement | positioning of a light source. It is a block diagram of the multi-surface visual inspection apparatus arrange | positioned according to the 2nd example of arrangement | positioning of a light source. It is a block diagram of the multi-surface visual inspection apparatus arrange | positioned according to the 3rd example of arrangement | positioning of a light source. It is a figure for demonstrating a mode that the transparent body by which the to-be-inspected object was thrown into the accommodation recessed part is rotated. 1 is a system configuration diagram of a multi-face visual inspection apparatus according to Embodiment 1 of the present invention. It is a flowchart which shows the process of the operation | movement of the multi-surface visual inspection apparatus which concerns on Embodiment 1 of this invention. It is a front view of the multi-surface appearance inspection apparatus which concerns on Embodiment 2 of this invention. It is a top view of the multi-surface appearance inspection apparatus which concerns on Embodiment 2 of this invention. It is a block diagram of the multi-surface visual inspection apparatus arrange | positioned according to the 4th example of arrangement | positioning of a light source. It is a block diagram of the multi-surface visual inspection apparatus arrange | positioned according to the 5th example of arrangement | positioning of a light source.

Explanation of symbols

  10, 10B First prism, 20, 20B Second prism, 30, 30B Third prism, 40, 40B Fourth prism, 50, 50B Fifth prism, 60 Object to be inspected, 70 Electronic camera, 71 Perspective movement motor, 72, 73 Parallel movement motor, 79 Observation plane section, 80 Rotation drive motor, 81, 81B Transparent body, 82, 82B Storage recess, 83 Jig, 84 Hopper, 85 Non-defective storage box, 86 Defective product storage box, 87, 87B outer frame plate, 90 lighting equipment, 91, 91B, 92, 92B half mirror, 93, 93B, 94, 94B, 95 light source, 100, 100B multi-face appearance inspection device, 101 overall control device, 102 image processing device, 103 positioning control device, 104 multi-axis drive mechanism, 105 rotation drive mechanism, 106 setting display device, 07 comparison reference data, 108 quality determination unit, 109 monitor screen, S1 first station, S2 second station, S3 third station, S4 fourth station, S5 fifth station.

Claims (16)

Multi-surface visual inspection equipped with an image processing device for comparing image data of an object to be inspected taken with an electronic camera and comparison reference data to determine whether the object to be inspected has specificity in appearance A device,
The object to be inspected is put into a storage recess composed of five wall surfaces made of a transparent body, and the observation plane including the opening surface of the storage recess is illuminated by a light source,
The transparent body orthogonally reflects the illumination light from the light source that has entered from the observation plane, and illuminates the upper, lower, left and right peripheral surfaces of the object to be inspected, and the illumination light. An opposing slope that illuminates the back of the object to be inspected by orthogonal reflection twice
Illumination light from the light source is reflected back on the surface of the object to be inspected which is an opaque body, and the reflected light is imaged by the electronic camera,
The bottom dimension and depth dimension of the storage recess correspond to the back dimension and height when the outer dimension of the object to be inspected is maximum, and at least a plurality of surfaces of the object to be inspected are on the inner wall of the storage recess. Thrown in contact,
The electronic camera captures the appearance of a plurality of surfaces of the inspection object aligned and projected on the observation plane, and the image processing apparatus determines whether the inspection object has specificity in appearance. A multi-face appearance inspection device. The observation plane portion is provided with a rear observation surface for observing a rear image adjacent to the opening surface of the storage recess, and an upper observation surface and a lower surface for observing a top image across the opening surface and the rear observation surface. An observation surface for the lower surface for observing the image is arranged,
The multi-surface appearance inspection apparatus according to claim 1, wherein a left observation surface for observing a left image and a right observation surface for observing a right image are arranged on the left and right sides of the opening surface. The transparent body uses a plurality of prisms that are polygonal columns having a pair of orthogonal surfaces and inclined surfaces, and the prisms are integrally bonded and fixed to the inner surface of the outer frame plate. The multi-surface appearance inspection apparatus described in 1. The transparent body is configured by combining five prisms,
Each of the five prisms includes a pair of orthogonal surfaces and inclined surfaces, and is a first to fifth prisms that are polygonal columns that change the optical path direction on the inclined surfaces or orthogonal surfaces,
One orthogonal surface or inclined surface of the first to fourth prisms is directly illuminated from the light source, and the other orthogonal surface or inclined surface is a direct light receiving prism constituting the upper, lower, left and right peripheral wall surfaces of the storage recess. The illumination light from the light source is reflected by the slope of the direct light receiving prism to illuminate the upper, lower, left and right peripheral walls of the object to be inspected,
One orthogonal surface or inclined surface of the fifth prism is in contact with or integrated with one of the direct light receiving prisms, and the other orthogonal surface or inclined surface constitutes an indirect light reception that constitutes a wall surface of the bottom surface of the storage recess. The multi-surface visual inspection apparatus according to claim 3, wherein the multi-face visual inspection apparatus is a prism, and illumination light from the light source illuminates a back surface of the object to be inspected via the direct light receiving prism and the indirect light receiving prism. At least one of the first and fourth prisms constituting a part of the peripheral wall of the housing recess constitutes the wall surface of the housing recess by the slope of the prism, and the illumination light from the light source is externally reflected by the slope of the prism The multi-surface appearance inspection apparatus according to claim 4, wherein the peripheral surface of the object to be inspected is illuminated. The appearances of the plurality of surfaces of the object to be inspected and aligned and projected in the observation plane part are sequentially photographed by an electronic camera in which the object distance is relatively adjusted by a distance moving motor,
The objective distance is adjusted and controlled at least so that the optical path length from the surface to be inspected of the object to be inspected to the electronic camera is substantially equal to a plurality of surfaces to be inspected. The multi-surface appearance inspection apparatus described in 1. Illumination light from the light source is irradiated in a direction parallel to the observation plane part, is orthogonally reflected by a half mirror provided in the optical path, and is orthogonally incident on the observation plane part. The reflected light passes through the half mirror and enters the electronic camera.
The electronic camera is relatively translated on a moving plane parallel to the observation plane by a single or biaxial translation motor, and images are taken at a plurality of positions corresponding to each surface of the object to be inspected. The multi-surface appearance inspection apparatus according to claim 1.   Of the half mirror and the light source, at least the half mirror is translated relative to the observation plane portion in conjunction with the electronic camera by the parallel movement motor, and the light source is a partial region of the observation plane portion. The multi-surface appearance inspection apparatus according to claim 7, wherein the illumination is concentrated and illuminated. The light source is an annular light source that surrounds the periphery of the electronic camera, and illumination light from the annular light source is irradiated substantially orthogonally to the observation plane portion, and reflected light from the object to be inspected is reflected by the annular light source. The light passes through the center and enters the electronic camera.
The electronic camera and the light source are integrated, and are translated relative to each other on the moving plane parallel to the observation plane portion by a one-axis or two-axis translation motor to correspond to each surface of the object to be inspected. The multi-surface appearance inspection apparatus according to claim 1, wherein imaging is performed at a plurality of positions. Illumination light from the light source passes through a half mirror provided in the optical path and is orthogonally irradiated to the observation plane, and reflected light from the object to be inspected is orthogonally reflected by the half mirror and enters the electronic camera. It ’s something that shines,
Of the half mirror and the electronic camera, at least the half mirror is relatively translated on a moving plane parallel to the observation plane portion by a one-axis or two-axis translation motor, and the electronic camera is an object to be inspected. The multi-surface visual inspection apparatus according to claim 1, wherein imaging is performed at a plurality of positions corresponding to each of the surfaces.   The light source and the half mirror are integrated with each other and translated relative to the observation plane portion by the parallel movement motor, and the light source illuminates a partial area of the observation plane portion. The multi-surface appearance inspection apparatus according to claim 10.   11. The multi-surface visual inspection apparatus according to claim 7, 9 or 10, wherein the electronic camera uses a telecentric optical system camera whose incident image size does not change as the optical path is extended. The transparent body is rotationally driven from the first to the fourth station by a rotational driving motor,
The first station is an upper position where an object to be inspected is put into the storage recess,
The second station is an inclined position where imaging by an electronic camera is performed,
The third station is a non-defective item drop-out position when the object to be inspected is non-defective, and the fourth station is at a position opposite to the third station across the first station. The multi-surface appearance inspection apparatus according to claim 1, wherein the inspection object is a defective product drop discharge position when the inspection object is a defective product. The transparent body is further rotated to the position of the fifth station by the rotation driving motor,
The fifth station is located at a position opposite to the second station across the first station, and is a position for cleaning and cleaning the surface of the transparent body. Multi-face appearance inspection device. The image processing apparatus further stores comparison reference data related to the object to be inspected, and includes a control program and a monitor screen serving as pass / fail judgment means,
The comparison reference data is standard image data obtained by photographing a standard inspection object or standard dimension data of a standard inspection object,
The pass / fail judgment means is an image comparison means for comparing the image data obtained by photographing the object to be inspected and the reference image data to determine whether there is a difference between the images, or obtained by photographing the object to be examined. Dimensional comparison means for calculating and calculating the size of the object to be inspected from the obtained image data and determining whether there is a difference in size in comparison with the reference dimension data, or the object to be inspected with respect to the monitor screen A monitor display means for displaying the photographed images and displaying the selected image according to the reference image data side by side or selecting and displaying the images, and determining whether the object to be inspected is good or bad by the monitor display means. The multi-surface appearance inspection apparatus according to claim 1, wherein The comparison reference data further includes limit standard image data or sample image data in a state where the object to be inspected is not put in,
The pass / fail determination means is further an image comparison means for comparing the image data obtained by excluding the object to be inspected and the limit reference image data to determine whether the transparent body is soiled or damaged, or A monitor display means for displaying a captured image excluding the object to be inspected on a monitor screen, and displaying or selecting and switching whether the images based on the limit reference image data or the sample image data are displayed side by side. The multi-surface appearance inspection apparatus according to claim 15, wherein the determination as to whether the transparent body is stained or damaged is made by visual observation by an operator.

Images