JP5280802B2 - Inspection device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an inspecting device which can be installed beside a molding machine while saving a space by improving the delivery of a molding between it and an extraction machine. <P>SOLUTION: In the inspecting device 1 for inspecting the appearance of the molding M molded by the molding machine 3 based on its photographed image, an inspection chamber 11 in which an illumination means and an image pick-up means are arranged is surrounded by a box 10 to be a darkroom, the inspection chamber 11 is installed beside the molding machine 3, and a holding part 7 holding the molding M is installed on the inside surface of the side plate part 13 of the inspection chamber 11. The side plate part 13 in which the holding part 7 is installed is opened/closed by moving perpendicularly to its side plate 12a surface and composed as a delivery door for delivering the molding M between the extraction machine 2 for taking out the molding M from the molding machine 3 and the holding part 7. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention relates to an inspection apparatus for inspecting the appearance of a molded product molded by a molding machine such as an injection molding machine.

Conventionally, in a molding factory, an injection molding machine and an inspection device for inspecting a molded product molded by the injection molding machine are usually installed separately. Therefore, the molded product molded by the injection molding machine is taken out from the mold of the injection molding machine by the take-out machine laid on the injection molding machine, collected at a predetermined collection position, and then transported by the transport conveyor or the like. The formed product is delivered to the inspection room of the inspection apparatus by a multi-axis robot or the like.
JP-A-10-19661

  As described above, since the inspection apparatus is installed away from the molding machine, the waiting time until the start of the inspection after molding becomes long, and it is difficult to improve the productivity of the molded product in the whole factory.

  Therefore, it is conceivable to install an inspection device next to the molding machine. In this case, since a delivery place for delivering the molded product between the take-out machine for taking out the molded product from the molding machine and the inspection device is required, a large space is required around the molding machine. In addition, when a multi-axis robot that passes a molded product from the delivery location to the inspection room of the inspection apparatus is installed in the inspection apparatus, the inspection apparatus itself can be increased in size, and further, a large space is occupied around the molding machine. . If it does so, in the molding factory where the installation space around the molding machine is limited, it is practically difficult to install the inspection device beside the molding machine. In addition, if a large space is occupied around the molding machine by the inspection device, there is a risk that the operation of the operator of the molding machine may be hindered.

  This invention is made | formed in view of the said situation, and makes it possible to install a test | inspection apparatus beside a molding machine in a space-saving by devising delivery of the molded product between extraction machines. It is an object to provide an inspection apparatus.

The inspection apparatus according to the present invention includes:
An inspection device for inspecting the appearance of a molded product molded by a molding machine based on the captured image,
The examination room in which the illumination means and the imaging means are arranged is surrounded by a casing to be a dark room,
An inspection room is set up next to the molding machine,
A holding part for holding the molded product is provided on the inner surface of the side plate part of the examination room,
The side plate provided with the holding part is configured as a delivery door that opens and closes by moving in the direction perpendicular to the side plate surface, and delivers the molded product between the take-out machine that takes out the molded product from the molding machine and the holding unit. It is what is done.

By the way, when installing an inspection device next to a molding machine, for example, a horizontal table is fed out from an inspection room as a molded product delivery place between the molding machine and the molded product is placed on the table by the removal machine. It is conceivable to transfer the molded product into the inspection room. In this case, it is necessary to secure a wide delivery place for the molded product.
On the other hand, according to the above configuration, since the side plate portion serving as a molded product delivery door moves in a direction perpendicular to the side plate surface and opens and closes, when the molded product is delivered by a horizontal table, In comparison, the space for delivering the molded product can be saved.
Further, since the side plate portion serving as the delivery door of the molded product is opened and closed like a mold of the molding machine, it is not necessary to set the posture control on the take-out side for delivering the molded product to be complicated.

In the above inspection apparatus,
A multi-axis robot that is installed in the examination room, delivers the molded product to and from the holding unit by the hand, and moves the molded product held by the hand freely in a three-dimensional direction;
Traveling means for moving the multi-axis robot in the direction facing the holding unit in the examination room,
It is desirable to adopt a configuration in which the multi-axis robot is moved by the traveling means so as to approach the holding unit and the molded product is delivered between the multi-axis robot and the holding unit.
According to this, a molded product can be delivered to and from the holding portion provided on the side plate portion by a small multi-axis robot. Therefore, the inspection room in which the multi-axis robot is installed indoors can be configured compactly.

In the above inspection apparatus,
It is desirable that the multi-axis robot is moved to the end in the examination room by the traveling unit when the molded product is imaged by the imaging unit.
According to this, the range in which the shadow of the multi-axis robot is formed within the imaging range of the imaging means by retracting the multi-axis robot to the end of the inspection room and extending the robot arm to image the molded product Can be reduced. Therefore, a wide imaging range of the molded product can be ensured even in a small inspection room.

In the above inspection apparatus,
The hand of a multi-axis robot consists of chucks that move away and approach,
The chuck is equipped with a coil and a conductor or magnetic body arranged so that the overlapping area changes according to the change in the stroke position of the chuck, and a position detector that generates an output corresponding to the overlapping area,
It is desirable that the gripping / release of the molded product by the chuck is controlled by a detection signal from the position detector.
By the way, for example, when a two-point detection type sensor such as a photoelectric sensor is used for detecting the position of the chuck, the sensor is adjusted in accordance with the size of the molded product every time the size of the molded product is changed by changing the setting in the molding machine. It is necessary to reset the mounting position.
On the other hand, according to the position detector, the full stroke position of the chuck can be detected. Therefore, when the size of the molded product changes, if the stroke value for gripping and releasing the molded product according to the size of the molded product is set, the gripping / Release can be controlled. Therefore, compared to the case of using a two-point detection sensor such as a photoelectric sensor, the setting of the multi-axis robot according to the molded product can be performed easily and quickly.

In the above inspection apparatus,
It is desirable that the holding portion provided in the side plate portion of the examination room has a plurality of openings and is constituted by a suction unit that sucks and holds the molded product by a vacuum pressure generated in the openings.
According to this, since the adsorption | suction means has a some opening, even if the magnitude | size of a molded product changes, it can hold | maintain a molded product reliably with a some opening. Therefore, even if the molded product is changed, it is not necessary to reset the holding unit according to the size of the molded product. Therefore, the adjustment of the inspection apparatus according to the molded product can be simplified.

In the above inspection apparatus,
The inside of the examination room is preferably hidden in black except for the light irradiation part of the illumination means and the light receiving part of the imaging means.
Thereby, the examination room can be formed in a good dark room. Further, by concealing the inside of the examination room in black, it is possible to prevent the irradiation light of the illumination unit from being irregularly reflected. Therefore, an image that accurately represents the appearance of the molded product can be taken by the imaging means, and an appearance inspection such as the presence or absence of scratches on the surface of the molded product can be accurately performed.

  As described above, according to the present invention, the inspection apparatus can be installed in a space-saving manner next to the molding machine. As a result, inspection after molding is started by installing an inspection device next to the molding machine even in molding factories where the installation space around the molding machine is not restricted, and the installation space around the molding machine is limited. It is possible to significantly reduce the waiting time until the time, and improve the productivity of the molded product in the whole factory. Further, since the side plate portion serving as the molded product delivery door is opened and closed like a mold of the molding machine, the posture control on the take-out side for delivering the molded product can be easily set.

Embodiments of the present invention will be described below with reference to the drawings.
The inspection apparatus according to the embodiment is an apparatus for inspecting the appearance of a surface of a molded product molded by an injection molding machine based on a captured image. As shown in FIG. 1, the inspection apparatus 1 is installed beside a molding machine 3 having a molded product M take-out machine 2, and the molded product M is delivered to and from the take-out machine 2.

  The molding machine 3 is a horizontal injection molding machine, in which a movable plate 32 is moved by a mold clamping machine 31 to mold a mold 34 with a fixed plate 33, and a cavity in the mold 34 is molded by an injection machine 35. The molded product M is molded by filling the resin with the resin. A predetermined insert may be inserted into the mold 34. Further, the molding machine 3 may be a vertical injection molding machine.

  The unloader 2 is a traverse type unloader, and is installed on the fixed platen 33 of the molding machine 3, and includes an arm mechanism 20 including arms 21, 22, and 23 extending in the respective XYZ axial directions, and an arm mechanism. 2 and a take-out head 24 that holds the molded product M attached to the tip of the arm. When the mold 34 of the molding machine 3 is opened, the take-out machine 2 allows the take-out head 24 to enter the mold 34 from above, and the take-out head 24 holds the molded product M in the mold 34. It conveys to the operation side of the molding machine 3, and delivers the molded product M to and from the inspection apparatus 1. Then, the unloader 2 opens the molded product M received from the inspection device 1 to a defective product discharge chute or a good product collection position (not shown) based on the quality determination from the inspection device 1.

  As shown in FIG. 2, the inspection apparatus 1 includes an inspection room 11 that is a dark room by a rectangular box-shaped housing 10, a light (illumination unit) 4 and a camera (imaging unit) 5 that are installed in the inspection room 11. The multi-axis robot 6, the holding part 7 of the molded product M provided on the inner surface of the side plate 13 of the housing 10, and the processing unit 81 that determines the quality of the molded product M from the molded product image captured by the camera 5. And a control unit 82 that controls the operation of each unit of the inspection apparatus 1.

  The processing unit 81 and the control unit 82 are built in one computer 8, but may be provided in separate hardware. The processing unit 81 includes a CPU and the like, and includes a program that processes an image of the molded product M and determines the presence or absence of scratches. The control unit 82 is composed of a CPU or the like, and includes a program for controlling the operation of the light 4, the camera 5, the multi-axis robot 6, the holding unit 7, the opening and closing of the side plate unit 13 described later, the linear motion guide mechanism 66 described later, A program for exchanging signals with the take-out machine controller of the machine 2. Note that a display unit that displays a molded product image may be connected to the processing unit 81.

  The inner surface of the housing 10 and the parts disposed in the inspection room 11 such as the light 4 (excluding the light irradiation unit), the camera 5 (excluding the light receiving unit), and the multi-axis robot 6 are painted black or covered with black. The inside of the examination room 11 is hidden in black by covering with a member. Thereby, the inside of the examination room 11 can be formed in a good dark room. Further, by concealing the inside of the examination room 11 in black, it is possible to prevent the irradiation light of the light 4 from being irregularly reflected. Therefore, an image showing the appearance state of the molded product M accurately can be taken by the camera 5, and an appearance inspection such as the presence or absence of scratches on the surface of the molded product M can be accurately performed.

  As shown in FIGS. 2 and 3, the side plate 12 a provided with the holding portion 7 among the side plates 12 a, 12 b, 12 c, and 12 d of the housing 10 has the side plate portion 13 on which the holding portion 7 is installed with respect to the side plate surface. The side plate portion 13 is configured to serve as a delivery door for delivering the molded product M between the unloader 2 and the holding portion 7. That is, a cylinder device 15 is provided at the outer peripheral position of the holding portion 7 in the side plate portion 13, and the side plate portion 13 is configured to open and close in a direction perpendicular to the side plate surface of the side plate 12 a by driving the cylinder device 15. ing. The opening / closing direction of the side plate portion 13 coincides with the length direction of the molding machine 3 (X direction in FIG. 1), and is set to the same direction as the opening / closing direction of the mold 34 of the molding machine 3.

By the way, when the inspection apparatus is installed beside the molding machine 3, as a molded product delivery place with the take-out machine 2, for example, a horizontal table is fed out from the inspection room, and the molded product M is placed on the table by the take-out machine 2. It is conceivable that the molded product M is transferred into the inspection chamber by placing the. In this case, it is necessary to secure a wide delivery place for the molded product M.
On the other hand, according to the inspection apparatus 1 of the present embodiment, the side plate 13 serving as a delivery door for the molded product M is configured to move in the vertical direction with respect to the side plate surface to open and close. Therefore, compared with the case where the molded product M is delivered, the delivery place of the molded product M can be saved.

  Further, since the side plate portion 13 serving as a delivery door for the molded product M is opened and closed like the mold 34 of the molding machine 3, the posture control of the take-out head 24 of the take-out machine 2 that delivers the molded product M is complicatedly set. There is no need to do. In the inspection apparatus 1 shown in FIG. 1, the opening / closing direction of the side plate portion 13 is set to the same direction as the opening / closing direction of the mold 34 of the molding machine 3. The molded product M can be transferred to and from the inspection apparatus 1 in the posture in which the molded product M is taken out, and there is no need to perform special posture control of the takeout head 24 such as reversing the takeout head 24.

  The light 4 is fixed to the upper part of the side plate 12b adjacent to the side plate 12a serving as a delivery door, and illuminates the molded product M held by the multi-axis robot 6 with illumination light during inspection. As long as the light 4 emits illumination light that allows the camera 5 to clearly capture the image of the molded product M, various illumination means can be used. For example, a fluorescent lamp, a halogen light 4 or the like is used. Is done.

  The camera 5 is fixed to the upper part on the other side plate 12c side adjacent to the side plate 12a serving as a delivery door so as to face the light 4, and takes an image of the molded product M held by the multi-axis robot 6 at the time of inspection. is there. As long as the camera 5 can clearly pick up an image of the molded product M, various image pickup means can be used. For example, a CCD camera or the like is used.

  In the present embodiment, since the transparent molded product M is to be inspected, the light 4 and the camera 5 are arranged to face each other so that the illumination light of the light 4 is transmitted through the molded product M and captured by the camera 5. However, when the opaque molded product M is to be inspected, the light 4 and the camera 5 are placed on the same side plate side so that the camera 5 captures the image based on the reflected light from the molded product M illuminated by the light 4. Side by side.

  The multi-axis robot 6 is provided with a hand 61 including a chuck 62 that grips the molded product M by moving away from and approaching the tip of an articulated robot arm. The multi-axis robot 6 delivers the molded product M to and from the holding unit 7 of the side plate portion 13 by the hand 61, and the inspection surface of the molded product M gripped by the hand 61 is imaged by the camera 5 at the time of inspection. As you move freely in the three-dimensional direction.

On the bottom plate 14 of the inspection chamber 11, a linear motion guide mechanism (traveling means) 66 is installed in the direction facing the holding portion 7 in the vicinity of the center thereof, and the multi-axis robot 6 is placed on the linear motion guide mechanism 66. Is installed.
The multi-axis robot 6 is moved by the linear motion guide mechanism 66 when the molded product M is delivered to and from the holding unit 7 so as to approach the holding unit 7 (indicated by a two-dot chain line in FIG. 3). .) Accordingly, the molded product M can be delivered to and from the holding portion 7 provided on the side plate portion 13 by the small multi-axis robot 6. Therefore, even if the multi-axis robot 6 is installed indoors, the inspection room 11 can be made compact.
Further, the multi-axis robot 6 is moved by the linear motion guide mechanism 66 when the molded product M is imaged by the camera 5, and the multi-axis robot 6 is moved to the end in the inspection chamber 11 (for example, the side plate provided with the holding unit 7). It is arranged on the side plate 12d side facing 12a or the side plate 12a side provided with the holding portion 7 (indicated by a solid line in FIG. 3). As a result, the multi-axis robot 6 is retracted to the end of the inspection room 11 and the robot arm is extended so that the molded product M is imaged, so that the shadow of the multi-axis robot 6 is formed within the imaging range of the camera 5. Can be reduced. Therefore, a wide imaging range of the molded product M can be secured even in the small inspection room 11.

  As shown in FIG. 4, a stroke position detector 63 that detects the stroke position of the chuck 62 is attached to the chuck 62 constituting the hand 61. The stroke position detector 63 includes a rod-shaped member 64 provided with a coil therein, a conductive metal tube 65 that is inserted through the rod-shaped member 64 and is movable in the axial direction, a rod-shaped member 64, and a metal tube 65. And an output unit (not shown) for outputting a signal corresponding to the polymerization area. That is, when the overlapping area of the rod-shaped member 64 and the metal cylinder 65 changes according to the stroke of the chuck 62 constituting the hand 61, the output unit outputs a signal corresponding to the changed overlapping area. Then, the output unit outputs a detection signal indicating a stroke position based on the output signal to the control unit 82. The control unit 82 controls the movement of the chuck 62 based on the detection signal from the stroke position detector 63 to control the gripping / release of the molded product M.

By the way, for example, when a two-point detection type sensor such as a photoelectric sensor is used for detecting the position of the chuck 62, the size of the molded product M is changed each time the size of the molded product M is changed by the changeover in the molding machine 3. It is necessary to reset the mounting position of the sensor according to.
On the other hand, according to the stroke position detector 63, the entire stroke position of the chuck 62 can be detected. Accordingly, when the size of the molded product M changes, if the stroke value for gripping and releasing the molded product M according to the size of the molded product M is set in the control unit 82, the detection from the stroke position detector 63 is performed. Based on the signal, the gripping / release of the molded product M by the chuck 62 can be controlled. Therefore, compared with the case of using a two-point detection sensor such as a photoelectric sensor, the setting of the multi-axis robot 6 according to the molded product M can be performed easily and at an early stage. As the stroke position detector 63, a linear pulse coder (registered trademark) provided as a displacement sensor (Japanese Patent Application Laid-Open Nos. 2003-14493 and 2004-69415) manufactured by Revex Co., Ltd. is preferably used. Is done.

  The holding part 7 provided on the side plate part 13 of the inspection chamber 11 delivers the molded product M to and from the unloader 2 and delivers the molded product M to and from the multi-axis robot 6. As shown in FIG. 5, the holding unit 7 includes a plurality of openings 71, and is configured by a gripper (suction means) 72 that sucks and holds the molded product M by vacuum pressure generated in the openings 71. The gripper 72 automatically closes the opening 71 that is not in contact with the molded product M, and the opening 71 in contact with the molded product M ensures a vacuum pressure that secures the holding force of the molded product M. It is configured. Thereby, even if the size of the molded product M changes, the molded product M can be reliably held by the plurality of openings 71. Therefore, even if the molded product M is changed, it is not necessary to reset the holding unit 7 according to the size of the molded product M or the like. Therefore, adjustment of the inspection apparatus 1 according to the molded product M can be easily performed.

  The holding part 7 in this Embodiment is provided in four places of the inner surface of the side-plate part 13 with reference to FIG. In the molding machine 3, when two molded products M are taken by the mold 34 and the side plate portion 13 is closed, the four holding units are excluded except when the multi-axis robot 6 is holding the molded product M. 7, the molded product M is held by two holding portions 7. In addition, when the multi-axis robot 6 finishes imaging the molded product M, the multi-axis robot 6 passes the molded product M to the holding unit 7 where the molded product M is picked up. In this case, the delivery of the molded product M between the holding unit 7 and the take-out machine 2 is, for example, before the inspection in which the take-out machine 2 is taken out from the molding machine 3 to the two holding units 7 arranged on the left and right sides. Two molded products M are passed, and subsequently, the inspected molded products M held by the two holding portions 7 arranged on the other side are received. Then, when the take-out machine 2 delivers the molded product M, the two molded products M before inspection taken out from the molding machine 3 to the two holding parts 7 arranged on the other side not holding the molded product M are transferred. Subsequently, the inspected molded product M is received from the two holding portions 7 arranged on one side for holding the inspected molded product M. The above operation is repeated.

  The multi-axis robot 6 holds the molded product M before the inspection so that the positions of the holding unit 7 that holds the molded product M before the inspection and the holding unit 7 that holds the molded product M after the inspection are fixed. When the molded product M is picked up from the holding unit 7 and the imaging of the molded product M is finished, the molded product M is returned to the holding unit 7 on the side that holds the molded product M after the inspection. The molded product M before inspection taken out from the molding machine 3 is transferred to the holding unit 7 on the side that holds the molded product M before inspection, and the molded product M is received from the holding unit 7 on the side that holds the molded product M after inspection. You may control as follows.

  The processing unit 81 performs image processing on an image captured by the camera 5 and determines whether the molded product M is acceptable. The result of this determination is transmitted as pass / fail information from the control unit 82 of the inspection apparatus 1 to the unloader controller of the unloader 2. When the unloader 2 receives the inspected molded product M from the holding unit 7, the take-out machine 2 moves the molded product M determined to be non-defective to the non-defective product collecting position, and shoots the molded product M determined to be defective. To discharge.

The operation of the inspection apparatus 1 having the above configuration will be described below.
First, when the take-out machine 2 takes out the molded product M from the mold 34 of the molding machine 3, a delivery signal is output from the take-out machine controller to the control unit 82 of the inspection apparatus 1. Upon receiving this delivery signal, the inspection device 1 opens the side plate 12a serving as a delivery door for the molded product M in response to a command signal from the control unit 82. Then, the take-out machine 2 causes the take-out head 24 holding the molded product M to enter the inner side surface of the side plate 12a from above the inspection chamber 11, and takes out from the molding machine 3 to the holding portion 7 provided on the inner side surface of the side plate 12a. The molded product M before the inspection is handed over, and subsequently, the inspected molded product M is received by the inspection device 1. When the delivery of the molded product M is completed and a delivery completion signal is output from the unloader controller to the control unit 82 of the inspection apparatus 1, the inspection apparatus 1 causes the side plate 13 serving as a delivery door to be moved by a command signal from the control unit 82. close up. When the side plate portion 13 is closed, the inside of the examination room 11 becomes a dark room.

  Next, in response to a command signal from the control unit 82, the multi-axis robot 6 is moved by the linear guide mechanism 66 to approach the holding unit 7, and the molded product M held by the holding unit 7 by the hand 61 of the multi-axis robot 6. Take up. At this time, whether or not the molded product M is gripped by the chuck 62 constituting the hand 61 is determined by the control unit 82 from the position signal from the stroke position detector 63 and a stroke value indicating a preset molded product gripping position. As a result, gripping of the molded product M is recognized. When the gripping of the molded product is recognized, the multi-axis robot 6 is moved to the side plate 12d facing the holding unit 7 by the linear guide mechanism 66 according to the command signal of the control unit 82, and the multi-axis robot 6 is inspected. 11, the molded product M is illuminated by the light 4, and the inspection surface of the molded product M held by the hand 61 by the multi-axis robot 6 is sequentially moved to the focal position of the camera 5. The molded product M is imaged. The image of the molded product M is captured by the processing unit 81.

When the imaging of the molded product M is completed, the linear motion guide mechanism 66 moves and approaches the multi-axis robot 6 toward the holding unit 7 by a command signal from the control unit 82, and the multi-axis robot 6 picks up the molded product M. The molded product M is returned to the place holding unit 7. Further, based on the imaging completion signal from the control unit 82, the processing unit 81 determines whether or not there is a scratch that becomes a defective product on the surface of the molded product M in accordance with a predetermined processing procedure. This pass / fail determination can be performed, for example, by the following procedure.
First, each image data captured from the camera 5 is A / D converted and then binarized by a preset threshold value. And the area of the value which shows a crack among the binarized values is measured. The area measured here is compared with a preset criterion value, and if the measured area exceeds the criterion value, it is determined as a defective product. In this way, when the processing unit 81 determines that the product is defective, the control unit 82 is inferior together with the position of the holding unit 7 that holds the molded product M with respect to the unloader controller of the unloader 2. The determination signal is output.

Next, the control unit 82 of the inspection apparatus 1 receives a delivery signal from the take-out controller of the take-out machine 2, opens the side plate 12 a serving as a delivery door for the molded product M, and opens the side of the molded product M with the take-out machine 2. When the delivery is performed, the unloader 2 discharges the molded product M that has received the above-described defect determination signal to the defective product discharge chute, and opens the molded product M that has not received the defect determination signal to a non-defective product collection position.
The above operation is repeated.

  As described above, according to the inspection apparatus 1 according to the embodiment, the side plate 13 serving as a delivery door of the molded product M is configured to move in the vertical direction with respect to the side plate surface to open and close. The space for delivery can be saved. Accordingly, the inspection apparatus 1 can be installed in a space-saving manner next to the molding machine 3. As a result, it is possible to form the molding machine 3 by placing the inspection device 1 next to the molding machine 3 even in a molding plant where the installation space around the molding machine 3 is not restricted, and the installation space around the molding machine 3 is limited. The waiting time until the start of post-inspection can be greatly shortened, and the productivity of the molded product M in the entire factory can be improved. Further, since the side plate portion 13 serving as a delivery door for the molded product M is opened and closed like the mold 34 of the molding machine 3, the posture control on the unloader 2 side for delivering the molded product M can be easily set. .

In addition, this invention is not limited to said embodiment, A various change is possible within the range of the summary of this invention.
For example, the side plate 13 serving as a delivery door for the molded product M may be opened and closed on the entire side plate 12a provided with the holding unit 7.
The image processing in the processing unit 81 is not limited to binarization, and may be performed by other image processing methods.
A plurality of cameras 5 and lights 4 may be installed.
Further, the take-out machine 2 is not limited to the traverse type, but may be a so-called side entry type take-out machine 2 that takes out the molded product M by causing the take-out head 24 to enter the mold 34 from the side of the mold 34. In the case of this side entry type take-out machine, the delivery of the molded product M to and from the holding part 7 of the inspection apparatus 1 is performed by causing the take-out head 24 to enter the inner surface of the side plate part 13 from the side of the inspection chamber 11. To.

It is the perspective view which showed the state by which the inspection apparatus by embodiment was installed beside the molding machine. It is the perspective view which showed the structure of each part in the test chamber inside of a test | inspection apparatus. It is the side view which showed the structure of each part in the test chamber inside of a test | inspection apparatus. It is the top view which showed the hand of the multi-axis robot. It is the top view which showed the gripper as a holding | maintenance part.

Explanation of symbols

M Molded product 1 Inspection device 2 Unloader 3 Molding machine 4 Light 5 Camera 6 Multi-axis robot 7 Holding unit 10 Housing 11 Inspection chambers 12a to 12d Side plate 13 Side plate 20 Arm mechanism 24 Extraction head 61 Hand 62 Chuck 66 Linear motion guide Mechanism 63 Stroke position detector 72 Gripper

Claims (6)

An inspection device for inspecting the appearance of a molded product molded by a molding machine based on the captured image,
The examination room in which the illumination means and the imaging means are arranged is surrounded by a casing to be a dark room,
An inspection room is set up next to the molding machine,
A holding part for holding the molded product is provided on the inner surface of the side plate part of the examination room,
The side plate provided with the holding part is configured as a delivery door that opens and closes by moving in the direction perpendicular to the side plate surface, and delivers the molded product between the take-out machine that takes out the molded product from the molding machine and the holding unit. Inspection equipment. The inspection apparatus according to claim 1,
A multi-axis robot that is installed in the examination room, delivers the molded product to and from the holding unit by the hand, and moves the molded product held by the hand freely in a three-dimensional direction;
Traveling means for moving the multi-axis robot in the direction facing the holding unit in the examination room,
An inspection apparatus configured to transfer a molded product between the multi-axis robot and the holding unit by moving the multi-axis robot by the traveling means to approach the holding unit. The inspection apparatus according to claim 2,
An inspection apparatus configured to move a multi-axis robot to an end in an inspection room by a traveling unit when an image of a molded product is captured by an imaging unit. In the inspection apparatus according to claim 2 or 3,
The hand of a multi-axis robot consists of chucks that move away and approach,
The chuck is equipped with a coil and a conductor or magnetic body arranged so that the overlapping area changes according to the change in the stroke position of the chuck, and a position detector that generates an output corresponding to the overlapping area,
An inspection device configured to control gripping / release of a molded product by a chuck based on a detection signal from a position detector. The inspection apparatus according to any one of claims 1 to 4,
The holding device provided on the side plate portion of the inspection room has a plurality of openings, and is constituted by suction means for sucking and holding a molded product by vacuum pressure generated in the openings. The inspection apparatus according to any one of claims 1 to 5,
The inspection apparatus is hidden in black except for the light irradiation part of the illumination means and the light receiving part of the imaging means in the inspection room.

Images