JP6545989B2 - Image inspection device - Google Patents

Description

  The present invention relates to an image inspection apparatus, and more particularly to an image inspection apparatus capable of photographing the entire surface of an inspection object (workpiece).

  Heretofore, visual inspection of the connector housing and the like has mainly been visual inspection. However, in recent years, introduction of an image inspection apparatus is desired for the purpose of improving inspection accuracy and inspection speed. As an image inspection apparatus, what was described in patent documents 1-3 is known.

  The image inspection apparatus described in Patent Document 1 provides a plurality of subtables on a revolving main table, and when the subtable reaches a predetermined position, the inspection object on the subtable is photographed by rotating the subtable. It is According to this, although the circumference of the inspection object can be photographed all around, the bottom portion of the inspection object can not be photographed.

  The image inspection apparatus described in Patent Document 2 uses two turntables, photographs an upper surface of the inspection object when the inspection object is on one of the turntables, and performs an inspection when the inspection object is on the other turntable. The remaining five sides of the object are photographed. According to this, although the entire surface of the inspection object can be photographed, six cameras are also required, and the apparatus configuration becomes complicated. In addition, the size of the turntable can not be avoided because each surface of the inspection object is photographed at different revolving positions of the turntable.

  The image inspection apparatus described in Patent Document 3 uses the turntable that holds the inspection object from the upper side and the turntable that holds the inspection object from the lower side, and photographs the lower surface of the inspection object with the former turntable. And the upper surface of the inspection object is photographed on the latter turntable. According to this, although the upper and lower surfaces of the inspection object can be photographed, the camera for photographing the lower surface of the inspection object and the camera for photographing the upper surface of the inspection object should be directed in directions different from each other by 180 °. As a result, the device configuration becomes complicated. In addition, a camera for photographing the lower surface of the inspection object has a problem that dust easily adheres to the lens because the optical axis needs to be directed upward.

JP-A-7-248300 Japanese Patent Application Laid-Open No. 7-318512 JP-A-8-50102

  As described above, in the conventional image inspection apparatus, it is necessary to use a large number of cameras in order to image the entire surface of the inspection object or to use cameras with different imaging directions by 180 °, and the apparatus configuration is complicated. was there.

  Therefore, an object of the present invention is to provide a compact image inspection apparatus capable of photographing the entire surface of an inspection object.

  In order to achieve the above object, the image processing apparatus according to the present invention has a front stage index table and a rear stage index table configured to be rotatable, respectively, and an autorotation axis that revolves in conjunction with rotation of the front stage index table. First and second pre-stage inspection tables configured to be rotatable, and first and second post-stage inspection tables configured to be rotatable around a rotation axis that revolves in conjunction with rotation of the post-stage index table And first imaging means for imaging the inspection object placed on the first front stage inspection table when the first front stage inspection table is at a first imaging position of the front stage index table; When the first subsequent inspection table is at the second imaging position of the subsequent index table, the first subsequent inspection table A second imaging unit for imaging the inspection object placed on the first stage, and the second front stage inspection table is at a first transfer position of the front stage index table, and the second rear stage inspection table is A transfer mechanism for vertically inverting the inspection object placed on the second front stage inspection table and transferring the inspection object placed on the second rear stage inspection table when in the second transfer position of the rear stage index table And.

  According to the present invention, since two index tables are used and the inspection object is transferred from the front stage index table to the rear stage index table, the upper and lower sides are reversed, so a dedicated work reversing mechanism or the like is used. It is possible to invert the upper and lower sides of the inspection object without having to This makes it possible to capture the entire surface of the inspection object while suppressing the complexity and size of the apparatus.

  As described above, according to the present invention, it is possible to provide a compact image inspection apparatus capable of photographing the entire surface of the inspection object.

FIG. 1 is a schematic perspective view showing the appearance of an image inspection apparatus 10 according to a preferred embodiment of the present invention. FIG. 2 is a top view of the image inspection apparatus 10 with the housing 11 removed. FIG. 3 is a perspective view showing the main part of the image inspection apparatus 10 with the housing 11 removed. FIG. 4 is a top view of the index table 20A. FIG. 5 is a top view in a state where the inspection tables 21A to 23A are removed from the index table 20A. FIG. 6 is a side view of the index table 20A. 7 is a cross-sectional view taken along the line A-A of FIG. FIG. 8 is a perspective view showing the configuration of the supply mechanism 40 (or the discharge mechanism 50). FIG. 9 is a perspective view showing the configuration of the transfer mechanism 60. As shown in FIG. FIG. 10 is a side view showing the configuration and operation of the transfer mechanism 60. As shown in FIG. FIG. 11 is a block diagram showing the system configuration of the image inspection apparatus 10. As shown in FIG. 5 is a schematic perspective view showing an example of the shape of a work W. FIG. FIG. 13 is a schematic diagram for explaining the relationship between the revolving operation of the index tables 20A and 20B and the operations of the supply mechanism 40, the discharge mechanism 50, and the transfer mechanism 60.

  Hereinafter, preferred embodiments of the present invention will be described in detail with reference to the accompanying drawings.

  FIG. 1 is a schematic perspective view showing the appearance of an image inspection apparatus 10 according to a preferred embodiment of the present invention.

  The image inspection apparatus 10 according to the present embodiment determines the quality of the appearance by image-recognizing an inspection object using a camera. Although the type of the inspection object is not particularly limited in the present invention, as one example, the housing of the connector is the inspection object in the present embodiment. The housing of the connector is a resin component that covers the connection portion of the pair of wires, and generally has an array of through holes individually covering the connection portions of a plurality of pairs (for example, about 30 pairs) of wires. It is a resin molding. In the present specification, the inspection object may be simply referred to as "work".

  The image inspection apparatus 10 according to the present embodiment is housed inside a box-shaped casing 11, and the main part of the image inspection device 10 can be viewed through a transparent window 12 provided on the front top of the casing 11. The transparent window 12 can be opened in an unfolded manner, and by opening the transparent window 12, the operator can maintain the inside of the image inspection apparatus 10 (mainly a portion through which a work flows). In addition, a door 13 capable of double door opening is also provided at the lower part of the front surface of the housing 11, and by opening the door 13, the operator can maintain the inside (mainly the drive mechanism) of the image inspection apparatus 10.

  A load table 14 for loading a workpiece to be inspected is provided on the right side surface of the housing 11, and the workpiece is loaded into the image inspection apparatus 10 via the load table 14. On the other hand, on the left side surface of the housing 11, three storage boxes 15, 15A, 15B for storing the discharged work are provided. The accommodation box 15 is a box in which the work determined to be non-defective is accommodated, and the accommodation boxes 15A and 15B are boxes in which the work determined to be defective is accommodated.

  Further, a control panel 16 is provided on the upper side of the left side surface of the housing 11. The control panel 16 is a panel for the operator to input an instruction to the image inspection apparatus 10, and not only the start and end of the image inspection but also input of various parameters necessary for the image inspection and the like through the control panel 16 Do. Further, the control panel 16 also displays information such as the current operation status, for example, the occurrence of an error.

  Two monitors 17A and 17B are provided on the top surface of the housing 11. Although details will be described later, the image inspection apparatus 10 according to the present embodiment includes two cameras, and an image captured by one of the cameras is displayed on the monitor 17A, and an image captured by the other camera is on the monitor 17B. Is displayed.

  FIG. 2 is a top view of the image inspection apparatus 10 with the housing 11 removed. Moreover, FIG. 3 is a perspective view which shows the principal part of the image inspection apparatus 10 in the state which removed the housing | casing 11. FIG. However, the supply mechanism, the discharge mechanism, and the transfer mechanism, which will be described later, are omitted in FIG. 3 in consideration of the legibility of the drawing.

  As shown in FIGS. 2 and 3, the image inspection apparatus 10 according to the present embodiment is provided with two index tables 20A and 20B arranged horizontally. The index tables 20A and 20B rotate intermittently around their respective rotation axes. Among these, the index table 20A is disposed on the upstream side, that is, on the side of the load table 14, and constitutes a front stage index table for photographing the entire surface excluding the bottom surface of the work. On the other hand, the index table 20B is disposed on the downstream side, that is, on the side of the accommodation boxes 15, 15A, 15B, and constitutes a post-stage index table for photographing the entire surface excluding the upper surface of the work.

  Three inspection tables are provided in each of the index tables 20A and 20B. First, the index table 20A is provided with the front stage inspection tables 21A to 23A, which revolve in conjunction with the rotation of the index table 20A. Further, the index table 20B is provided with the post-stage inspection tables 21B to 23B, which revolve in conjunction with the rotation of the index table 20B. Hereinafter, in the present specification, the first stage inspection table and the second stage inspection table may be simply referred to as an “inspection table”. In FIG. 2, a part of the inspection tables 21A and 21B is hidden by the lighting device 31.

  The rotation of the index tables 20A and 20B is intermittent, and is configured to revolve 120 ° at a time. Although the details will be described later, the rotation of the index table 20A and the rotation of the index table 20B are alternately performed.

  The index table 20A has "imaging position", "transfer position" and "supply position" which mutually form an angle of 120. When the rotation of the index table 20A stops, the inspection tables 21A to 23A It is positioned at any of the photographing position, the transfer position, and the supply position. In the example shown in FIGS. 2 and 3, the inspection table 21A is at the "shooting position", the inspection table 22A is at the "transfer position", and the inspection table 23A is at the "supply position". Similarly, the index table 20B has “imaging position”, “transfer position” and “discharge position” which form an angle of 120 ° with each other, and when the rotation of the index table 20B is stopped, the inspection tables 21B to 23B Are respectively located at any of the “photographing position”, the “transfer position”, and the “discharge position”. In the example shown in FIG. 2 and FIG. 3, the inspection table 21B is at the “imaging position”, the inspection table 22B is at the “transfer position”, and the inspection table 23B is at the “discharge position”. The “photographing position”, the “transfer position”, the “supply position”, and the “discharge position” described above are shown in detail in FIG. 13 described later.

  The inspection tables 21A to 23A and 21B to 23B are tables on which work pieces are placed on the upper surfaces thereof, and are all configured to be rotatable about a rotation axis that revolves. Specifically, when the inspection tables 21A to 23A are at the “shooting position”, they are rotated 360 ° by the rotation mechanism 26A described later, and if the inspection tables 21B to 23B are at the “shooting position”, the rotation mechanism 26B described later Rotate 360 °.

  On the other hand, when the inspection tables 21A to 23A and 21B to 23B are at the "transfer position", "supply position" or "discharge position", they do not rotate, but they slightly rotate when moving to these positions by revolution. By doing this, the angle adjustment of the work is performed. For example, when the inspection tables 21A to 23A move from the "shooting position" to the "transfer position", the work is angle-adjusted by slightly rotating the inspection tables 21A to 23A, whereby the transfer mechanism described later The workpiece can be handled reliably.

  The revolution of the index tables 20A and 20B and part of the rotation of the inspection tables 21A to 23A and 21B to 23B are performed by cam drive using a single main motor. Therefore, the rotational motions of these tables are interlocked with each other, and smooth motion can be realized.

  FIG. 4 is a top view of the index table 20A, and FIG. 5 is a top view in a state where the inspection tables 21A to 23A are removed from the index table 20A.

  As shown in FIG. 4, suction nozzles 24 for holding the workpiece by suction are provided on the three inspection tables 21A to 23A provided on the index table 20A. The suction nozzle is connected to a vacuum device (not shown), and the work is sucked and held by suction by the vacuum device.

  Moreover, as shown in FIG. 5, the groove | channel 25 along the revolution path | route of test | inspection table 21A-23A is provided in the index table 20A. The inspection tables 21A to 23A rotate intermittently by 120 ° along the groove 25 and temporarily stop at any of the “photographing position”, the “transfer position”, and the “supply position”. Then, when the inspection table 21A, 22A or 23A stops at the “shooting position”, the rotation mechanism 26A rotates 360 °. As shown in FIG. 5, the upper portion of the rotation mechanism 26A is integrated with the groove 25 and is configured to rotate 360 ° together with the groove.

  6 is a side view of the index table 20A, and FIG. 7 is a cross-sectional view taken along the line A-A of FIG.

  As shown in FIGS. 6 and 7, a rotation mechanism 27A for revolving the index table 20A and a rotation mechanism 26A for rotating the inspection table 21A, 22A or 23A at the "shooting position" are provided under the index table 20A. It is done. The rotation mechanism 26A and the rotation mechanism 27A are driven by motors different from each other.

  Specifically, the power of the main motor (not shown) is transmitted to the rotation mechanism 27A via the timing belt 28 and the cam mechanism shown in FIG. 3, whereby the index table 20A revolves. The power of the main motor is also used for rotation (angle adjustment) of the inspection tables 21A to 23A, which are revolving. On the other hand, a rotation motor 29A different from the main motor is provided below the index table 20A, and when the index table 20A stops rotating, the rotation mechanism 26A is rotated 360 °. As a result, when the inspection table 21A, 22A or 23A stops at the "shooting position", the workpiece is rotated at a high speed by 360 ° in the horizontal direction.

  The structure and operation of the index table 20B are also similar to the structure and operation of the index table 20A described with reference to FIGS. 4 to 7, and thus redundant description will be omitted. A mechanism 27B is used, and a rotation mechanism 26B is used for rotation of the inspection table 21B, 22B or 23B. The rotation mechanism 26B is driven by the rotation motor 29B.

  Returning to FIG. 2 and FIG. 3, the image inspection apparatus 10 according to the present embodiment further includes two cameras 30A and 30B. The camera 30A is a first photographing means for photographing a work placed on the inspection table 21A, 22A or 23A when the inspection table 21A, 22A or 23A is at the "photographing position" of the index table 20A. Similarly, the camera 30B is a second photographing means for photographing the work placed on the inspection table 21B, 22B or 23B when the inspection table 21B, 22B or 23B is in the "photographing position" of the index table 20B. .

  Although not particularly limited, it is preferable to use an ultra-deep camera using a telecentric lens as the cameras 30A and 30B. An ultra-deep camera using a telecentric lens has an advantage that there is no need for focusing since a wide range of focusing is required, and no mechanical operation on the camera side is required. Moreover, since there is almost no dimensional change of the image in the range of the depth of field, correction of the image is basically unnecessary.

  As shown in FIG. 3, the cameras 30A and 30B are arranged in parallel with each other so as to photograph the workpiece at the "photographing position" from diagonally above. As described above, since the optical axis of each of the cameras 30A and 30B is directed obliquely downward, dust does not easily adhere to the lens. Then, at the time of actual shooting, the illumination device 31 is turned on, and light suitable for shooting is emitted to the work. Although not particularly limited, in the present embodiment, six illumination devices are assigned to one camera. It is preferable to use LED illumination as the illumination device 31.

  Furthermore, the image inspection apparatus 10 according to the present embodiment includes the supply mechanism 40 for placing a work on the inspection table 21A, 22A or 23A at the “supply position”, and the inspection table 21B, 22B or 23B at the “discharge position”. Discharge mechanism 50 for discharging the work from the transfer mechanism, and the transfer mechanism 60 for transferring the work on the inspection table 21A, 22A or 23A at the “transfer position” onto the inspection table 21B, 22B or 23B at the “transfer position”. And have.

  FIG. 8 is a perspective view showing the configuration of the supply mechanism 40 (or the discharge mechanism 50).

  The supply mechanism 40 is a robot arm for placing the work supplied to the load table 14 on the inspection table 21A, 22A or 23A at the “supply position”, and is provided at the rotating arm 41 and the tip of the arm 41 The chucking mechanism 42 is provided. The arm 41 repeatedly pivots so that the chucking mechanism 42 reciprocates between the load table 14 and the inspection table 21A, 22A or 23A. Then, when the chucking mechanism 42 is positioned on the load table 14, one workpiece is chucked by the chucking mechanism 42 and is conveyed to the inspection table 21 A, 22 A or 23 A by rotation of the arm 41. Then, the workpiece is placed on the inspection table 21A, 22A or 23A at the "supply position" by canceling the chucking. By repeating this operation, one work is placed on the inspection table 21A, 22A or 23A each time the arm 41 reciprocates.

  Further, when the arm 41 rotates, the rotating shaft 43 is lifted, whereby the chucked workpiece is held above the load table 14 and the inspection tables 21A to 23A. At the time of chucking, the rotary shaft 43 is lowered, and the workpiece on the load table 14 can be chucked correctly. Similarly, at the time of canceling the chucking, the rotating shaft 43 is lowered, and the work can be properly placed on the inspection table 21A, 22A or 23A.

  Furthermore, the operation of the chucking mechanism 42 is not a simple opening / closing stroke operation, and the opening / closing operation is controlled so as to be temporarily stopped or slowed immediately before chucking and immediately after releasing the chucking. That is, at the time of chucking, when the gap between the chucking mechanism 42 and the workpiece becomes narrow, for example, to about 1 mm, the gripping operation is temporarily stopped or slowed down, and then the workpiece is gripped completely. On the other hand, at the time of opening the chucking, the opening operation is temporarily stopped or slowed down when the gap between the chucking mechanism 42 and the work expands to, for example, about 1 mm, and then the chucking mechanism 42 is completely opened. . By performing such an operation, it is possible to properly control the direction of the work placed on the inspection tables 21A to 23A, particularly at the time of releasing the chucking. That is, when a simple opening / closing stroke operation is performed, there is a possibility that the work may move largely on the inspection tables 21A to 23A at the time of releasing the chucking, but such a problem is solved by performing the above control. be able to.

  The configuration and operation of the discharge mechanism 50 are substantially the same as the supply mechanism 40 described above, and includes a rotating arm 51 and a chucking mechanism 52 provided at the tip of the arm 51. The arm 51 rotates repeatedly so that the chucking mechanism 52 reciprocates between the inspection tables 21B to 23B and the discharge ports 71 to 73. Then, when the chucking mechanism 52 is positioned on the inspection table 21B, 22B or 23B in the “discharge position”, the work after the inspection is chucked by the chucking mechanism 52, and the arm 51 rotates to discharge the discharge port 71, It is carried to 72 or 73 and chucking is released. As a result, the work after the inspection is carried to one of the discharge ports 71 to 73.

  Whether the chucked work is to be transported to the discharge ports 71 to 73 depends on the result of the image inspection using the cameras 30A and 30B. Specifically, the work determined to be non-defective in the two image inspections using the cameras 30A and 30B is carried to the discharge port 71. Since the discharge port 71 is connected to the storage box 15, the work determined to be non-defective is stored in the storage box 15. On the other hand, the work determined to be a defective product in the image inspection using the camera 30A is carried to the discharge port 72. Since the discharge port 72 is connected to the storage box 15A, the work determined to be a defective product in the image inspection using the camera 30A is stored in the storage box 15A. Similarly, the work determined to be a defective product in the image inspection using the camera 30B is carried to the discharge port 73. Since the discharge port 73 is connected to the storage box 15B, the work determined to be a defective product in the image inspection using the camera 30B is stored in the storage box 15B.

  FIG. 9 is a perspective view showing the configuration of the transfer mechanism 60, and FIG. 10 is a side view showing the configuration and operation of the transfer mechanism 60. As shown in FIG.

  The transfer mechanism 60 is a robot arm for transferring the work at the “transfer position” of the index table 20A at the front stage to the “transfer position” of the index table 20B at the rear stage, A chucking mechanism 62 provided at the tip of the arm 61 is provided. The rotation of the arm 61 is repeated so that the chucking mechanism 62 reciprocates between the "transfer position" of the index table 20A and the "transfer position" of the index table 20B. Then, when the chucking mechanism 62 moves on the inspection table 21A, 22A or 23A stopped at the “transfer position”, one workpiece is chucked by the chucking mechanism 62, and the arm 61 is rotated. It is transported to the inspection table 21B, 22B or 23B stopped at the "transfer position". Then, by releasing the chucking, the work is transferred onto the inspection table 21B, 22B or 23B at the “transfer position”. By repeating this operation, one work is transferred from the index table 20A to the index table 20B each time the arm 61 makes one reciprocation.

  As shown in FIG. 10, the pivoting of the arm 61 is a reciprocating motion of 180 °. In FIG. 10, the position of the arm 61 indicated by a broken line is the position where chucking or opening thereof is performed. By this operation, when the work is transferred from the index table 20A to the index table 20B, the upper and lower sides of the work are reversed. Therefore, the bottom of the work on the index table 20A is directed upward on the index table 20B. As a result, after shooting while rotating the workpiece 360 ° in the horizontal direction at the “shooting position” of the index table 20A, if shooting while rotating the workpiece 360 ° in the horizontal direction at the “shooting position” of the index table 20B, It is possible to shoot the entire surface of the

  Incidentally, the operation of the chucking mechanism 62 is not a simple opening / closing stroke operation, and the opening / closing operation is temporarily stopped or slowed just before the chucking and immediately after the chucking release as in the supply mechanism 40 described above. It is controlled. This makes it possible to properly control the direction of the work placed on the inspection tables 21B to 23B, particularly when the chucking is released.

  In the present embodiment, the cam drive using the main motor is also used for the operations of the supply mechanism 40, the discharge mechanism 50, and the transfer mechanism 60. Thereby, the revolution of the index tables 20A and 20B, a part of the rotation of the inspection tables 21A to 23A and 21B to 23B, the operation of the supply mechanism 40, the operation of the discharge mechanism 50, and the operation of the transfer mechanism 60 interlocked with each other. Therefore, there is no deviation in timing between each operation. Although the power of the main motor can be used to rotate the inspection tables 21A to 23A and 21B to 23B at the "imaging position", the rotation of the inspection tables 21A to 23A and 21B to 23B at the "imaging position" is also possible. Since high speed is desirable, in the present embodiment, rotation motors 29A and 29B different from the main motor are used as the motive power for such operation.

  The above is the mechanical structure and the operation of the image inspection apparatus 10 according to the present embodiment.

  FIG. 11 is a block diagram showing the system configuration of the image inspection apparatus 10 according to the present embodiment.

  As shown in FIG. 11, the image inspection apparatus 10 according to the present embodiment includes a control unit 90 that receives an image captured by the cameras 30A and 30B and processes the image. The control unit 90 also plays a role of controlling the operation of the main motor 81, the motor 29 (29A, 29B) for autorotation, the vacuum device 82 and the like. The control unit 90 is connected to the control panel 16 and the monitors 17A and 17B, and an instruction input by the operator via the control panel 16 is transmitted to the control unit 90. In addition, the current operation status and the like are displayed on the control panel 16 and the monitors 17A and 17B under the control of the control unit 90.

  An important role of the control unit 90 is to determine whether the work is good or bad based on the images captured by the cameras 30A and 30B. As shown in FIG. 11, the control unit 90 includes an image processing device 91, and the image processing device 91 determines whether the work is good or bad. First, in the case where the outer shape of the workpiece W has a substantially rectangular parallelepiped shape shown in FIG. 12, the camera 30A performs imaging while rotating the workpiece W in a state in which the F surface is the bottom surface in the horizontal direction. Therefore, it is possible to obtain an image obtained by photographing 5 surfaces (A surface, B surface, C surface, D surface, E surface) except F surface from oblique directions. Then, when the work W is transferred from the index table 20A to the index table 20B, the transfer mechanism 60 vertically inverts. As a result, the camera 30B performs imaging while rotating the workpiece W with the A surface at the bottom by 360 ° in the horizontal direction, so five surfaces (B surface, C surface, D surface, E surface, etc.) excluding the A surface It is possible to obtain an image obtained by photographing the surface F) obliquely.

  The photographed image obtained in this manner is sent to the control unit 90, and is analyzed by the image processing device 91 in the control unit 90. The image processing apparatus 91 may be hardware, or part of it may be software.

  As a result of analyzing the photographed image of the workpiece obtained by the camera 30A, the image processing device 91 determines the non-defective product if no abnormality is found on the photographing surface (A surface, B surface, C surface, D surface, E surface). If an abnormality is found on one shooting surface, a defective product is determined. Similarly, as a result of analyzing the photographed image of the workpiece obtained by the camera 30B, the image processing apparatus 91 determines the non-defective item if no abnormality is found on the photographing surface (surface B, C, D, E, or F). If an abnormality is found on at least one imaging surface, a defective product is determined.

  Then, if the determinations based on the photographed images of the cameras 30A and 30B are both non-defective items, the control unit 90 controls the ejection mechanism 50 to move the arm 51 to the ejection port 71. Thus, the work is accommodated in the accommodation box 15 via the discharge port 71.

  On the other hand, if the determination based on the captured image of the camera 30A is a defective product determination, the control unit 90 controls the ejection mechanism 50 to move the arm 51 to the ejection port 72. Accordingly, the work is accommodated in the accommodation box 15A via the discharge port 72. Similarly, if the determination based on the captured image of the camera 30B is a defective product determination, the control unit 90 controls the ejection mechanism 50 to move the arm 51 to the ejection port 73. Accordingly, the work is accommodated in the accommodation box 15B via the discharge port 73.

  In this way, the non-defective work and the non-defective work are automatically classified. Moreover, in the present embodiment, since the work determined as a defective product based on the photographed image of the camera 30A and the workpiece determined as a defective product based on the photographed image as the camera 30B are separately stored, occurrence of defects occurs. It is possible to quickly elucidate the cause.

  FIG. 13 is a schematic diagram for explaining the relationship between the revolving operation of the index tables 20A and 20B and the operations of the supply mechanism 40, the discharge mechanism 50, and the transfer mechanism 60. The symbols W1 to W5 shown in FIG. 13 indicate workpieces loaded in this order.

  First, FIG. 13A shows a first state in which shooting is performed by the camera 30A. In this state, the rotation of the index table 20A is stopped, and the camera 30A captures an image while rotating the workpiece W4 on the inspection table 21A at the “imaging position” by 360 °. At this time, the work W3 on the inspection table 22A at the "transfer position" is chucked by the transfer mechanism 60. Further, a new workpiece W5 is placed on the inspection table 23A at the “supply position” by the supply mechanism 40. Thus, in the first state, imaging, transfer, and supply are performed in parallel while the index table 20A is stopped.

  On the other hand, in the first state, the index table 20B is rotating, the inspection table 23B at the "shooting position" moves to the "discharge position", and the inspection table 22B at the "discharge position" The inspection table 21B, which has been moved to the loading position, is moved to the shooting position. This movement is performed in parallel while imaging, transfer, and supply are being performed in the index table 20A.

  Then, when the movement of each of the inspection tables 21B to 23B on the index table 20B is completed, the state is shifted to the second state shown in FIG. The second state is a state in which shooting is performed by the camera 30B. In this state, the rotation of the index table 20B is stopped, and the work W2 on the inspection table 21B at the "shooting position" is rotated 360.degree. Photographed by the camera 30B. At this time, the transfer mechanism 60 mounts the work W3 on the inspection table 22B at the “transfer position”. Further, the workpiece W1 on the inspection table 23B in the “discharge position” is chucked by the discharge mechanism 50. Thus, in the second state, imaging, transfer, and discharge are performed in parallel while the index table 20B is stopped.

  On the other hand, in the second state, the index table 20A is rotating, the inspection table 21A at the "shooting position" moves to the "transfer position", and the inspection table 22A at the "transfer position" The inspection table 23A, which has been moved to the "supply position", moves to the "shooting position". This movement is performed in parallel while shooting, transfer, and discharge are being performed in the index table 20B.

  The image inspection apparatus 10 according to the present embodiment takes a picture while intermittently moving a plurality of works by alternately repeating the first state and the second state. Then, while one of the index tables 20A and 20B is stopped and shooting of the work is being performed, preparation for supply or discharge of the work is performed by rotating the other of the index tables 20A and 20B, so the waiting time It is possible to prevent a decrease in throughput due to the occurrence of In addition, since the transfer mechanism 60 chucks the work at the timing when the index table 20A is stopped and places the work at the timing when the index table 20B is stopped, the cameras 30A, 30B Thus, it is possible to correctly carry out the transfer of the work without causing a waiting time while taking pictures alternately.

  Moreover, since the image inspection apparatus 10 according to the present embodiment uses the transfer mechanism 60 in which the arm 61 rotates 180 degrees, the upper and lower sides of the work are naturally reversed when the work is transferred. For this reason, it becomes possible to reverse the upper and lower sides of the workpiece without using a dedicated workpiece reversing mechanism or the like. This makes it possible to capture the entire surface of the work while suppressing the complication and enlargement of the apparatus.

  The preferred embodiments of the present invention have been described above, but the present invention is not limited to these embodiments in any way, and the present invention can be implemented in various aspects without departing from the scope of the present invention. Of course.

  For example, although the image inspection apparatus 10 according to the above-described embodiment provides three inspection tables in one index table, the present invention is not limited to this, and two or more inspection tables are provided in one index table. It is enough if it is provided.

DESCRIPTION OF REFERENCE NUMERALS 10 image inspection apparatus 11 housing 12 transparent window 13 door 14 load table 15, 15A, 15B accommodation box 16 control panel 17A, 17B monitor 20A front stage index table 20B rear stage index table 21A to 23A front stage inspection table 21B to 23B rear stage inspection table 24 Suction nozzle 25 Groove 26A, 26B, 27A, 27B Rotation mechanism 28 Timing belt 29A, 29B Motor for rotation 30A, 30B Camera 31 Lighting device 40 Supplying mechanism 41 Arm 42 Chucking mechanism 43 Rotating shaft 50 Ejection mechanism 51 Arm 52 Chucking Mechanism 60 Transfer mechanism 61 Arm 62 Chucking mechanism 71 to 73 Discharge port 81 Main motor 82 Vacuum device 90 Control unit 91 Image processing device W, W1 to W5 Workpiece

Claims (5)

A front stage index table and a rear stage index table configured to be rotatable,
A plurality of front stage inspection tables configured to be rotatable around a rotation axis that revolves in synchronization with rotation of the front stage index table;
A plurality of subsequent inspection tables each configured to be rotatable about a rotation axis that revolves in conjunction with the rotation of the subsequent index table;
When any one of the plurality of pre-stage inspection tables is at a first imaging position of the pre-stage index table, a first one of imaging the inspection object placed on the pre-stage inspection table at the first imaging position Shooting means,
When any one of the plurality of post-stage inspection tables is at the second imaging position of the post-stage index table , a second method for imaging an inspection object placed on the post-stage inspection table at the second imaging position Shooting means,
A first rotation mechanism that rotates the pre-stage inspection table at the first imaging position;
A second rotation mechanism for rotating the pre-stage inspection table at the second imaging position;
When one of the plurality of pre-stage inspection tables is at the first transfer position of the pre-stage index table, the inspection object placed on the pre-stage inspection table at the first transfer position is chucked And a transfer mechanism for inverting the inspection object up and down and transferring the inspection object to any one of the plurality of subsequent stage inspection tables at the second transfer position ,
The first state in which the previous stage index table stops rotating and the second stage index table rotates, and the second state in which the second stage index table stops rotating and the second stage index table rotates alternates. Repeat
In the first state, the first photographing unit photographs the inspection object rotated by the first rotation mechanism, and the inspection on the previous stage inspection table at the first transfer position. The object is chucked by the transfer mechanism,
In the second state, the second photographing means shoots the inspection object rotated by the second rotation mechanism, and the inspection object chucked by the transfer mechanism is the second An image inspection apparatus mounted on the post-stage inspection table located at the transfer position of In the first state, the first photographing means photographs the inspection object while rotating the inspection object by 360 ° by the first rotation mechanism,
In the second state, the second photographing means photographs the inspection object while rotating the inspection object by 360 ° by the second rotation mechanism. Image inspection device. A supply mechanism for placing an inspection object on the previous stage inspection table located at the supply position, when any one of the plurality of previous stage inspection tables is at the supply position of the previous stage index table;
Further comprising: a discharge mechanism for discharging the inspection object placed on the subsequent stage inspection table at the discharge position when any one of the plurality of subsequent stage inspection tables is at the discharge position of the subsequent stage index table; The image inspection apparatus according to claim 1 or 2, characterized in that: The plurality of front stage inspection tables include first, second, and third front stage inspection tables respectively located at the first imaging position, the first transfer position, and the supply position.
The plurality of post-stage inspection tables include first, second and third post-stage inspection tables respectively located at the second imaging position, the second transfer position, and the discharge position. The image inspection apparatus according to 3. The image inspection apparatus according to claim 4, wherein the number of the plurality of first-stage inspection tables is the same as the number of the plurality of second-stage inspection tables.

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