JP6694729B2 - Shaft processing device - Google Patents

Description

  The present invention relates to an apparatus for performing processing such as inspection on a shaft body having heads such as screws and nails.

  FIG. 29 shows an outline of a conventional inspection device for inspecting a shaft body having a head portion and a small diameter portion, which is described in Patent Document 1, as viewed from above. The shaft body 2 (screw or the like) to be inspected is conveyed in the direction of arrow 6 with its head supported by the conveyance guide 4. A shaft body holding disk 10 having a recess 8 for individually holding the shaft bodies 2 is provided at the tip of the transport guide 4. The shaft holding disk 10 is rotating in the direction of arrow 12.

  From the state shown in the figure, when the shaft holding disk 10 rotates and the transport center line 14 of the transport guide 4 comes near the center of the recess 8, air is discharged from the nozzle (not shown) and the tip of the transport guide 4 is discharged. The shaft body 2 located at is moved toward the recess 8. As a result, the shaft bodies 2 are held one by one in the recesses 8 of the shaft body holding disk 10.

  The shaft body 2 held by the shaft body holding disk 10 is inspected by the inspection unit 16 for dimensions, appearance, and the like. The shaft 2 having a defective inspection result is dropped into the defective product collecting passage 20 by the nozzle 18. The shaft 2 having a good inspection result is dropped into the non-defective product collecting passage 24 by the nozzle 22. In this way, it is possible to select a good product and a bad product of the shaft body.

  In the inspection unit 16, for example, as shown in FIG. 30A, the shaft body 2 is imaged by the cameras 30 and 31 from the upward and lateral directions. The captured image of the shaft body 2 is inspected by measuring the length, the pitch of the screw and the like by an image processing circuit (not shown).

Patent No. 5496930

  However, in the device described in Patent Document 1, the imaging range of the cameras 30 and 31 is limited, and there is a problem that an image cannot be obtained at the blind spot of the shaft body 2 of the camera. In other words, it was not possible to inspect the blind spots.

  As a method for solving this, for example, as shown in FIG. 30B, it is conceivable to provide cameras 30a, 30b, 31a, 32b that capture images from various angles.

  However, this method has a problem that an extremely large number of cameras are required, and not only the cost but also the installation location of the cameras is required.

  An object of the present invention is to solve the above problems and to provide a shaft processing device that is compact and that can obtain images from various angles of the shaft.

  The independently applicable features of the shaft processing device according to the present invention are listed below.

(1) The shaft processing device according to the present invention encloses a small-diameter portion of a shaft having a head and a small-diameter portion having a smaller diameter than the head, and a recess for supporting the head with the small-diameter portion facing down is provided. A shaft body holding portion that is provided and moves in a predetermined direction, and a lower contact moving member that is provided on one side surface of the small diameter portion of the shaft body held by the shaft body holding portion and that moves while contacting the small diameter portion, A lower contact support member provided on the other side surface of the small diameter portion of the shaft body held by the shaft body holding portion and contacting the small diameter portion.

  Therefore, it is possible to perform processing such as imaging from a plurality of directions with respect to the head.

(2) The shaft processing device according to the present invention has a camera for capturing an image of the head of the shaft rotated by the lower contact moving member and the lower contact support member, and based on the image captured by the camera. And a processing unit that performs processing on the shaft.

  Therefore, it is possible to perform processing by capturing images of the head from a plurality of directions without providing a large number of cameras.

(3) The shaft body processing device according to the present invention is characterized in that the shaft body holding portion is configured to include a rotating disk, and the recess is provided on the outer peripheral portion of the disk.

  Therefore, by rotating the disk holding the shafts, the shafts can be sequentially moved to the processing unit.

(4) The shaft processing device according to the present invention is characterized in that the lower contact moving member is a flexible tube member that contacts the small diameter portion from the inner side of the disk and is rotated by a rotating mechanism. ..

  Therefore, by the deformation of the flexible tube member, it is possible to bring the small-diameter portion of the shaft into contact with high adhesion.

(5) The shaft processing device according to the present invention is characterized in that the lower contact support member is a synthetic resin member that comes into contact with the small diameter portion from the outside of the disk.

  Therefore, the small diameter portion can be surely brought into contact with the small diameter portion.

(6) The shaft processing device according to the present invention is characterized in that the moving speed of the lower contact member is set so that the head of the shaft rotates once or more in the imaging range of the camera. ..

  Therefore, the entire circumference of the head of the shaft can be imaged.

(7) A shaft processing device according to the present invention is provided on one side surface of a head of a shaft held by a shaft holding portion, and an upper contact moving member that moves while contacting the head, and a shaft. An upper contact receiving member that is provided on the other side surface of the head of the shaft held by the body holding unit and contacts the head; and the processing unit includes the upper contact moving member and the upper contact receiving member. It is characterized in that it has a camera for taking an image of a shaft body rotated by the support member.

  Therefore, it is possible to perform processing by capturing images of the small-diameter portion from a plurality of directions without providing a large number of cameras.

(8) The shaft processing device according to the present invention is characterized in that the upper contact moving member is a flexible tube member that contacts the head from the inner side of the disk and is rotated by a rotating mechanism. ..

  Therefore, the deformation of the flexible tube member allows the head portion of the shaft body to be brought into close contact with the head portion with high adhesion.

(9) The shaft processing device according to the present invention is characterized in that the upper contact support member is a flexible tube member that contacts the head from the outer side of the disk.

  Therefore, the deformation of the flexible tube member allows the head portion of the shaft body to be brought into close contact with the head portion with high adhesion.

(10) The shaft processing apparatus according to the present invention is characterized in that the moving speed of the upper contact member is set such that the small diameter portion of the shaft rotates once or more in the imaging range of the camera. ..

  Therefore, the entire circumference of the small diameter portion of the shaft can be imaged.

(11) The shaft processing method according to the present invention is a shaft having a head portion and a small diameter portion having a smaller diameter than the head portion, suspended by the head portion, moved in a predetermined direction while instructing, and suspended. The lower contact member that is moving from one side surface side of the small diameter portion of the shaft body that is supported by the lower contact receiving support member from the other side surface side of the small diameter portion. It is characterized in that the head portion of the shaft body rotated by the lower contact support member is imaged, and processing is performed on the shaft body based on the captured image.

  Therefore, it is possible to perform processing by capturing images of the head from a plurality of directions without providing a large number of cameras.

(12) The shaft processing device according to the present invention encloses a small-diameter portion of a shaft having a head and a small-diameter portion having a smaller diameter than the head, and a recess for supporting the head with the small-diameter portion facing down is provided. A shaft body holding part that is provided and moves in a predetermined direction, and an upper contact moving member that is provided on one side surface of the head part of the shaft body held by the shaft body holding part and that moves while abutting on the head part, An upper contact support member that is provided on the other side surface of the head of the shaft held by the shaft holding portion and contacts the head is provided.

  Therefore, it is possible to perform processing such as imaging from a plurality of directions with respect to the head.

(13) The shaft processing device according to the present invention has a camera for capturing an image of the shaft of the shaft rotated by the upper contact moving member and the upper contact support member, and based on the image captured by the camera. And a processing unit that performs processing on the shaft.

  Therefore, it is possible to perform processing by capturing images of the small-diameter portion from a plurality of directions without providing a large number of cameras.

(14) The shaft body processing device according to the present invention is characterized in that the shaft body holding portion is configured to include a rotating disk, and the recess is provided on the outer peripheral portion of the disk.

  Therefore, by rotating the disk holding the shaft body, each shaft pair can be sequentially moved to the processing unit.

(15) The shaft processing device according to the present invention is characterized in that the upper contact moving member is a flexible tube member that contacts the head from the inner side of the disk and is rotated by a rotating mechanism. ..

  Therefore, the deformation of the flexible tube member allows the head portion of the shaft body to be brought into close contact with the head portion with high adhesion.

(16) The shaft processing device according to the present invention is characterized in that the upper contact support member is a flexible tube member that contacts the head from the outer side of the disk.

  Therefore, the deformation of the flexible tube member allows the head portion of the shaft body to be brought into close contact with the head portion with high adhesion.

(17) The shaft processing apparatus according to the present invention is characterized in that the moving speed of the upper contact member is set so that the small diameter portion of the shaft rotates once or more in the imaging range of the camera. ..

  Therefore, the entire circumference of the small diameter portion of the shaft can be imaged.

(18) In the shaft body processing method according to the present invention, a shaft body having a head portion and a small diameter portion having a smaller diameter than the head portion is suspended by the head portion and moved in a predetermined direction while instructing, and the suspension body is suspended. A moving upper contact member from one side of the head of the shaft supported by the upper contact receiving member from the other side of the head, and a lower contact moving member. It is characterized in that a small diameter portion of the shaft body rotated by the lower contact support member is imaged, and a process for the shaft body is performed based on the captured image.

  Therefore, it is possible to perform processing by capturing images of the small-diameter portion from a plurality of directions without providing a large number of cameras.

(19) The shaft processing device according to the present invention encloses a small-diameter portion of a shaft having a head and a small-diameter portion having a smaller diameter than the head, and a recess for supporting the head with the small-diameter portion facing down is provided. A shaft holding portion that is provided and moves in a predetermined direction, and one side surface of the small diameter portion of the shaft body that is held by the shaft holding portion, is moved while contacting the small diameter portion to rotate the shaft body. The lower contact first moving member and the lower contact second provided on the other side surface of the small diameter portion of the shaft body held by the shaft holding portion and moving while contacting the small diameter portion to rotate the shaft body. And a moving member.

  Therefore, the shaft can be surely rotated.

(20) The shaft processing apparatus according to the present invention has a camera for capturing an image of the head of the shaft rotated by the lower contact first moving member and the lower contact second moving member. It is characterized by further comprising a processing unit that performs processing on the shaft based on a captured image.

  Therefore, it is possible to perform processing by capturing images of the head from a plurality of directions without providing a large number of cameras.

(21) The shaft body processing apparatus according to the present invention is characterized in that the shaft body holding portion is provided with a rotating disk, and the recess is provided in the outer peripheral portion of the disk.

  Therefore, by rotating the disk holding the shafts, the shafts can be sequentially moved to the processing unit.

(22) In the shaft processing device according to the present invention, the lower contact first moving member is a flexible tube member that contacts the small diameter portion from the inner side of the disk and is rotated by the rotating mechanism. The contact second moving member is a flexible tube member that abuts the small diameter portion from the outer side of the disk and is rotated by a rotating mechanism.

  Therefore, by the deformation of the flexible tube member, it is possible to bring the small-diameter portion of the shaft into contact with high adhesion.

(23) In the shaft processing device according to the present invention, a guard member is provided on the outer periphery of the disk, and in the image pickup portion by the camera, the guard member is not provided and the back surface of the head of the rotating shaft is fixed. It is characterized in that the camera is configured to capture an image.

  Therefore, the back surface of the head can be imaged while rotating the shaft.

(24) In the shaft processing device according to the present invention, the moving speed of the lower contact first moving member and the lower contact second moving member is such that the head of the shaft makes one rotation or more within the imaging range of the camera. It is characterized by being set as follows.

  Therefore, the entire circumference of the head of the shaft can be imaged.

(25) The shaft body processing device according to the present invention is for detecting whether or not the shaft body rotated by the lower contact first moving member and the lower contact second moving member has rotated a predetermined amount or more. It is characterized by further including a rotation detection unit.

  Therefore, it is possible to determine whether the proper rotation has been obtained.

(26) In the shaft body processing method according to the present invention, a shaft body having a head portion and a small diameter portion having a diameter smaller than that of the head portion is suspended by the head portion and moved in a predetermined direction while instructing, and the suspension is performed. The moving lower contact first moving member from one side surface side of the small diameter portion of the shaft body supported by the moving lower contact second moving member from the other side surface side of the small diameter portion. , The lower abutment first moving member and the lower abutment second moving member are imaged on the head of the shaft body, and the processing is performed on the shaft body based on the captured image. ..

  Therefore, it is possible to reliably rotate the shaft for processing.

(27) The shaft processing device according to the present invention encloses a small-diameter portion of a shaft having a head and a small-diameter portion having a smaller diameter than the head, and a recess for supporting the head with the small-diameter portion facing down is provided. An upper contact first movement, which is provided and moves in a predetermined direction, and an upper contact that moves while rotating in contact with the one side outer periphery of the head of the shaft held by the shaft holding part and rotates the shaft. It is provided with a member and an upper contact second moving member that moves while rotating in contact with the vicinity of the other outer periphery of the head portion of the shaft body held by the shaft body holding portion and rotates the shaft body.

  Therefore, the shaft can be surely rotated.

(28) The shaft processing apparatus according to the present invention has a camera for capturing an image of the shaft of the shaft rotated by the upper contact first moving member and the upper contact second moving member. It is characterized by further comprising a processing unit that performs processing on the shaft based on a captured image.

  Therefore, it is possible to perform processing by capturing images of the main body from a plurality of directions without providing a large number of cameras.

(29) The shaft body processing device according to the present invention is characterized in that the shaft body holding portion is configured to include a rotating disk, and the recess is provided on the outer peripheral portion of the disk.

  Therefore, by rotating the disk holding the shaft body, each shaft pair can be sequentially moved to the processing unit.

(30) In the shaft processing device according to the present invention, the upper contact first moving member is a flexible tube member that contacts the head from the inner side of the disk and is rotated by a rotating mechanism. The contact second moving member is a flexible tube member that abuts on the head from the inner side of the disk and is rotated by a rotating mechanism.

  Therefore, the deformation of the flexible tube member allows the head portion of the shaft body to be brought into close contact with the head portion with high adhesion.

(31) The shaft processing device according to the present invention is characterized in that the moving speed of the upper contact member is set so that the small diameter portion of the shaft rotates once or more in the imaging range of the camera. ..

  Therefore, the entire circumference of the main body of the shaft can be imaged.

(32) The shaft body processing device according to the present invention is a rotation for detecting whether or not the shaft body rotated by the upper contact first moving member and the upper contact second moving member has rotated a predetermined rotation or more. It is characterized by further comprising a detection unit.

  Therefore, it is possible to determine whether the proper rotation has been obtained.

(33) The shaft processing device according to the present invention is characterized in that the upper contact moving member or the contact support member is in contact with an upper surface, a side surface, or a corner of the upper surface and a side surface of the head of the shaft. There is.

  Therefore, it is possible to surely contact the head.

(34) In the shaft body processing method according to the present invention, a shaft body having a head portion and a small diameter portion having a diameter smaller than that of the head portion is suspended by the head portion and moved in a predetermined direction while instructing, and the suspension is performed. The moving upper contact first moving member is brought into contact with one side of the head portion of the shaft body supported by the moving upper contact first outer member, and the moving upper contact second moving member is brought into contact with the other side of the head portion. An image of the small diameter portion of the shaft body that is brought into contact with and rotated by the upper contact first moving member and the upper contact second moving member is imaged, and processing is performed on the shaft member based on the captured image. I am trying.

  Therefore, it is possible to reliably rotate the shaft for processing.

(35) The shaft processing device according to the present invention surrounds a small-diameter portion of a shaft having a head and a small-diameter portion having a smaller diameter than the head, and a recess for supporting the head with the small-diameter portion facing down. A shaft body holding disk provided on the outer peripheral portion and rotating in a predetermined direction, a guard member provided on the outer periphery of the shaft body holding disk for preventing the shaft body held in the recess from falling off, and a recessed portion of the shaft body holding disk. And a processing unit that has a camera that captures an image of the side surface of the main body of the shaft body held from the outside of the guard member, and that performs processing on the shaft body based on the image captured by the camera. In the device, the lower surface of the guard member is formed above the lower surface of the shaft body holding disk at an imaging position of the camera.

  Therefore, the lower surface of the shaft holding disk can be imaged even if it is wavy, and the length dimension of the main body can be accurately obtained from the imaged image.

(36) The shaft processing device according to the present invention surrounds a small-diameter portion of a shaft having a head and a small-diameter portion having a smaller diameter than the head, and a recess for supporting the head with the small-diameter portion facing down is provided. A shaft body holding disk provided on the outer peripheral portion and rotating in a predetermined direction, a guard member provided on the outer periphery of the shaft body holding disk for preventing the shaft body held in the recess from falling off, and a recessed portion of the shaft body holding disk. A shaft processing device having a camera for capturing an image of the side surface of the head of the shaft held from the outside from a guard member, and a processing unit for performing processing on the shaft based on an image captured by the camera. In the above, the upper surface of the guard member is formed below the upper surface of the shaft-holding disk at the imaging position of the camera.

  Therefore, the upper surface of the shaft holding disk can be imaged even if it is wavy, and the size of the head can be accurately obtained from the imaged image.

  The "shaft body transport unit" refers to a unit that has a function of transporting the shaft body and giving it to the shaft body holding unit. It is a concept that includes things. In the embodiment, the transport guide 34 corresponds to this.

  The "shaft body holding unit" refers to one having a function of holding the shaft body and moving it to the processing unit, and is not limited to holding and moving the head part but holding and moving the main body part or the whole. It is a concept that also includes. In the embodiment, the shaft holding disc 42 corresponds to this.

  The “processing unit” refers to a unit having a function of performing some processing on the shaft body held and moved by the shaft body holding unit. Further, the “treatment” is a concept including not only processing such as painting of the shaft body, but also inspection and the like.

It is a figure which shows the screw inspection apparatus by one Embodiment of this invention. It is a figure which shows the detail of the recessed part 44. 2A is a side view and FIG. 2B is a plan view. 6 is a diagram showing details of the sensor 70. FIG. It is a figure which shows the detail of the sensor 82 for indexes. FIG. 6 is a diagram showing the vicinity of a head circumference imaging camera 79. It is a figure which shows the vicinity of the main-body part whole circumference imaging camera 80. 6 is a diagram showing details of a control unit 84. FIG. 6 is a flowchart of a control program 106. 6 is a flowchart of a control program 106. 6 is a flowchart of a control program 106. 6 is a flowchart of a control program 106. It is a figure which shows the index ID attached | subjected with respect to the recessed part 44 as an example. It is a figure which shows a processing table. It is a figure which shows the detail of the non-defective item recovery passage 94. It is a figure which shows the screw inspection apparatus by 2nd embodiment. FIG. 6 is a diagram showing the vicinity of a head circumference imaging camera 79. FIG. 11 is a diagram showing an arrangement of a guard member 43 in the vicinity of a head omnidirectional imaging camera 79. It is a figure which shows the vicinity of the main-body part whole circumference imaging camera 80. It is a figure which shows the state of the screw 32 seen from the main body part dimension camera 152. It is a figure which shows the state of the screw 32 seen from the head size camera 154. 6 is a diagram showing details of a control unit 84. FIG. 6 is a flowchart of a control program 106. 6 is a flowchart of a control program 106. 6 is a flowchart of a control program 106. 6 is a flowchart of a control program 106. 6 is a flowchart of a control program 106. It is a figure which shows the index ID attached | subjected with respect to the recessed part 44 as an example. It is a figure which shows a processing table. It is a figure which shows the conventional screw inspection apparatus. It is a figure which shows the conventional screw inspection apparatus.

1. First embodiment
1.1 Structure FIG. 1 shows a shaft inspection device according to an embodiment of the present invention. The transport guide 34, which is a shaft transport unit, has a guide space 36 between the left and right guide members 34a and 34b. The width of the guide space 36 is narrower than the head portion 32a of the screw 32 to be inspected and wider than the main body portion 32b of the screw 32. Further, the transport guide 34 is configured to gradually lower in the direction of arrow 38. See FIG. 3 for the construction of the screw 32.

  Therefore, the screw 32 is conveyed in the direction of the arrow 38 along the conveyance center line 40 while the head 32a is supported by the guide members 34a and 34b.

  A shaft holding disk 42 is provided in the vicinity of the tip of the transport guide 34. The shaft holding disk 42 is rotated in the direction of arrow 46 by a driving means (not shown) such as a motor. In the figure, members other than the shaft holding disk 42 are fixed without rotating. Recesses 44 are provided at predetermined intervals on the outer circumference of the shaft holding disk 42. As shown in FIG. 2, the width W of the recess 44 is configured to be narrower than the head portion 32 a of the screw 32 and wider than the main body portion 32 b of the screw 32. Therefore, the recessed portion 44 can support the head portion 32a of the screw 32. Further, the depth D of the recess 44 is formed to be larger than the diameter of the main body portion 32b of the screw 32. Therefore, the screw 32 can be reliably held by the recess 44. Further, when the screw 32 is moved from the transport guide 34 to the recess 44, the screw 32 can be reliably held by the recess 44.

  Returning to FIG. 1, a nozzle 86 for blowing air is provided in the vicinity of the tip of the transport guide 34. When the screw 32 reaches the vicinity of the tip of the transport guide 34, air is blown from the nozzle 86 and the screw 32 is blown into the recess 44 of the shaft holding disk 42. In this way, the screw 32 is moved from the transport guide 34 to the shaft holding disc 42. A guard member 43 is provided on the outer circumference of the shaft holding disk 42 with a slight gap. The guard member 43 is fixed without rotating.

  Optical sensors 70, 72, 74 for determining whether or not the screw 32 is held in the recess 44 are provided on the outer circumference of the shaft holding disk 42. Details of the optical sensor 70 are shown in FIG. A light receiving element 70b is provided so as to face the light emitting element 70a. Therefore, if the screw 32 is held in the recess 44, the light from the light emitting element 70a is blocked, and if not held, the light from the light emitting element 70a is not blocked. As a result, if there is an output from the light receiving element 70b (if light is received), the screw 32 is not held, and if there is no output (if no light is received), it can be determined that the screw 32 is held. The other optical sensors 72 and 74 have the same configuration.

  Returning to FIG. 1, an optical sensor 82 for the index is also provided. FIG. 4 shows the details of the optical sensor 82. The light emitting element 82a and the light receiving element 82b are provided so as to sandwich the shaft body holding disk 42. The light receiving element 82b receives light in the portion of the recess 44, and the light receiving element 82b does not receive light in the portion without the recess 44. Therefore, if there is an output from the light receiving element 70b (if it receives light), it can be determined that it is the recess 44, and if there is no output (if it does not receive light), it can be determined that it is not the recess 44.

  The outputs of these optical sensors 70, 72, 74, 82 are given to the control unit 84.

  Further, on the shaft holding disk 42, there are provided a defective product dropout nozzle 88 for dropping the defective product screw 32 into the defective product collection passage 92, and a defective product dropout nozzle 90 for dropping the defective product screw 32 into the defective product collection passage 94. It is provided. The nozzles 88 and 90 are controlled by the controller 84.

  A head circumference imaging camera 79 is provided. FIG. 5A shows a cross-sectional view of the vicinity of the head circumference imaging camera 79. The head circumference imaging camera 79 is arranged so as to image the head 32a of the screw 32 from an oblique direction. FIG. 5B shows a view of the vicinity of the entire head imaging camera 79 shown in FIG. 5A as seen from below.

  On the lower side of the guard member 43, a receiving member 136 made of synthetic resin, which is a lower contact receiving and supporting member, is provided so as to contact the main body portion 32b from the outside. In addition, it is preferable that the receiving member 136 has a length similar to or longer than that of the main body 32b.

  A rubber tube 130, which is a lower contact moving member, is provided below the shaft holding disk 42. The rubber tube 130 is formed in a ring shape and is wound so as to connect the flanged bearings 132, 132 and the driving roller 134. The flanged bearings 132, 132 and the drive roller 134 hold the rubber tube 130 by the flange and prevent the rubber tube 130 from falling off. The flanged bearings 132, 132 are arranged along the screw 32 so that the rubber tube 130 contacts the main body portion 32b of the screw 32 from the inside.

  The drive roller 134 is rotationally driven by a motor (not shown). In this embodiment, it rotates in the direction of arrow 47. That is, the rubber tube 130 in contact with the main body portion 32b moves in the same direction as the rotation direction 46 of the shaft body holding disk 42. Since the rubber tube 130 is used, it can be easily deformed by contact with the main body portion 32b and the contact resistance can be increased.

  In this embodiment, the moving speed of the rubber tube 130 is set higher than the moving speed of the shaft holding disk 42 due to rotation. Therefore, the screw 32 rotates (rotates) in the counterclockwise direction 49 in the drawing of FIG. 5B, that is, in the clockwise direction when viewed from above. The entire head imaging camera 79 continuously images the head 32a of the screw 32 moving in the direction of the arrow 46 while rotating in this manner. That is, a plurality of still images are continuously captured. The image capturing timing may be set such that the image capturing is performed every time the image is rotated by 90 degrees.

  It should be noted that the rubber tube 130 is moved so that the head 32a makes at least one rotation between the time when the head 32a enters and the time when the head 32a comes out of the imaging range (for example, a range of 70 mm) captured by the entire head imaging camera 79. It is preferable to set the speed. This is because a still image of the entire circumference of the head 32a can be obtained. In this embodiment, the moving speed of the rubber tube 130 is set so that the rubber tube 130 makes almost two rotations in the imaging range.

  Returning to FIG. 1, a main body omnidirectional imaging camera 80 is provided. FIG. 6A is a cross-sectional view of the vicinity of the main body imaging circuit 80. The main body whole circumference imaging camera 80 is arranged so as to image the main body 32b of the screw 32 obliquely from below. FIG. 6B shows a view of the vicinity of the main body perimeter imaging camera 80 shown in FIG. 6A as viewed from above. Note that the holding plate 111 is omitted in FIG. 6B.

  A rubber tube 120, which is an upper contact support member, is provided on the upper side of the guard member 43 so as to contact with the outside of the head portion 32a. The rubber tube 120 is formed in a ring shape and is wound so as to connect the flanged bearings 122, 122. The flanged bearings 122, 122 hold the rubber tube 120 by the flange and prevent the rubber tube 120 from falling off. The flanged bearings 122, 122 are arranged along the screw 32 so that the rubber tube 120 contacts the head 32 a of the screw 32 from the outside. Further, one of the flanged bearings 122, 122 is arranged at a position apart from the screw 32. Therefore, the flanged bearings 122, 122 are arranged in a substantially triangular shape. These flanged bearings 122, 122 are fixed to a shaft holding disk 42 and a holding plate 111 provided on the guard member 43. The holding plate 111 does not rotate with the rotation of the shaft holding disk 42, but is fixed.

  The flanged bearings 122, 122 do not rotate by themselves because they are not connected to a drive source such as a motor. However, the bearings 122, 122 receive the movement of the rubber tube 120 associated with the rotation or movement of the head 32a of the screw 32. Rotate.

  A rubber tube 110, which is an upper contact moving member, is provided on the upper side of the shaft holding disk 42. The rubber tube 110 is formed in a ring shape and is wound so as to connect the bearings 112, 112 with flanges and the driving roller 114. The flanged bearings 112, 112 and the drive roller 114 hold the rubber tube 110 by the flanges and prevent the rubber tube 110 from falling off. The flanged bearings 112, 112 are arranged along the screw 32 so that the rubber tube 110 contacts the head 32a of the screw 32 from the inside.

  The drive roller 114 is rotationally driven by a motor (not shown). In this embodiment, it rotates in the direction of arrow 47. The drive roller 114 of FIG. 6B and the drive roller 134 of FIG. 5B have the same rotation direction, but FIG. 5B is a view seen from the lower side and FIG. 6B is a view seen from the upper side. Above is an arrow pointing in the opposite direction. Due to the rotation of the drive roller 114, the rubber tube 110 in contact with the head portion 32 a moves in the same direction as the rotation direction 46 of the shaft holding disk 42.

  In this embodiment, the moving speed of the rubber tube 110 is higher than the moving speed of the shaft holding disk 42 due to the rotation. Therefore, the screw 32 rotates (rotates) clockwise 49 in the drawing of FIG. 6B. The main body omnidirectional camera 80 continuously images the main body 32b of the screw 32 moving in the direction of the arrow 46 while rotating in this manner. That is, a plurality of still images are continuously captured. The image capturing timing may be set such that the image capturing is performed every time the image is rotated by 90 degrees.

  It should be noted that the rubber tube 110 is moved so that the main body 32b makes at least one rotation between the time when the main body 32b enters the imaging range (for example, the range of 70 mm) captured by the main body perimeter imaging camera 80 and the time when the main body 32b exits. It is preferable to set the speed. This is because a still image of the entire circumference of the main body 32b can be obtained. In this embodiment, the moving speed of the rubber tube 110 is set so that the rubber tube 110 makes about two rotations in the imaging range.

  In the above embodiment, the rubber tube 120 is used as the upper contact member. Thereby, even if the shape of the head 32a is not circular, the rubber tube 120 can be appropriately deformed and brought into contact with the head 32a. However, a synthetic resin member may be used as the upper contact member.

  Further, in the above embodiment, the support member 140 made of synthetic resin is used as the lower contact member. However, a rubber tube may be used as the lower contact member.

  FIG. 7 shows details of the control circuit. To the CPU 100, an operation touch panel 102, a hard disk 104, nozzles 86, 88, 90, sensors 70, 72, 74, an index sensor 82, a head omnidirectional imaging camera 79, and a main body omnidirectional imaging camera 80 are connected. ing. A control program 106 for controlling each unit is recorded on the hard disk 104.

It should be noted that FIG. 1 shows cameras 79 and 80 that capture images while rotating the screw 32. As shown in Japanese Patent No. 5496930 and Japanese Patent Laid-Open No. 2013-63050, a camera is also provided for imaging and inspecting the length and the shape of the head of the screw 32 in a state where the screw 32 does not rotate, but it is omitted in the drawing. is doing.

1.2 Inspection Processing Flow charts of the control program 106 are shown in FIGS. In the following description, each process is described as being sequentially performed, but the processes may be performed in parallel. The CPU 100 determines whether or not the index sensor 82 has detected the recess 44 (step S1). When the recess 44 is detected, an index ID is attached to the recess (step S2). Each time the concave portion 44 of the rotating shaft holding disk 42 is detected, the index IDs are sequentially circulated such as "1""2""3" ... "30""1""2". I will attach it. For example, as shown in FIG. 12, when the shaft holding disk 42 is provided with 30 recesses 44, index IDs 1 to 30 are attached to each recess 44.

  As shown in FIG. 12, the relationship between the index sensor 82, the position where the screw 32 is transferred by the conveyance guide 34, the position of each sensor 70, 72, 74, the position of the cameras 79, 80, etc. is predetermined. .. Therefore, by specifying the index ID of the recess 44 located on the index sensor 82, the index ID of the recess 44 located at the position of another sensor can also be specified.

  The CPU 100 drives the nozzle 86 and pushes the screw 32 from the transport guide 34 in the direction of the recess 44 (step S3). Although the flow chart shows that the nozzle 86 is driven after the index ID is given to the recessed portion 44, the nozzle 86 is actually driven at the same time when the index sensor 82 detects the recessed portion 44. (The same applies in the following processing).

  As shown in FIG. 12, when the index sensor 82 gives "1" as the index ID to the recess 44, the screw 32 is housed in the recess 44 having the index ID "29". ..

  Further, the CPU 100 acquires the output of the sensor 70 and records the presence or absence of the screw 32 (step S4). Here, as shown in FIG. 12, it is determined whether or not the screw is housed in the recess 44 to which the index ID “23” is assigned. Originally, the screws 32 are housed in all the recesses 44 that have come to the position of the sensor 70, but there are also recesses 44 in which the screws 32 are not housed due to a delay in the conveyance from the conveyance guide 34 or the like. The presence or absence of the screw 32 is recorded in the hard disk 104 as a table as shown in FIG.

  The CPU 100 determines whether or not the screw 32 is present at the positions of the cameras 79 and 80 (step S5). In order to judge this, the index ID attached to the concave portion 44 at the position of the cameras 79 and 80 is specified. Further, it is only necessary to refer to the table and determine whether the screw is “present” or “absent” is recorded in the index ID (here, “19” and “15”). Here, as shown in FIG. 13, since "YES" is recorded, steps S6 and S7 are executed. If the screw 32 does not exist at the position of the camera 79 or 80 in step S5, steps S6 and S7 are not executed for the recess 44 where the screw 32 does not exist. As a result, it is possible to prevent useless imaging processing.

  The CPU 100 takes in images from the cameras 79 and 80 (step S6). In this embodiment, a plurality of images from the entire circumferential direction of the rotating screw 32 are captured. Subsequently, the CPU 100 determines whether the shape of the head of the screw 32, the shape of the screw thread, or the like is within the standard, based on the acquired images. The judgment result is recorded in the table of FIG. 14 (step S7). The CPU 100 records the determination result by the camera 79 (quality of the head) and the determination result by the camera 80 (quality of the main body part) in the corresponding index IDs. In this embodiment, the quality is judged by the presence or absence of scratches or cracks.

  In step S11, the CPU 100 determines whether or not the screw 32 exists at the position of the defective product dropping nozzle 88 (sensor 72). If there is, it is determined whether or not the screw 32 has an abnormality processing flag (step S12). In the normal state, no abnormality processing flag is attached, so the process proceeds to step S13. The abnormality processing flag will be described later.

  In step S13, the CPU 100 determines whether the screw 32 is defective. If both the quality of the head and the quality of the main body are “good”, it is determined to be “good”. If either one of the quality of the head and the quality of the main body is "No", it is determined to be "defective".

  If it is defective (“NO”), the CPU 100 operates the defective product dropping nozzle 88 to drop the screw 32 from the recess 44 (step S14). The screw 32 of the defective product that has fallen off is collected by a defective product collection unit (not shown) via the defective product collection path 92 (see FIG. 1). Further, the CPU 100 determines from the output of the sensor 72 whether the screw 32 has fallen off (step S15). If it has fallen off as planned, the process proceeds to step S16. If it has not fallen, abnormal processing is performed. The abnormality processing will be described later.

  If the screw 32 is not defective in step S13, the process proceeds to step S16.

  Here, as shown in FIG. 13, since the screw 32 at the position of the defective product falling nozzle 88 (index ID “10”) is a defective product, steps S14 and S15 are executed.

  In step S16, the CPU 100 determines whether or not the screw 32 is present at the position of the non-defective item dropping nozzle 90 (sensor 74). If there is, it is determined in step S17 whether or not the screw 32 has an abnormality processing flag. Here, the description will proceed assuming that the abnormality processing flag is not attached. In step S18, the CPU 100 directs the non-defective item recovery passage 94 toward the non-defective item recovery box 200 (see FIG. 14). In the normal state, the course changing plate 204 is at the position indicated by the solid line, and the non-defective item recovery passage 94 faces the non-defective item recovery box 200.

  The CPU 100 operates the non-defective item dropping nozzle 90 to drop the non-defective item screw 32 in the recess 44 into the non-defective item collecting passage 94. As a result, the non-defective screw 32 is recovered in the non-defective recovery box 300. If the non-defective screw 32 is not dropped even by the non-defective dropping nozzle 90, the non-defective screw 32 can be dropped into the non-defective item collecting passage 94 by the forced drop guide 96 shown in FIG. The forced disengagement guide 96 comes into contact with the head portion 32a, gradually pushes the screw 32 to the outer periphery of the shaft holding disk 42, and finally disengages it.

  When the above process is completed, the CPU 100 repeatedly executes step S1 and subsequent steps.

(About abnormal processing)
Next, in step S14, a case will be described in which the screw 32 does not fall even though the defective screw 32 is attempted to be removed from the recess 44. If this is left unattended, the defective screw 32 will be dropped into the non-defective product collection passage 94 by the non-defective product removal nozzle 90 or the forced removal guide 96. In this case, defective products are mixed in with good products.

  Therefore, in this embodiment, when the screw 32 determined to be a defective product is not dropped by the defective product dropping nozzle 88 (step S15), the following abnormality processing is performed. The CPU 100 records an abnormality processing flag for all screws (all index IDs) in the table shown in FIG. 13 (step S20). Next, the CPU 100 directs the non-defective item collection passage 94 toward the work-in-process product collection box 302 (step S21).

  FIG. 14 shows a side cross section of the non-defective item recovery passage 94. At the bottom of the non-defective item recovery passage 94, a course changing plate 304 that is rotatable around a shaft 306 is provided. In the normal state, the course changing plate 304 is held at the position shown by the solid line in the figure. Therefore, the screw 32 dropped in the non-defective item recovery passage 94 is recovered in the non-defective item recovery box 300.

  In step S21, the CPU 100 controls a driving unit (not shown) such as a motor to rotate the course changing plate 304 to a state indicated by a chain double-dashed line. As a result, the screw 32 dropped in the non-defective item recovery passage 94 is recovered in the in-process item recovery box 302.

  Therefore, in step S14, the defective screw 32 remaining in the recess 44, which should have been dropped, is dropped into the non-defective item recovery passage 94 in step S19. Will be collected in.

  Further, in this embodiment, the abnormality flags are recorded for all the screws 32 held by the shaft holding disk 42 at the time when the above abnormality occurs. Therefore, thereafter, the CPU 100 drops the screw 32 in which these abnormality processing flags are recorded into the non-defective product recovery passage 94 and recovers it in the work-in-progress recovery box 302 (steps S12, S17, S19).

  It should be noted that only the defective screw 32 remaining in the recess 44, although it should have been removed, may be recovered in the work-in-process recovery box 302. In this embodiment, for safety, all the screws 32 held by the shaft body holding disk 42 are collected in the work-in-process collection box 302 when an abnormality occurs.

When the screw 32 in which the abnormality processing flag is not recorded (the screw 32 held by the shaft holding disk 42 after the abnormality has occurred) is found, the CPU 100 causes the course changing plate 304 of the non-defective item recovery passage 94 to move to the position shown in FIG. To the position indicated by the solid line (step S18). As a result, thereafter, the screw 32 dropped in the non-defective item recovery passage 94 is recovered in the non-defective item recovery box 300.

1.3 Other embodiments
(1) In the above-described embodiment, the inspection device is described as an example of the processing device. However, the present invention can also be applied to an apparatus that holds a shaft body such as a screw on the shaft body holding disk 42 and performs processing such as painting.

(2) In the above embodiment, both the head omnidirectional imaging camera 79 and the main body omnidirectional imaging camera 80 are provided. However, only one of them may be provided.

(3) In the above embodiment, no special treatment is applied to the surface of the support member 140 that contacts the main body portion 32b. However, in order to prevent wear due to friction with the shaft body, processing such as attaching a wear resistant member may be performed.

(5) In the above embodiment, the upper contact drive member is provided inside the screw 32, and the upper contact member is provided outside the screw 32. However, the upper contact member may be provided inside the screw 32 and the upper contact drive member may be provided outside the screw 32.

  In the above embodiment, the lower contact drive member is provided inside the screw 32, and the lower contact member is provided outside the screw 32. However, the lower contact member may be provided inside the screw 32 and the lower contact drive member may be provided outside the screw 32.

(6) In the above embodiment, the screw 32 is described as an example of the shaft body. However, a shaft body having at least a head portion and a portion having a diameter smaller than the diameter of the head portion can be similarly applied. For example, it can be applied to a nail, a pin, a shaft with a head, and the like.

(7) In the above embodiment, the rotating shaft holding disk 42 is used as the shaft holding portion. However, a shaft holder that moves linearly (for example, a linear endless track) may be used.

(8) In the above embodiment, the good product and the bad product are collected in the collection box. However, a defective product may be dropped and a non-defective product may be transferred to the manufacturing process and used as it is.

(9) In the above embodiment, the screw 32 determined to be a non-defective product is dropped into the non-defective product recovery passage 94 by the nozzle 90. However, by controlling the nozzle 88, the screw 32 determined to be a defective product may be dropped into the defective product collecting passage 92, and the other screws 32 may be regarded as non-defective products and may be dropped by the forced removal guide 96. In this case, while omitting the nozzle 90, the CPU 100 can control whether or not the nozzle 100 is conveyed to the forced disengagement guide 96 and disengaged in the good product recovery passage 94.

(10) In the above embodiment, a screw having a round outer shape of the head has been described, but a screw having a head having another shape such as a hexagon may be applied.

(11) In the above embodiment, at least the screw 32 is rotated once or more when the cameras 79 and 80 capture an image. However, it may be rotated by a predetermined angle smaller than one rotation.

(12) In the above embodiment, the rubber tubes 110, 120 and 130 are used. However, another member may be used as long as it is a flexible and deformable member.

(13) In the above embodiment, the moving speed of the rubber tube 130 (110) is set higher than the moving speed of the shaft holding disk 42. However, the moving speed of the rubber tube 130 (110) may be slower than the moving speed of the shaft holding disk 42. In this case, the screw 32 rotates in the opposite direction. Further, the rubber tube 130 (110) may be stopped. Further, the rubber tube 130 (110) may be arranged in a direction opposite to the moving direction of the shaft holding disk 42.

(14) The above modification can be applied to the second embodiment as long as it does not violate the essence.

2. Second embodiment
2.1 Structure FIG. 15 shows a shaft inspection device according to the second embodiment. The transport guide 34, which is a shaft transport unit, has a guide space 36 between the left and right guide members 34a and 34b. The width of the guide space 36 is narrower than the head portion 32a of the screw 32 to be inspected and wider than the main body portion 32b of the screw 32. Further, the transport guide 34 is configured to gradually lower in the direction of arrow 38. See FIG. 3 for the construction of the screw 32. However, in this embodiment, the screw 32 having a hexagonal outer shape of the head portion 32a will be described as an example.

  The screw 32 is conveyed in the direction of the arrow 38 along the conveyance center line 40 while the head 32a is supported by the guide members 34a and 34b.

  A shaft holding disk 42 is provided in the vicinity of the tip of the transport guide 34. The shaft holding disk 42 is rotated in the direction of arrow 46 by a driving means (not shown) such as a motor. In the figure, members other than the shaft holding disk 42 are fixed without rotating. Recesses 44 are provided at predetermined intervals on the outer circumference of the shaft holding disk 42. The structure of the recess 44 is as shown in FIG.

  Returning to FIG. 15, a nozzle 86 for blowing air is provided in the vicinity of the tip of the transport guide 34. When the screw 32 reaches the vicinity of the tip of the transport guide 34, air is blown from the nozzle 86 and the screw 32 is blown into the recess 44 of the shaft holding disk 42.

  At the same time, the main body 32b of the screw 32 contacts the rotating body 63 that rotates in the direction of the arrow 65. As a result, the screw 32 is rotated in the direction of the arrow 11 and properly accommodated in the recess 44. If the screw 32 is not correctly stored in the recess 44, the rotating body 63 again contacts the main body portion 32b of the screw 32 and pushes the screw 32 in the direction of the recess 44 to store the screw 32 in the correct position. (See Japanese Patent No. 5496930).

  In this way, the screw 32 is moved from the transport guide 34 to the shaft holding disc 42.

  A guard member 43 is provided on the outer circumference of the shaft holding disk 42 with a slight gap. The guard member 43 is fixed without rotating.

  Optical sensors 70 and 72 for determining whether or not the screw 32 is held in the recess 44 are provided on the outer periphery of the shaft holding disk 42. Details of the optical sensors 70 and 72 are as shown in FIG. Returning to FIG. 1, an optical sensor 82 for the index is also provided. Details of the optical sensor 82 are as shown in FIG.

  The outputs of these optical sensors 70, 72, 82 are given to the control unit 84.

  Further, an actuator 89 for dropping the screw 32 of the defective product into the defective product collecting passage 92 and an actuator 91 for dropping the screw 32 to be re-inspected into the work in process collecting passage 83 are provided on the shaft holding disk 42. ing. These actuators 89 and 91 are adapted to push the screw 32 and drop it from the recess 44 by causing the rod to project in response to a control signal from the control unit 84.

  Further, a forced drop guide 96 is provided for dropping the screw 32 that has not been removed by the actuators 89 and 91, that is, the non-defective screw 32 into the non-defective recovery passage 94. An optical sensor 75 for detecting the screw 32 dropped from the recess 44 to the non-defective product collecting passage 94 by the forced drop guide 96 is provided below the shaft holding disk 42. The output of the optical sensor 75 is given to the control unit 84.

  The first rotation imaging unit is provided with a head circumference imaging camera 79. FIG. 16A shows a cross-sectional view of the vicinity of the head circumference imaging camera 79. The head all-round imaging camera 79 is arranged so as to image the head 32a of the screw 32 obliquely from below. FIG. 16B shows a view of the vicinity of the head imaging camera 79 shown in FIG. 16A as seen from below.

  A receiving member 136 made of synthetic resin, which is a lower contact support member, is provided so as to contact the main body portion 32b from the outside. In addition, it is preferable that the receiving member 136 has a length similar to or longer than that of the main body 32b.

  A rubber tube 130, which is a lower contact moving member, is provided below the shaft holding disk 42. The rubber tube 130 is formed in a ring shape and is wound so as to connect the flanged bearings 132, 132 and the driving roller 134. The flanged bearings 132, 132 and the drive roller 134 hold the rubber tube 130 by the flange and prevent the rubber tube 130 from falling off. The flanged bearings 132, 132 are arranged along the screw 32 so that the rubber tube 130 contacts the main body portion 32b of the screw 32 from the inside.

  The drive roller 134 is rotationally driven by a motor (not shown). In this embodiment, it rotates in the direction of arrow 47. That is, the rubber tube 130 in contact with the main body portion 32b moves in the same direction as the rotation direction 46 of the shaft body holding disk 42. Since the rubber tube 130 is used, it can be easily deformed by contact with the main body portion 32b and the contact resistance can be increased.

  In this embodiment, the moving speed of the rubber tube 130 is set higher than the moving speed of the shaft holding disk 42 due to rotation. Therefore, the screw 32 rotates (rotates) in the counterclockwise direction 49 in the drawing of FIG. 16B, that is, in the clockwise direction when viewed from above. The head imaging camera 79 continuously images the head 32a of the screw 32 moving in the direction of the arrow 46 while rotating in this manner. That is, a plurality of still images are continuously captured.

  It should be noted that the rubber tube 130 is moved so that the head 32a makes at least one rotation between the time when the head 32a enters and the time when the head 32a comes out of the imaging range (for example, a range of 70 mm) captured by the entire head imaging camera 79. It is preferable to set the speed. This is because a still image of the entire circumference of the head 32a can be obtained. In this embodiment, the moving speed of the rubber tube 130 is set so that the rubber tube 130 makes almost two rotations in the imaging range. Further, in this embodiment, 20 still images are captured while the shaft 32 rotates twice.

  FIG. 17 shows a perspective view of an image pickup portion by the all-round head camera 79. The guard member 43 is not provided on the outer circumference of the shaft holding disk 42 in the imaging portion of the camera 79. Therefore, the upper surface of the receiving member 136 is exposed. Therefore, the back surface of the head portion 32a of the screw 32 (not shown in FIG. 17) held in the recess 44 can be imaged obliquely from below (see FIG. 16A). In addition, in this embodiment, the upper surface of the receiving member 136 is configured to be lower than the lower surface of the shaft body holding disk 42.

  As shown in FIG. 16A, a camera 81 for taking an image of the head 32a of the rotating screw 32 from above is provided.

  Returning to FIG. 15, the main body omnidirectional imaging camera 80 is provided in the second rotation imaging unit following the first rotation imaging unit. FIG. 18A shows a cross-sectional view of the vicinity of the entire body imaging camera 80. The main body image pickup camera 80 is arranged so as to take an image from the diagonally downward direction with respect to the main body portion 32b of the screw 32. FIG. 18B shows a view of the vicinity of the main body imaging camera 80 shown in FIG. 18A as seen from above. Note that the holding plate 111 is omitted in FIG. 18B.

  A rubber tube 120, which is an upper contact first support member, is provided on the upper side of the guard member 43 so as to press the head portion 32a from the one side upper portion of the head portion 32a. The rubber tube 120 is formed in a ring shape and is wound so as to connect the flanged bearings 122, 122. The flanged bearings 122, 122 hold the rubber tube 120 by the flange and prevent the rubber tube 120 from falling off. The flanged bearings 122, 122 are arranged along the screw 32 so that the rubber tube 120 contacts the head portion 32 a of the screw 32 from above.

  In addition to the flanged bearings 122, 122, the drive roller 123 is arranged at a position apart from the screw 32. The drive roller 123 is rotationally driven by a motor (not shown). In this embodiment, it rotates in the direction of arrow 49.

  The flanged bearings 122, 122 and the driving roller 123 are fixed to a holding plate 111 a provided on the guard member 43. The holding plate 111a does not rotate with the rotation of the shaft holding disk 42, but is fixed.

  Further, the holding plate 111a is configured to be movable and adjustable in the X and Y directions by an adjusting mechanism (not shown). This is because the size and height of the head portion 32a change depending on the type of the screw 32, and the rubber tube 120 is brought into contact with the appropriate position corresponding to this.

  A rubber tube 110, which is an upper contact second moving member, is provided on the upper side of the shaft holding disk 42. The rubber tube 110 is formed in a ring shape and is wound so as to connect the bearings 112, 112 with flanges and the driving roller 114. The flanged bearings 112, 112 and the drive roller 114 hold the rubber tube 110 by the flanges and prevent the rubber tube 110 from falling off. The flanged bearings 112, 112 are arranged along the screw 32 so that the rubber tube 110 is pressed against the head 32a of the screw 32 from above. The rubber tube 110 is provided on the side of the head 32a opposite to the rubber tube 120.

  The drive roller 114 is rotationally driven by a motor (not shown). In this embodiment, it rotates in the direction of arrow 47. The drive roller 114 of FIG. 18B and the drive roller 134 of FIG. 16B have the same rotation direction, but FIG. 16B is a view seen from the lower side and FIG. 18B is a view seen from the upper side. Above is an arrow pointing in the opposite direction. Due to the rotation of the drive roller 114, the rubber tube 110 in contact with the head portion 32 a moves in the same direction as the rotation direction 46 of the shaft holding disk 42.

  As described above, since the rubber tube 120 rotates in the direction of arrow 49 and the rubber tube 110 rotates in the direction of arrow 47, the screw 32 rotates in the direction of arrow 49.

  The flanged bearings 112, 112 and the drive roller 114 are fixed to a holding plate 111b provided on the upper part of the shaft holding disk 42. The holding plate 111b does not rotate together with the rotation of the shaft holding disk 42, but is fixed.

  The holding plate 111b is configured to be movable and adjustable in the X and Y directions independently of the holding plate 111a by an adjusting mechanism (not shown). This is because the size and height of the head portion 32a change depending on the type of the screw 32, and the rubber tube 110 is brought into contact with the appropriate position correspondingly.

  In this embodiment, the moving speed of the rubber tubes 110 and 120 is set higher than the moving speed of the shaft holding disk 42 due to rotation. Therefore, the screw 32 rotates (rotates) in the clockwise direction 49 in the drawing of FIG. 18B. The main body imaging camera 80 continuously images the main body 32b of the screw 32 moving in the direction of the arrow 46 while rotating in this manner. That is, a plurality of still images are continuously captured. The image capturing timing may be set such that the image capturing is performed every time the image is rotated by 90 degrees.

  The rubber tubes 110 and 120 are moved so that the main body 32b makes at least one revolution between the time when the main body 32b enters the imaging range of the main body imaging camera 80 (for example, the range of 70 mm) and the time when the main body 32b exits. It is preferable to set the speed. This is because a still image of the entire circumference of the main body 32b can be obtained. In this embodiment, the moving speed of the rubber tube 110 is set so that the rubber tube 110 makes about two rotations in the imaging range.

  Further, as shown in FIG. 18A, a camera 83 is provided for taking an image of the head portion 32a of the screw 32 from above and confirming the rotation.

  In the first embodiment, since the head portion 32a is circular, the rubber tubes 110 and 120 are brought into contact with the side surfaces of the head portion 32a to rotate the head portion 32a. However, in this embodiment, since the head portion 32a is hexagonal, even if the rubber tubes 110 and 120 are brought into contact with the side surfaces of the head portion 32a, they may not rotate. Therefore, the rubber tubes 110 and 120 are brought into contact with each other while being pressed from above the head portion 32a, and both rubber tubes 110 and 120 are rotationally driven.

  In the above embodiment, the support member 140 made of synthetic resin is used as the lower contact member. However, a rubber tube may be used as the lower contact member.

  Returning to FIG. 15, cameras 150 and 152 are provided in the first non-rotational imaging unit following the second rotation imaging unit. In the first non-rotational imaging unit, the screw 32 is imaged and inspected without being rotated.

  The camera 150 images the head 32a from above and inspects the dimensions of the head 32a.

  A view seen from the direction of the camera 152 is shown in FIG. In the first non-rotational imaging unit, the guard member 43 is thinly formed. The guard member 43 is configured to have the same thickness as that of the shaft body holding disk 42 in other portions. However, in the first non-rotational imaging unit, the thickness is set to the upper half and the position of the lower surface of the shaft holding disk 42 can be imaged by the camera 152. That is, the lower surface of the guard member 43 is arranged to be higher than the lower surface of the shaft holding disk 42.

  This is for the following reason. In the first non-rotational imaging section, the under-neck size of the screw 32 (the length from the back surface of the head portion 32a to the bottom surface of the main body portion 32b) is inspected. At this time, the shaft holding disk 42 may not be completely flat. In other words, the respective screws 32 held by the shaft holding disk 42 are not vertically aligned due to the waviness of the disk 42 when coming to the first non-rotational imaging section. Therefore, when the image is taken by the camera 152, the position of the lower surface of the head 32a cannot be specified (the position of the lower surface of the head 32a may be hidden by the guard member 43), and accurate measurement cannot be performed.

  Then, as shown in FIG. 19, if the position of the lower surface of the disk 42 is imaged by the camera 152, the head is taken into consideration in consideration of the thickness of the disk 42 (which is precisely manufactured so that the thickness is constant). The position of the lower surface of the portion 32a can be accurately specified.

  Returning to FIG. 15, a camera 154 is provided in the second non-rotational imaging unit following the first non-rotational imaging unit. In the second non-rotational imaging unit, the screw 32 is imaged and inspected without being rotated.

  A view seen from the direction of the camera 154 is shown in FIG. In the second non-rotational imaging section, the guard member 43 is thinly formed. The guard member 43 is configured to have the same thickness as that of the shaft body holding disk 42 in other portions. However, in the second non-rotational imaging unit, the thickness is set to the lower half, and the position of the lower surface of the head 32a can be imaged by the camera 154. That is, the upper surface of the guard member 43 is lower than the upper surface of the shaft body holding disk 42.

  This is for the following reason. In the second non-rotational imaging unit, the thickness dimension of the head 32a of the screw 32 (the length from the upper surface to the back surface of the head 32a) is inspected. At this time, the shaft holding disk 42 may not be completely flat. In other words, the respective screws 32 held by the shaft holding disk 42 are not fixed in the vertical position due to the waviness of the disk 42 when coming to the second non-rotational imaging section. Therefore, when the image is taken by the camera 154, the position of the lower surface of the head 32a cannot be specified (the position of the lower surface of the head 32a may be hidden by the guard member 43), and accurate measurement cannot be performed.

  Then, as shown in FIG. 20, if the guard member 43 is thinned and the position of the lower surface of the head 32a is imaged by the camera 154, the thickness dimension of the head 32a can be accurately measured.

FIG. 21 shows the details of the control circuit. The CPU 100 includes an operation touch panel 102, a hard disk 104, a nozzle 86, actuators 89, 91, sensors 70, 72, 75, an index sensor 82, a head entire circumference imaging camera 79, a rotation confirmation camera 81, and a main body whole circumference. The image pickup camera 80, the rotation confirmation camera 83, the head shape inspection camera 150, the main body dimension inspection camera 152, and the head dimension inspection camera 154 are connected. A control program 106 for controlling each unit is recorded on the hard disk 104.

1.2 Inspection Processing Flow charts of the control program 106 are shown in FIGS. In the following description, each process is described as being sequentially performed, but the processes may be performed in parallel. The CPU 100 determines whether the index sensor 82 has detected the recess 44 (step S51). When the recess 44 is detected, an index ID is attached to the recess (step S52). For example, as shown in FIG. 27, when the shaft holding disk 42 is provided with 30 recesses 44, index IDs 1 to 30 are attached to each recess 44.

  As shown in FIG. 27, the index sensor 82, the position where the screw 32 is transferred by the conveyance guide 34, the position of each sensor 70, 72, 75, the position of each of the cameras 79, 80, 81, 83, 150, 152, 154. The relationship with the position etc. is predetermined. Therefore, by specifying the index ID of the recess 44 located on the index sensor 82, the index ID of the recess 44 located at the position of another sensor can also be specified.

  The CPU 100 drives the nozzle 86 and pushes the screw 32 from the transport guide 34 toward the recess 44 (step S53). Although the flow chart shows that the nozzle 86 is driven after the index ID is given to the recessed portion 44, the nozzle 86 is actually driven at the same time when the index sensor 82 detects the recessed portion 44. (The same applies in the following processing).

  As shown in FIG. 27, when the index sensor 82 gives “1” as the index ID to the recess 44, the screw 32 is housed in the recess 44 with the index ID “29”. ..

  Further, the CPU 100 acquires the output of the sensor 70 and records the presence or absence of the screw 32 (step S54). Here, as shown in FIG. 27, it is determined whether or not the screw is housed in the recess 44 to which the index ID “26” is assigned. Originally, the screws 32 are housed in all the recesses 44, but there are also recesses 44 in which the screws 32 are not housed due to a delay in transportation from the transport guide 34 or the like. The presence or absence of the screw 32 is recorded in the hard disk 104 as a table as shown in FIG.

  The CPU 100 determines whether the screw 32 is present at the image pickup position of the camera 79 (step S55). In order to determine this, it is sufficient to refer to the table and determine whether the screw is recorded as “present” or “absent” in the target index. If the target index (for example, the index “23”) is entered at the imaging position of the camera 79 and the screw is “present” in the index, steps S56 to S59 are executed. If the screw 32 does not exist at the position of the camera 79 in step S55, steps S56 to S59 are not executed. As a result, it is possible to prevent useless imaging processing.

  When the screw 32 is present, the CPU 100 captures a captured image from the head omnidirectional imaging camera 79 (step S57). The screw 32 is rotated in the imaging area of the head circumference imaging camera 79. Therefore, a plurality of images from the entire circumferential direction of the head 32a of the rotating screw 32 are captured. As described above, in this embodiment, 20 images are captured and captured while the screw 32 rotates twice, so that a plurality of images are captured for each rotation of about 36 degrees. ..

  The CPU 100 analyzes the head 32a for defects such as scratches and cracks based on the captured head image (step S58). Note that, as shown in FIG. 16A, since the head omnidirectional imaging camera 79 images the side surface and the back surface of the head 32a, the side surface and the bottom surface of the head 32a can be inspected.

  If there is no defect on either the side surface or the back surface, the CPU 100 records "good" in the head quality column of the corresponding index ID in the table of FIG. If there is a defect on either the side surface or the back surface, "defective" is recorded.

  In parallel with the above, the CPU 100 captures a captured image from the rotation confirmation camera 81 that captures the head 32a from above (step S56). Based on the captured image captured, it is determined whether or not the head 32a has rotated by a predetermined angle or more (here, 2 rotations = 720 degrees) (step S59).

  The rotation angle can be determined by tracking the rotation of a specific side (or corner) of the head 32a. In this embodiment, since the image is set to be taken at every rotation of about 36 degrees, it is easy to perform the tracking based on this angle.

  If the CPU 100 determines that the head has rotated by a predetermined angle or more, it records “appropriate” in the head rotation column of the corresponding index ID in the table of FIG. 28. If it is determined that the rotation angle is insufficient, "unsuitable" is recorded. When "unsuitable" is recorded, the head inspection of the screw 32 is insufficient, so "1" is recorded in the work-in-progress flag.

  The CPU 100 determines whether or not the screw 32 is present at the imaging position of the main body perimeter imaging camera 80 (step S60). In order to determine this, it is sufficient to refer to the table and determine whether the screw is recorded as “present” or “absent” in the target index. If the target index (for example, the index “19”) is entered at the imaging position of the camera 80 and the screw is “present” in the index, steps S61 to S64 are executed. If the screw 32 does not exist at the position of the camera 80 in step S60, steps S61 to S64 are not executed. As a result, it is possible to prevent useless imaging processing.

  When the screw 32 is present, the CPU 100 captures a captured image from the main body perimeter imaging camera 80 (step S62). The screw 32 is rotated in the imaging area of the main body perimeter imaging camera 80. Therefore, a plurality of images from the entire circumferential direction of the main body portion 32b of the rotating screw 32 are captured. As described above, in this embodiment, 20 images are captured and captured while the screw 32 rotates twice, so that a plurality of images are captured for each rotation of about 36 degrees. ..

  The CPU 100 analyzes whether or not the main body 32b has a defect such as a scratch or a crack, based on the captured main body captured image (step S64). If there is no defect on the entire circumference of the side surface of the main body 32b, the CPU 100 records "good" in the main body good / bad column of the corresponding index ID in the table of FIG. If there is a defect, "poor" is recorded.

  In parallel with the above, the CPU 100 captures a captured image from the rotation confirmation camera 83 that captures the head 32a from above (step S61). Based on the captured image captured, it is determined whether the head 32a has rotated by a predetermined angle or more (here, 2 rotations = 720 degrees) (step S63).

  The rotation angle can be determined by tracking the rotation of the characteristic shape (for example, a specific side (or corner)) of the head 32a. In this embodiment, since the image is set to be taken at every rotation of about 36 degrees, it is easy to perform the tracking based on this angle. When the head portion 32a has a minus groove, a cross groove, or a hexagonal groove, the rotation can be traced by using a part of these as a characteristic shape.

  If the CPU 100 determines that it has rotated by a predetermined angle or more, it records “appropriate” in the main body rotation column of the corresponding index ID in the table of FIG. If it is determined that the rotation angle is insufficient, "unsuitable" is recorded. When "unsuitable" is recorded, "1" is recorded in the work-in-progress flag because the inspection of the main body of the screw 32 is insufficient.

  The CPU 100 determines whether or not the screw 32 is present at the image pickup positions of the head shape camera 150 and the body size camera 152 (step S65). In order to determine this, it is sufficient to refer to the table and determine whether the screw is recorded as “present” or “absent” in the target index. If the target index (for example, the index “15”) is entered at the imaging position of the cameras 150 and 152 and the screw is “present” in the index, steps S66 and S67 are executed. If the screw 32 does not exist at the position of the camera 80 in step S65, steps S66 and S67 are not executed. As a result, it is possible to prevent useless imaging processing.

  The CPU 100 takes in images from the head shape camera 150 and the body size camera 152 (step S66). The head shape camera 150 images the upper surface of the head 32a of the screw 32 that does not rotate. The CPU 100 analyzes, based on the captured image, whether or not the shape dimension of the head 32a is within the standard and whether there is a defect such as a scratch or a crack (step S67). If the shape dimension is within the standard and there is no defect, "good" is recorded in the head shape column of the corresponding index ID in the table of FIG. If the shape dimension is out of the standard or there is a defect, record "defective".

  The main body section size camera 152 images the side surface of the main body section 32b of the screw 32 that does not rotate. As shown in FIG. 19, the CPU 100 calculates the length L from the position of the lower surface of the main body portion 32b to the position of the lower surface of the shaft body holding disk 42. By adding the thickness (L0) of the shaft holding disk 42 to this, the length of the main body portion 32b can be accurately obtained. The CPU 100 analyzes whether the calculated length of the main body 32b is within the standard (step 67). Further, it is analyzed whether the pitch of the screw or the like is within the standard (step S67).

  If the above-mentioned shape dimension is within the standard, the CPU 100 records “good” in the body section dimension column of the corresponding index ID in the table of FIG. If even one of the geometrical dimensions is out of the standard, "defective" is recorded.

  The CPU 100 determines whether the screw 32 is present at the image pickup position of the head size camera 154 (step S68). In order to judge this, it is necessary to refer to the table and judge whether the screw is recorded as "present" or "absent" in the target index. If the target index (for example, the index “12”) is entered at the imaging position of the cameras 150 and 152 and the screw is “present” in the index, steps S69 and S70 are executed. If the screw 32 does not exist at the position of the camera 80 in step S68, steps S69 and S70 are not executed. As a result, it is possible to prevent useless imaging processing.

  The CPU 100 takes in an image from the head size camera 154 (step S69). The head size camera 154 captures an image of the head 32a of the screw 32 that does not rotate. The CPU 100 analyzes whether or not the thickness dimension (the dimension from the upper surface position to the lower surface position) of the head 32a is within the standard based on the captured image (step S70). If the shape dimension is within the standard, "good" is recorded in the head dimension column of the corresponding index ID in the table of FIG. If the shape dimension is out of the standard, record "defective".

  In step S71, the CPU 100 determines whether or not the screw 32 exists at the position of the defective product dropping actuator 89. If it exists, it is determined whether or not the abnormality processing flag is attached to the screw 32 (step S72). In the normal state, the abnormality processing flag is not attached, so the process proceeds to step S73. The abnormality processing flag will be described later.

  In step S73, the CPU 100 determines whether the screw 32 is defective. In the table of FIG. 28, if there is at least one of “good” or “bad” of head, good or bad of main body, head shape, size of main body, and size of head, it is judged as “bad” as a whole.

  If it is defective (“NO”), the CPU 100 operates the defective product dropping actuator 89 to drop the screw 32 from the recess 44 (step S74). The screw 32 of the defective product that has fallen off is collected by a defective product collection unit (not shown) via the defective product collection path 92 (see FIG. 15). Further, the CPU 100 determines from the output of the sensor 72 whether the screw 32 has fallen off (step S75). If it has been dropped as planned, the process proceeds to step S78. If it has not fallen, abnormal processing is performed. The abnormality processing will be described later.

  If the screw 32 is not defective in step S73, the process proceeds to step S78. Here, as shown in FIG. 28, since the screw 32 with the index ID “11” is a defective product, steps S74 and S75 are executed.

  In step S78, it is determined whether the screw 32 is present at the position of the in-process product falling actuator 91. If it exists, it is determined in step S79 whether or not the screw 32 has a work flag (as described above, the screw 32 that has not been inspected due to insufficient rotation has the work flag). If the work-in-progress flag is attached, the CPU 100 operates the work-in-progress dropping actuator 91 to drop the screw 32 from the recess 44 (step S85). The screw 32 of the work-in-process that has fallen off is recovered by a work-in-process recovery section (not shown) via the work-in-process recovery path 93 (see FIG. 15).

  In the case of the non-defective screw 32, since no work-in-progress flag is attached in step S79, the process proceeds to step S80. In step S80, the CPU 100 directs the non-defective item recovery passage 94 toward the non-defective item recovery box 300 (see FIG. 14). In the normal state, the course changing plate 304 is at the position indicated by the solid line, and the non-defective product recovery passage 94 faces the non-defective product recovery box 300.

  In the case of a non-defective product screw, it cannot be removed by the defective product removal actuator 89 and the in-process product removal actuator 91, so that it is dropped into the non-defective product recovery passage 94 by the forced removal guide 96. As a result, the non-defective screw 32 is recovered in the non-defective recovery box 300.

  The CPU 100 detects the counted non-defective screws 32 by the sensor 75 and counts them (step S81). Therefore, it is possible to know how many good products are contained in the good product collection box 300.

  Until the number exceeds the predetermined number, the CPU 100 repeatedly executes step S1 and subsequent steps.

  When the number of non-defective products exceeds a predetermined number (for example, 100), that is, when the 101st non-defective product is detected, the CPU 100 immediately directs the non-defective product collection passage 94 to the work-in-progress collection unit (step S83). As a result, the 101st non-defective screw is stored in the work-in-progress collection unit.

  Further, the CPU 100 attaches a work-in-progress flag to the table of FIG. 28 for all the screws 32 held on the shaft holding disc 42 at this time (step S84).

  As described above, in this embodiment, when a predetermined number of non-defective screws are stored in the non-defective product collection box, the screws 32 on the shaft holding disk 42 are recovered as work-in-progress. During this period, if a new non-defective item collection box 300 is placed automatically or manually, it is possible to continuously perform processing without stopping the apparatus.

(About abnormal processing)
Next, in step S74, a case will be described in which the screw 32 does not fall even though the defective screw 32 is attempted to be removed from the recess 44. If this is left unattended, the screw 32 of the defective product will be dropped into the good product collecting passage 94 by the forced removal guide 96. In this case, defective products are mixed in with good products.

  Therefore, in this embodiment, when the screw 32 determined to be a defective product is not dropped by the defective product dropping actuator 89 (step S75), the following abnormality processing is performed. The CPU 100 records the abnormality processing flag for all screws (all index IDs) in the table shown in FIG. 28 (step S76). Next, the CPU 100 directs the non-defective item recovery passage 94 toward the work-in-process item recovery box 302 (step S77).

  FIG. 14 shows a side cross section of the non-defective item recovery passage 94. At the bottom of the non-defective item recovery passage 94, a course changing plate 304 that is rotatable around a shaft 306 is provided. In the normal state, the course changing plate 304 is held at the position shown by the solid line in the figure. Therefore, the screw 32 dropped in the non-defective item recovery passage 94 is recovered in the non-defective item recovery box 300.

  In step S77, the CPU 100 controls a driving unit (not shown) such as a motor to rotate the course changing plate 204 to a state indicated by a chain double-dashed line. As a result, the screw 32 dropped in the non-defective item recovery passage 94 is recovered in the in-process item recovery box 302.

  Therefore, in step S74, the screw 32 of the defective product which has been left in the recess 44, although it should have been dropped, is dropped into the non-defective item recovery passage 94 by the forced removal guide 96. It will be collected in the box 302.

  Further, in this embodiment, the abnormality flags are recorded for all the screws 32 held by the shaft holding disk 42 at the time when the above abnormality occurs. Therefore, thereafter, the CPU 100 continues to direct the non-defective product recovery passage to the work-in-progress recovery section, so that the screw 32 in which the abnormal processing flag is recorded is dropped into the non-defective product recovery passage 94 and recovered in the work-in-progress recovery box 302. (Step S88).

  It should be noted that only the defective screw 32 remaining in the recess 44, although it should have been removed, may be recovered in the work-in-process recovery box 302. In this embodiment, for safety, all the screws 32 held by the shaft body holding disk 42 are collected in the work-in-process collection box 302 when an abnormality occurs.

When the screw 32 in which the abnormality processing flag is not recorded (the screw 32 held by the shaft holding disk 42 after the abnormality has occurred) is found, the CPU 100 causes the course changing plate 304 of the non-defective item recovery passage 94 to move to the position shown in FIG. To the position indicated by the solid line (step S80). As a result, thereafter, the screw 32 dropped in the non-defective item recovery passage 94 is recovered in the non-defective item recovery box 300.

1.3 Other embodiments
(1) In the above-described embodiment, the inspection device is described as an example of the processing device. However, the present invention can also be applied to an apparatus that holds a shaft body such as a screw on the shaft body holding disk 42 and performs processing such as painting.

(2) In the above embodiment, both the head omnidirectional imaging camera 79 and the main body omnidirectional imaging camera 80 are provided. However, only one of them may be provided.

(3) In the above embodiment, no special treatment is applied to the surface of the support member 140 that contacts the main body portion 32b. However, in order to prevent wear due to friction with the shaft body, processing such as attaching a wear resistant member may be performed.

(4) In the above embodiment, the lower contact drive member is provided inside the screw 32, and the lower contact member is provided outside the screw 32. However, the lower contact member may be provided inside the screw 32 and the lower contact drive member may be provided outside the screw 32.

(5) In the above-described embodiment, the lower contact drive member (rubber tube that is rotationally driven by the motor) is provided inside the screw 32, and the lower contact member (synthetic resin member) is provided outside the screw 32. However, a lower contact drive member (a rubber tube that is rotationally driven by a motor) may be provided inside and outside the screw 32.

(6) In the above embodiment, the screw 32 is described as an example of the shaft body. However, a shaft body having at least a head portion and a portion having a diameter smaller than the diameter of the head portion can be similarly applied. For example, it can be applied to a nail, a pin, a shaft with a head, and the like.

(7) In the above embodiment, the rotating shaft holding disk 42 is used as the shaft holding portion. However, a shaft holder that moves linearly (for example, a linear endless track) may be used.

(8) In the above embodiment, the good product and the bad product are collected in the collection box. However, a defective product may be dropped and a non-defective product may be transferred to the manufacturing process and used as it is.

(9) In the above-described embodiment, the screw 32 determined to be a defective product is dropped into the defective product collecting passage 92 by the actuator 89. However, the screw 32 determined to be a non-defective product by controlling the actuator 89 may be dropped into the non-defective product recovery passage 94, and the other screws 32 may be considered as defective products and may be dropped by the forced removal guide 96.

(10) In the above embodiment, the screw having a hexagonal outer shape of the head has been described, but the present invention can be applied to a screw having a head having another shape such as a round shape.

(11) In the above embodiment, at least the screw 32 is rotated once or more when the cameras 79 and 80 capture an image. However, it may be rotated by a predetermined angle smaller than one rotation.

(12) In the above embodiment, the rubber tubes 110, 120 and 130 are used. However, another member may be used as long as it is a flexible and deformable member.

(13) In the above embodiment, the moving speed of the rubber tube 130 (110) is set higher than the moving speed of the shaft holding disk 42. However, the moving speed of the rubber tube 130 (110) may be slower than the moving speed of the shaft holding disk 42. In this case, the screw 32 rotates in the opposite direction. Further, the rubber tube 130 (110) may be stopped. Further, the rubber tube 130 (110) may be moved in the direction opposite to the moving direction of the shaft body holding disk 42.

(14) The above modified example can be applied to the first embodiment as long as it does not violate the essence.

Claims (6)

A shaft body holding portion that surrounds a small-diameter portion of a shaft body having a head portion and a small-diameter portion having a diameter smaller than that of the head portion, is provided with a recess for supporting the head portion with the small-diameter portion facing downward, and a shaft body holding portion that moves in a predetermined direction. ,
A lower contact moving member that is provided on one side surface of the small diameter portion of the shaft body held by the shaft body holding portion, moves while contacting the small diameter portion, and rotates the shaft body;
A lower contact support member that is provided on the other side surface of the small diameter portion of the shaft body held by the shaft body holding portion and abuts on the small diameter portion,
A processing unit that has a camera that captures an image of the head of the shaft that is rotated by the lower contact moving member and the lower contact support member, and that performs processing on the shaft based on the image captured by the camera; ,
In a shaft processing device equipped with
The shaft body holding portion is configured to include a rotating disk, the recess is provided in the outer peripheral portion of the disk,
A guard member is provided on the outer periphery of the disk,
In the image pickup portion by the camera, the guard member is not provided, and the lower contact member is arranged so that a space is formed between the upper end of the lower contact support member and the back surface of the head of the shaft. The shaft body processing device is configured to capture an image of the back surface of the head of the shaft body that is rotated by the camera. The shaft processing device according to claim 1,
The shaft processing apparatus, wherein the lower contact moving member is a flexible tube member that contacts the small diameter portion from the inner side of the disk and is rotated by a rotating mechanism. The shaft processing device according to claim 1,
The shaft processing apparatus, wherein the lower contact support member is a synthetic resin member that contacts the small diameter portion from the outer side of the disk. The shaft processing device according to any one of claims 1 to 3,
The shaft processing apparatus is characterized in that the moving speed of the lower contact member is set so that the head of the shaft rotates once or more in the imaging range of the camera. The shaft body processing device according to any one of claims 1 to 4,
The shaft body processing device further comprising a rotation detection unit for detecting whether or not the shaft body rotated by the lower contact movement member and the lower contact support member has rotated a predetermined rotation or more. The shaft body processing device according to any one of claims 1 to 5,
At a position different from the processing unit in the rotation direction of the disk, the upper contact that moves while rotating in contact with the one side outer periphery of the head portion of the shaft body held by the shaft body holding unit to rotate the shaft body A moving member,
At the different position, an upper contact second moving member that moves while contacting with the vicinity of the outer periphery on the other side of the head portion of the shaft body held by the shaft body holding portion to rotate the shaft body,
A second camera for capturing an image of a shaft body of a shaft body rotated by the upper contact first moving member and the upper contact second moving member at the different position; A second processing unit that performs processing on the shaft based on the captured image;
A shaft processing device further equipped with.

Images