JP7415560B2 - Visual inspection equipment, visual inspection method, program and workpiece manufacturing method - Google Patents

Description

The present technology relates to a technology such as an appearance inspection device that inspects the appearance of a workpiece.

2. Description of the Related Art Appearance inspection apparatuses for inspecting the appearance of a workpiece have been widely known (for example, see Patent Documents 1 and 2 below). In visual inspection apparatuses, an area camera or a line camera is generally provided in order to obtain an image of a workpiece.

Japanese Patent Application Publication No. 2011-038784 Japanese Patent Application Publication No. 2010-237034

It is considered important to complete the visual inspection of the workpiece efficiently and quickly.

In view of the above circumstances, an object of the present technology is to provide a technology such as an appearance inspection device that can efficiently and quickly complete the appearance inspection of a workpiece.

The visual inspection device according to the present technology includes a first robot arm, a second robot arm, and a control section.
The first robot arm section includes a first arm section and a first scanning section that includes a first line camera and is provided on the first arm section.
The second robot arm section includes a second arm section and a second scanning section that includes a second line camera and is provided on the second arm section.
The control unit is configured to move the first scanning unit in a scanning direction on the first surface of the workpiece having a first surface and a second surface using the first arm section. The line camera captures an image of the first surface and causes the first scanning section to scan the first surface, and when the first surface is being scanned by the first scanning section. , while the second arm section moves the second scanning section on the second surface in the scanning direction, the second line camera captures an image of the second surface; The second scanning unit scans the second surface.

In this visual inspection apparatus, when the first surface of the workpiece is being scanned by the first scanning section, the second surface of the workpiece can be simultaneously scanned by the second scanning section. Thereby, the visual inspection of the workpiece can be completed efficiently and quickly.

In the above-mentioned appearance inspection device, the first scanning unit is moved in the scanning direction together with the first line camera, and the first scanning unit emits a first light emitting light that irradiates light to a location to be imaged by the first line camera. It may further include a section.

In the above-mentioned appearance inspection device, the control section adjusts an imaging angle at which the first line camera images the first surface, and the first light emitting section irradiates light onto the first surface. The irradiation angle may be adjusted.

In the visual inspection apparatus, the control unit may cause the first scanning unit to scan the first surface multiple times at different imaging angles and different irradiation angles.

In the above-mentioned appearance inspection device, the second scanning unit is moved in the scanning direction together with the second line camera, and the second scanning unit emits a second light emitting light that irradiates light onto a location to be imaged by the second line camera. It may further include a section.

In the above-mentioned appearance inspection device, the control section adjusts the imaging angle at which the second line camera images the second surface, and the second light emitting section irradiates light onto the second surface. The irradiation angle may be adjusted.

In the visual inspection apparatus, the control unit may cause the second scanning unit to scan the second surface multiple times at different imaging angles and different irradiation angles.

In the above visual inspection apparatus, the control section may cause the first scanning section to scan the first surface multiple times in different scanning directions.

In the above visual inspection apparatus, the control section may cause the second scanning section to scan the second surface multiple times in different scanning directions.

In the above visual inspection apparatus, the workpiece may further have a third surface, and the control section may cause the first scanning section and the second scanning section to cooperatively scan the third surface. good.

In the above visual inspection device, the control section causes the first scanning section to scan the third surface in a predetermined scanning direction, and causes the second scanning section to scan the third surface in the predetermined scanning direction. Scanning may be performed in a scanning direction different from the scanning direction.

In the above-mentioned visual inspection device, the control unit is configured to prevent optical interference in which light from the first light emitting unit interferes with imaging by the second line camera, and light from the second light emitting unit to Scanning movements by the first scanning section and the second scanning section may be controlled so that optical interference that interferes with imaging by the first line camera does not occur.

In the above-mentioned visual inspection apparatus, the control section may control lighting and extinguishing timings of the first light emitting section and the second light emitting section so that the light interference does not occur.

In the above-mentioned appearance inspection apparatus, the control unit may control the timing of starting and ending imaging by the first line camera and the second line camera so that the optical interference does not occur.

In the above visual inspection device, the first surface and the second surface may be surfaces adjacent to each other.

In the above-mentioned appearance inspection device, the first surface, the second surface, and the third surface may be surfaces adjacent to each other.

In the appearance inspection method according to the present technology, the first arm of the first robot arm is placed on the first surface of the workpiece having a first surface and a second surface. While moving the first scanning section of the section in the scanning direction, the first line camera of the first scanning section captures an image of the first surface. scan the surface,
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. .

A program according to the present technology includes a first arm section of a first robot arm section that is configured to move the first arm section of the first robot arm section onto the first surface of the workpiece having a first surface and a second surface. While moving the first scanning unit in the scanning direction, the first line camera of the first scanning unit captures an image of the first surface, and the first scanning unit captures the first surface. let it scan,
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. Make the computer function as a control unit.

In the method for manufacturing a workpiece according to the present technology, a first arm part of a first robot arm part allows the first robot to move on the first surface of the workpiece having a first surface and a second surface. While moving the first scanning section of the arm section in the scanning direction, the first line camera of the first scanning section images the first surface, and the first scanning section scans the first surface. scan the surface of
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. ,
The quality of the workpiece is determined based on the image taken by the first line camera and the image taken by the second line camera.

As described above, according to the present technology, it is possible to provide a technology such as an appearance inspection device that can efficiently and quickly complete the appearance inspection of a workpiece.

FIG. 1 is a top view showing an inspection system according to a first embodiment of the present technology. FIG. 2 is a perspective view showing an abnormal noise inspection device and a seal pasting device. FIG. 3 is an enlarged view showing a hand section in the abnormal noise inspection device. FIG. 2 is a block diagram showing the electrical configuration of the abnormal noise testing device. It is a perspective view showing an appearance inspection device. FIG. 3 is a developed view of a casing in a workpiece. It is a figure which shows the imaging angle of a line camera, and the irradiation angle of the light of a light emitting part. It is a figure which shows the imaging angle of a line camera, and the irradiation angle of the light of a light emitting part. FIG. 2 is a block diagram showing the electrical configuration of the visual inspection device. It is a flowchart which shows the process in the control part of an abnormal noise inspection apparatus. It is a flowchart which shows the process in the control part of an appearance inspection apparatus. It is a figure showing the locus of scanning by the 1st scanning part and the 2nd scanning part in the 1st appearance inspection device. It is a figure which shows the movement at the time of scanning in the 1st scanning part and 2nd scanning part in the 1st visual inspection apparatus. It is a figure which shows the movement at the time of scanning in the 1st scanning part and 2nd scanning part in the 1st visual inspection apparatus. It is a figure which shows the movement at the time of scanning in the 1st scanning part and 2nd scanning part in the 1st visual inspection apparatus. It is a figure which shows the movement at the time of scanning in the 1st scanning part and 2nd scanning part in the 1st visual inspection apparatus. It is a figure which shows the movement at the time of scanning in the 1st scanning part and 2nd scanning part in the 1st visual inspection apparatus. It is a figure which shows the movement at the time of scanning in the 1st scanning part and 2nd scanning part in the 1st visual inspection apparatus. It is a figure which shows the movement at the time of scanning in the 1st scanning part and 2nd scanning part in the 1st visual inspection apparatus.

Embodiments of the present technology will be described below with reference to the drawings.

≪First embodiment≫
<Overall configuration and configuration of each part of inspection system 100>
FIG. 1 is a top view showing an inspection system 100 according to a first embodiment of the present technology. As shown in FIG. 1, an inspection system 100 according to the present technology includes an abnormal noise inspection device 10, a sticker pasting device 40, a first appearance inspection device 50A, a first conveyance device 80, and a second appearance inspection device 10. It includes an inspection device 50B and a second transport device 90. The inspection system 100 is disposed near the most downstream part of the production line for the workpiece 1, for example, and performs a final inspection of the workpiece 1.

In the description herein, the two visual inspection devices 50A and 50B will be collectively referred to as the visual inspection device 50, and when distinguishing between the two visual inspection devices 50A and 50B, the first visual inspection will be referred to as the first visual inspection device. The device 50A will be referred to as a second visual inspection device 50B.

In FIG. 1, the conveyance route of the workpiece 1 is shown by a broken arrow. In this embodiment, a stationary game machine is assumed as the work 1 to be inspected. This work 1 includes a casing 2 that is thin in the thickness direction and has a substantially rectangular parallelepiped shape.

FIG. 6 is a developed view of the casing 2 in the workpiece 1. This casing 2 has a total of six faces: a front face 3, a back face 4, and four side faces 5. Inside the casing 2 are built-in various electronic components necessary for the game machine.

In addition, in the description in this specification, when the side surface 5 is simply referred to as the side surface, it refers to any one of the four side surfaces, and when the four side surfaces 5 are particularly distinguished, it is referred to as the first side surface. 5a, a second side 5b, a third side 5c, and a fourth side 5d.

Here, in order to facilitate understanding of the inspection system 100, the overall flow of how the workpiece 1 is inspected by the inspection system 100 will be briefly explained (see the broken line arrow in FIG. 1).

First, the workpiece 1 is conveyed by the noise inspection device 10 from another device (not shown) disposed upstream to the seal affixing device 40, and a seal is affixed thereto. When pasting of the seal is completed, the workpiece 1 is conveyed by the noise inspection device 10 from the first seal pasting device 40 to the first appearance inspection device 50A.

As will be described later, the abnormal noise inspection device 10 has a function of inspecting the workpiece 1 for abnormal noises while the workpiece 1 is being transported. be inspected.

Three surfaces of the six surfaces of the work 1 are inspected by the first visual inspection device 50A. When this inspection is completed, the workpiece 1 is transported by the first transport device 80 from the first visual inspection device 50A to the second visual inspection device 50B.

The remaining three surfaces of the six surfaces of the work 1 are inspected by the second visual inspection device 50B. When this inspection is completed, the workpiece 1 is transported by the second transport device 90 from the second visual inspection device 50B to other devices (for example, a packing device, a storage device, etc.) located downstream. Ru.

Note that while the second appearance inspection device 50B is inspecting the workpiece, the first appearance inspection device 50A performs the next appearance inspection of the workpiece 1. Further, at this time, the abnormal noise inspection device 10 and the sticker pasting device 40 further perform the abnormal noise inspection and sticker pasting process on the next workpiece 1 .

[Abnormal noise inspection device 10]
FIG. 2 is a perspective view showing the abnormal noise inspection device 10 and the seal pasting device 40. As shown in FIG. 2, the abnormal noise inspection device 10 includes a base 11 and a robot arm section 12 provided on the base 11. The robot arm section 12 includes an arm section 21 having a multi-joint structure and a hand section 31 (holding section) provided at the tip of the arm section 21.

The arm portion 21 has a base portion 22 mounted on the base 11 so as to be pivotable around the Z-axis, and an upper arm portion 23 attached to the base portion 22 so as to be bendable. Further, the arm portion 21 includes a forearm portion 24 that is attached to the upper arm portion 23 so as to be bendable, and a wrist portion 25 that is attached to the forearm portion 24 so that it can be bent. The hand portion 31 is attached to the wrist portion 25 so as to be rotatable (rotation around an axis with the longitudinal direction of the wrist portion 25 as an axial direction).

The arm section 21 is rotated by the hand section 31 (and held by the hand section 31) by the rotating motion of the base section 22, the bending motion of the upper arm section 23, the bending motion of the forearm section 24, the bending motion of the wrist section 25, and the rotating motion of the hand section 31. It is possible to move the workpiece 1) freely in three-dimensional space. Further, the arm section 21 is also capable of changing the posture of the hand section 31 (and the workpiece 1 held by the hand section 31) to an arbitrary posture through the above-mentioned operations.

Note that the arm section 21 may have any structure as long as it can freely control at least the movement of the hand section 31 (that is, the conveyance of the workpiece 1 held by the hand section 31). It does not matter (for example, the upper arm portion 23 can be omitted).

FIG. 3 is an enlarged view showing the hand section 31. As shown in FIG. 2 and 3, the hand section 31 includes a hand section main body 32 rotatably attached to the wrist section 25, a first chuck mechanism 33 provided on the hand section main body 32, and a second chuck mechanism 33 and a second chuck mechanism 33 provided on the hand section main body 32. It has a chuck mechanism 34. Further, the hand section 31 is provided with a sound detection section 35 that detects the sound of the workpiece 1 .

The first chuck mechanism 33 and the second chuck mechanism 34 are provided on the hand body 32 so as to be perpendicular to each other. The first chuck mechanism 33 is capable of pinching two opposing side surfaces 5 of the four side surfaces 5 of the workpiece 1 from both sides. On the other hand, the second chuck mechanism 34 is capable of holding two opposing side surfaces 5 of the four side surfaces 5 of the workpiece 1 from both sides.

The hand portion 31 is capable of holding and releasing the workpiece 1 by means of the first chuck mechanism 33 and the second chuck mechanism 34.

Note that the hand section 31 is not limited to the chuck mechanisms 33 and 34, and may have any configuration as long as it can hold and release the work 1 (for example, it can hold the work 1 by suction). form).

The arm section 21 and the hand section 31 each have various drive systems such as motors, and when this drive system is controlled by the control section 13 (see FIG. 4), the arm section 21 and the hand section 31 movement is controlled.

The sound detection unit 35 detects sounds generated from the workpiece 1 in response to movement (transportation) of the workpiece 1, change in posture (including rotation), and the like. The sound detection section 35 is capable of converting (detecting) the sound generated in the workpiece 1 into an electrical signal, amplifying this signal, and outputting it to the control section 13 (see FIG. 4).

Here, for example, if the workpiece 1 is moved (transported) or the posture of the workpiece 1 is changed with a foreign object mixed inside the workpiece 1, the foreign object moves inside the workpiece 1 and an abnormal noise is generated. This may occur. Note that foreign objects include, for example, screws that have come off from internal electronic components within the work 1, fragments generated when some electronic components are damaged, and dust that has entered the work 1 from the outside. It is.

Furthermore, for example, if the workpiece 1 is moved (transported) or the posture of the workpiece 1 is changed with the connector at the end of the cable disconnected inside the workpiece 1, the cable or connector will move inside the workpiece 1. This may cause abnormal noise.

In the abnormal sound inspection device 10 according to the present embodiment, the sound detection unit 35 detects abnormal sounds that occur in the various situations described above. In this embodiment, the abnormal noise is a sound that does not occur even when a normal workpiece 1 is moved (transferred) or changed in posture by the robot arm section 12, but it is a sound that does not occur even when a normal workpiece 1 is moved (transferred) or changed in posture by the robot arm section 12. ) is moved (transported) or changed in attitude by the robot arm section 12.

In the present embodiment, the sound detection section 35 is constituted by an AE (Acoustic Emission) sensor, and is arranged so as to be in contact with the workpiece 1 while the workpiece 1 is being held by the hand section 31 . The AE sensor has a piezoelectric element (for example, PZT), and the piezoelectric element converts an AE elastic wave propagating through the housing 2 of the workpiece 1 into an electrical signal.

The sound detection unit 35 is arranged at a position close to the center of the workpiece 1 held by the hand unit 31 so that the noise detection unit 35 can appropriately detect the abnormal noise no matter where the noise occurs in the workpiece 1. Ru. On the other hand, if an area in the workpiece 1 where abnormal noise is likely to occur is known in advance (for example, because screws, connectors, etc. are crowded together), the sound detection unit 35 is placed at a position corresponding to the area. may be done.

FIG. 4 is a block diagram showing the electrical configuration of the abnormal noise testing device 10. As shown in FIG. 4, the abnormal noise inspection device 10 includes a control section 13, a storage section 14, and a communication section 15 in addition to the robot arm section 12 and the sound detection section 35 described above.

The control unit 13 is composed of a CPU (Central Processing Unit) and the like. The control unit 13 executes various calculations based on various programs stored in the storage unit 14, and centrally controls each unit of the abnormal noise inspection device 10.

Typically, the control unit 13 causes the arm unit 21 to move the hand unit 31 holding the work 1 to convey the work 1, and the sound detection unit 35 detects when the work 1 is being conveyed. detect the sound of work 1. Then, the control unit 13 inspects abnormal noise generated from the workpiece 1 based on the detected sound signal. Note that details regarding the processing of the control unit 13 will be described later.

The storage unit 14 includes a nonvolatile memory in which various programs and data required for processing by the control unit 13 are stored, and a volatile memory used as a work area for the control unit 13. The program may be read from a portable recording medium such as a semiconductor memory or an optical disk, or may be downloaded from a server device on a network.

The communication unit 15 communicates with other devices in the production line by wire or wirelessly.

[Seal pasting device 40]
Referring to FIG. 2, the seal pasting device 40 includes a base 41 and a robot arm section 42 provided on the base 41. The robot arm section 42 has an arm section 43 having a multi-joint structure and a working hand section 44 provided at the tip of the arm section 43.

Note that the configurations of the arm parts 43 and 21 of the robot arm part 42 of the sticker pasting device 40 and the robot arm part 12 of the abnormal noise inspection apparatus 10 are basically the same, and The configurations of the hand parts 44 and 31 provided at the tips are different. Note that this also applies to the robot arm portions of the first visual inspection device 50A, the first conveyance device 80, the second visual inspection device 50B, and the second conveyance device 90.

The arm portion 43 has a base portion 45 attached to the base 41 so as to be pivotable around the Z-axis, and an upper arm portion 46 attached to the base portion 45 so as to be bendable. Further, the arm portion 43 includes a forearm portion 47 that is attached to the upper arm portion 46 so as to be bendable, and a wrist portion 48 that is attached to the forearm portion 47 so that it can be bent. The working hand section 44 is attached to the wrist section 25 so as to be rotatable (rotation around the axis with the longitudinal direction of the wrist section 25 as the axial direction).

The working hand section 44 is capable of taking out a seal from a seal storage section (not shown), and when the workpiece 1 is held by the hand section 31 of the noise inspection device 10, the side surface 5 of the workpiece 1 It is possible to apply a sticker from above.

Although not shown, the sticker applicator 40 includes a control unit that centrally controls each part of the sticker applicator 40, a storage unit that stores various programs and data necessary for the processing of the control unit, and other components. It has a communication section etc. that communicate with the device.

[Appearance inspection device 50]
FIG. 5 is a perspective view showing the visual inspection device 50 (first visual inspection device 50A or second visual inspection device 50B). The first appearance inspection device 50A and the second appearance inspection device 50B cooperate and share their duties in inspecting the appearance of the workpiece 1. The first visual inspection device 50A and the second visual inspection device 50B have basically the same configuration.

The first visual inspection device 50A inspects a total of three surfaces of the six surfaces of the casing 2 of the workpiece 1, the front surface 3, the first side surface 5a, and the second side surface 5b (these three surfaces). The surfaces are adjacent to each other). On the other hand, the second visual inspection device 50B has a total of three surfaces including the remaining three surfaces, that is, the back surface 4, the third side surface 5c, and the fourth side surface 5d (these surfaces are adjacent to each other). Responsible for inspecting the appearance of

In the first visual inspection apparatus 50A, an inspection is performed with the front surface 3 facing upward, and in the second visual inspection apparatus 50B, an inspection is conducted with the rear surface 4 facing upward. The first appearance inspection device 50A and the second appearance inspection device 50B inspect each surface of the workpiece 1 for appearance abnormalities such as scratches (scratches, dents) and tape marks. .

Note that the appearance abnormalities inspected by the appearance inspection device 50 are not limited to scratches and tape marks. Typically, the abnormality in appearance may be any abnormality in appearance as long as it is not present in the normal workpiece 1.

The visual inspection device 50 includes a base 51, a mounting table 52 for the workpiece 1, a first robot arm section 60, and a second robot arm section 70.

The first robot arm section 60 in the first visual inspection apparatus 50A is in charge of scanning the front surface 3 and part of the scanning on the second side surface 5b. On the other hand, the second robot arm section 70 in the first visual inspection apparatus 50A is in charge of scanning the first side surface 5a and part of the scanning on the second side surface 5b.

Furthermore, the first robot arm section 60 in the second visual inspection apparatus 50B is in charge of scanning the back surface 4 and part of the scanning on the fourth side surface 5d. On the other hand, the second robot arm section 70 in the second visual inspection apparatus 50B is in charge of scanning the third side surface 5c and part of the scanning on the fourth side surface 5d.

The first robot arm section 60 and the second robot arm section 70 have basically the same configuration.

The first robot arm section 60 has a first arm section 61 having a multi-jointed structure and a first scanning section 62 provided at the tip of the first arm section 61. Similarly, the second robot arm section 70 includes a second arm section 71 having a multi-joint structure and a second scanning section 72 provided at the tip of the second arm section 71.

The first arm part 61 (second arm part 71) can be bent with respect to the base part 63 (base part 73) mounted on the base 51 so as to be rotatable around the Z axis and the base part 63 (base part 73). The upper arm part 64 (upper arm part 74) is attached to the upper arm part 64 (upper arm part 74).

Further, the first arm section 61 (second arm section 71) includes a forearm section 65 (forearm section 75) that is attached to the upper arm section 64 (upper arm section 74) in a bendable manner, The wrist part 66 (wrist part 76) is attached to the wrist part 75) so as to be bendable. The first scanning section (second scanning section 72) is attached to the wrist section 66 (wrist section 76) so as to be rotatable (rotation around the axis with the longitudinal direction of the wrist section as the axial direction).

The first arm part 61 (second arm part 71) has a rotating action of the base part 63 (base part 73), a bending action of the upper arm part 64 (upper arm part 74), a bending action of the forearm part 65 (forearm part 75), The bending motion of the wrist section 66 (wrist section 76) and the rotation motion of the first scanning section 62 (second scanning section 72) move the first scanning section 62 (second scanning section 72) in three-dimensional space. It is possible to move freely. Furthermore, the first arm section 61 (second arm section 71) can change the posture of the first scanning section 62 (second scanning section 72) to any desired posture through each of the above operations. It is said that

Note that the first arm section 61 (second arm section 71) can be of any type as long as it has a structure that can freely control the movement of the first scanning section 62 (second scanning section 72). Such a structure may be used (for example, the upper arm portion may be omitted).

The first scanning unit 62 includes a support member 69 rotatably attached to the wrist unit 66, a first line camera 67 fixed to the support member 69, and a first line camera 67 fixed to the support member 69. It has a light emitting section 68. Similarly, the second scanning unit 72 includes a support member 79 rotatably attached to the wrist unit 76, a second line camera 77 fixed to the support member 79, and a second line camera 77 fixed to the support member 79. It has a second light emitting section 78.

The first line camera 67 (second line camera 77) includes a plurality of imaging elements arranged along one direction and various optical lenses such as an imaging lens. The first line camera 67 (second line camera 77) is moved by the first arm section 61 (second arm section 71) in a direction perpendicular to the above-mentioned one direction (the direction in which the image sensors are arranged). While doing so, a specific surface of the casing 2 of the workpiece 1 is captured to obtain an image, and this image is output to the control unit 53 (see FIG. 9).

The first light emitting section 68 (second light emitting section 78) has a long shape in the one direction (the direction in which the image pickup elements are arranged in the line camera). The first light emitting section 68 (second light emitting section 78) is configured of various light emitting bodies such as an LED (Light Emitting Diode) and a white light bulb. This first light emitting section 68 (second light emitting section 78) is integrated with the first line camera 67 (second line camera 77) by the first arm section 61 (second arm section 71). While being moved, the first line camera 67 (second line camera 77) irradiates light onto the location to be imaged.

When the first scanning section 62 (second scanning section 72) is moved in the scanning direction on a specific surface of the workpiece 1, the first scanning section 62 (second scanning section 72) scans the specific surface while maintaining a certain distance from the specific surface. is moved parallel to the plane of

The scanning direction of the first scanning section 62 (second scanning section 72) is adjusted by the first arm section 61 (second arm section 71). In addition, the first scanning unit 62 (second scanning unit 72) uses the first arm unit 61 (second arm unit 71) to scan a first line camera for a specific surface in the housing 2 of the workpiece 1. The imaging angle of 67 (second line camera 77) and the angle of light irradiation by first light emitting section 68 (second light emitting section 78) are adjusted.

7 and 8 are diagrams showing the imaging angle of the line camera and the irradiation angle of light from the light emitting unit.

In the example shown in FIG. 7, the imaging angle of the first line camera 67 (second line camera 77) is set to 90°, and the light emission angle of the first light emitting unit 68 (second light emitting unit 78) is set to 90°. An example is shown in which the angle is set to 30°. On the other hand, in the example shown in FIG. 8, the imaging angle of the first line camera 67 (second line camera 77) is set to 60°, and the light of the first light emitting unit 68 (second light emitting unit 78) is An example is shown in which the irradiation angle is set to 60°.

In this embodiment, first, as shown in FIG. 7, the imaging angle of the first line camera 67 (second line camera 77) is set to 90°, The irradiation angle of the section 78) is set to 30 degrees, and a specific surface is scanned by the first scanning section 62 (second scanning section 72). Thereafter, the imaging angle of the first line camera 67 (second line camera 77) is set to 60°, and the irradiation angle of the first light emitting unit 68 (second light emitting unit 78) is set to 60°. A specific surface is scanned by the first scanning section 62 (second scanning section 72). That is, in this embodiment, the imaging angle of the first line camera 67 (second line camera 77) and the irradiation angle of the first light emitting section 68 (second light emitting section 78) are changed, and the workpiece 1 is The same area is scanned.

Note that, as shown in FIGS. 7 and 8, in this embodiment, the first line camera 67 (second line camera 77) and the first light emitting section 68 (second light emitting section 78) are The angle with respect to a specific plane is changed integrally. On the other hand, even if the angle of the first line camera 67 (second line camera 77) and first light emitting section 68 (second light emitting section 78) with respect to a specific surface can be adjusted individually, good.

In the following description, the imaging angle of the first line camera 67 (second line camera 77) when the first scanning is performed will be referred to as the first imaging angle (90° in this embodiment), and The imaging angle of the first line camera 67 (second line camera 77) when scanning is performed is called a second imaging angle (60° in this embodiment).

Similarly, the irradiation angle of the first light emitting unit 68 (second light emitting unit 78) when the first scan is performed is called the first irradiation angle (30° in this embodiment), and the second scan The irradiation angle of the first light emitting unit 68 (second light emitting unit 78) when this is performed is called a second irradiation angle (60° in this embodiment).

Note that each value of the first imaging angle, the second imaging angle, the first irradiation angle, and the second irradiation angle can be changed as appropriate. Typically, these values are appropriately set depending on the material of the casing 2 of the workpiece 1, the type of abnormality to be detected in the visual inspection (for example, scratches, tape marks, etc.), and the like.

FIG. 9 is a block diagram showing the electrical configuration of the visual inspection device 50 (first visual inspection device 50A or second visual inspection device 50B). As shown in FIG. 9, the visual inspection apparatus 50 includes a control section 53, a storage section 54, and a communication section 55 in addition to the first robot arm section 60 and the second robot arm section 70 described above. ing.

The control unit 53 is constituted by a CPU (Central Processing Unit), etc., executes various calculations based on various programs stored in the storage unit 54, and centrally controls each unit of the visual inspection device 50.

In the visual inspection apparatus 50, the control unit 13 moves the first scanning unit 62 in the scanning direction on a specific surface of the workpiece 1 using the first arm unit 61, while the first line camera 67 performs the following operations. A specific surface of the work 1 is imaged, and the first scanning unit 62 is caused to scan the specific surface of the work 1.

Further, when the specific surface of the work 1 is being scanned by the first scanning section 62, the control section 13 causes the second arm section 71 to perform a second scan on another specific surface of the work 1. While moving the section 72 in the scanning direction, the second line camera 77 is caused to image another specific surface of the workpiece 1, and the second scanning section 72 is caused to scan the other specific surface. Note that details regarding the processing of the control unit 53 will be described later.

In the example shown in FIG. 9, an example is shown in which the first robot arm section 60 and the second robot arm section 70 are controlled by one control section 53. The robot arm sections 70 may be controlled by separate control sections.

The storage unit 54 includes a nonvolatile memory in which various programs and data necessary for processing by the control unit 53 are stored, and a volatile memory used as a work area for the control unit 53. The program may be read from a portable recording medium such as a semiconductor memory or an optical disk, or may be downloaded from a server device on a network.

The communication unit 55 communicates with other devices in the production line by wire or wirelessly.

[First conveyance device 80]
As shown in FIG. 1, the first transfer device 80 includes a base 81 and a robot arm section 82 provided on the base 81. The robot arm section 82 includes an arm section 83 having a multi-jointed structure and a hand section 84 provided at the tip of the arm section 83.

The configuration of the arm portion 83 is similar to the configuration of the arm portions 21, 61, and 71 in the robot arm portion of the abnormal noise inspection device 10 and the visual inspection device 50. The hand portion 84 includes a chuck mechanism that can pinch two opposing side surfaces 5 of the four side surfaces 5 of the workpiece 1 from both sides.

The robot arm section 82 of the first transport device 80 holds the work 1 placed on the mounting table 52 of the first visual inspection device 50A, and transports the work 1 while reversing the work 1 vertically. Then, it is placed on the mounting table 52 of the second visual inspection device 50B.

Although not shown in the drawings, the first transport device 80 includes a control unit that centrally controls the first transport device 80, and a memory that stores various programs, data, etc. necessary for the processing of the control unit. and a communication section that communicates with other devices in the production line.

[Second transport device 90]
As shown in FIG. 1, the second transport device 90 includes a base 91 and a robot arm section 92 provided on the base 91. The robot arm section 92 includes an arm section 93 having a multi-joint structure and a hand section 94 provided at the tip of the arm section 93.

The mechanical configuration and electrical configuration of the second transport device 90 are the same as those of the abnormal noise inspection device 10 except that the sound detection section 35 is not provided.

The robot arm section 92 of the second transport device 90 holds the workpiece 1 placed on the mounting table 52 of the second visual inspection device 50B, and supports other devices (packing device, storage, etc.) provided downstream. Workpiece 1 is transferred to the next process.

Note that the second transport device 90 is notified of whether the work 1 to be transported is good or bad from the noise inspection device 10, the first appearance inspection device 50A, and the second appearance device.

The robot arm section 92 of the second transfer device 90 advances the workpiece 1 determined to be good in all three devices 10, 50A, and 50B to the next process. On the other hand, if the workpiece 1 is determined to be defective in at least one of the three apparatuses 10, 50A, and 50B, the workpiece 1 is not advanced to the next process, and the workpiece 1 is placed in a storage shelf for storing defective items. (not shown).

Note that the work 1 determined to be defective may be placed in different areas on the storage shelf depending on the cause of the defect.

<Operation explanation>
Next, processing in the inspection system 100 will be explained.

[Processing of abnormal noise inspection device 10]
In the explanation here, first, the processing of the abnormal noise inspection device 10 will be explained. FIG. 10 is a flowchart showing the processing in the control unit 13 of the abnormal noise inspection device 10.

First, the control section 13 of the abnormal noise inspection apparatus 10 controls the arm section 21 of the robot arm section 12 to move the hand section 31 to the holding position of the workpiece 1 (step 101). Then, the control unit 13 causes the hand unit 31 to hold the workpiece 1 (step 102). When the workpiece 1 is held by the hand section 31, the sound detection section 35 comes into contact with the vicinity of the center of the workpiece 1, as shown in FIG.

Next, the control unit 13 starts processing to acquire a sound signal from the sound detection unit 35 (step 103). Then, the control unit 13 starts an abnormal sound inspection of the workpiece 1 based on the detected sound signal (step 104). Note that details regarding this abnormal noise test will be described later.

Next, the control unit 13 rotates the arm unit 21 clockwise, rotates the hand unit 31 holding the workpiece 1 clockwise (moves in the first direction), and transfers the workpiece 1 to the seal pasting device. 40 to the processing position (step 105).

Note that when the workpiece 1 is being transported by rotating the arm section 21, the control section 13 changes the posture of the workpiece 1 by bending each part of the arm section 21 and rotating motion of the hand section 31 with respect to the arm section 21. Change to any position for pasting the sticker. Note that the posture of the work 1 at this time is an upright posture with the specific side surface 5 of the work 1 facing upward (see FIG. 2).

After the control unit 13 transports the work 1 to the processing position in the sticker pasting device 40, the robot arm unit 12 stops moving and waits while the work 1 is held by the hand unit 31 (step 106). In this state, a sticker is pasted on the upper side surface 5 of the workpiece 1 by the sticker pasting device 40.

Next, the control unit 13 determines whether the processing in the sticker applying device 40 is completed (step 107). Note that when the process in the sticker applicator 40 is completed, a signal indicating the completion is transmitted from the sticker applicator 40, and this signal is received by the abnormal noise inspection device 10.

When the process in the sticker pasting device 40 is completed (YES in step 107), the control unit 13 proceeds to step 108. In step 108, the control unit 13 rotates the arm unit 21 counterclockwise, rotates the hand unit 31 holding the workpiece 1 counterclockwise (moves it in the second direction), and moves the workpiece 1 in the second direction. , and transported from the seal pasting device 40 to the first visual inspection device 50A. Then, the control unit 13 removes the work 1 from the hand unit 31 and places the work 1 on the mounting table 52 of the first visual inspection device 50A.

Note that when the arm section 21 is rotated counterclockwise to convey the workpiece 1, the control section 13 causes the workpiece 1 to be conveyed by bending each part of the arm section 21 and rotating operation of the hand section 31 with respect to the arm section 21. The posture is changed to an arbitrary posture for placing the workpiece 1 on the mounting table 52. Note that the posture of the workpiece 1 at this time is such that the front surface 3 of the workpiece 1 faces upward.

When the workpiece 1 is placed on the mounting table 52 and removed from the hand section 31, the sound detection section 35 separates from the workpiece 1, and at this time, the control section 13 receives a sound signal from the sound detection section 35. The acquisition process ends (step 109). Then, the control unit 13 ends the abnormal noise inspection of the workpiece 1 based on the sound signal (step 110).

Next, the control unit 13 determines whether an abnormal sound is detected in the abnormal sound test (step 111). If no abnormal noise is detected (NO in step 111), the control unit 13 transmits the identification information of the work 1 as well as information indicating that the work 1 is a good product to the second conveyance device 90. (step 112). On the other hand, if an abnormal sound is detected (YES in step 111), the control unit 13 sends the identification information of the work 1 as well as information indicating that the work 1 is a defective product to the second conveyance device 90. (Step 113).

The workpiece 1 determined to be defective in the noise inspection is inspected by the first visual inspection device 50A and the second visual inspection device 50B, and then transferred to a storage shelf for storing defective products by the second conveyance device 90. This allows defective products to be separated from non-defective products.

Note that in this embodiment, the workpieces 1 that have been determined to be good or bad in the noise inspection are separated by the second conveyance device 90, but this separation is carried out by the robot arm section of the noise inspection device 10. 12 itself. In this case, a storage shelf for storing defective products is installed within the operating area of the robot arm section 12 in the noise inspection device 10.

(abnormal noise inspection method)
Next, a method of abnormal noise inspection based on sound signals will be specifically explained. As mentioned above, if the work 1 is moved (transported) or the posture of the work 1 is changed in various situations such as when foreign matter has entered the work 1 or when the connector has come off inside the work 1, , abnormal noise may occur.

On the other hand, in the case of a normal workpiece 1, such abnormal noise will not occur even if the workpiece 1 is moved (transferred) or the posture of the workpiece 1 is changed. Therefore, typically, the abnormal noise test is performed by comparing the waveform of the sound signal in the workpiece 1 to be inspected with the waveform of the sound signal in the normal workpiece 1 .

Here, in the waveform of the sound signal of the abnormal workpiece 1, the loudness of the sound in a specific frequency band indicating abnormal noise is larger than that of the sound signal of the normal workpiece 1. For example, in the case of workpiece 1 containing screws, experimental results were obtained that the value indicated by the sound signal becomes large at frequencies of 1.5 kHz, 3 kHz, 6 kHz, 12 kHz, and 24 kHz.

In other words, in the workpiece 1 with screws mixed in, the screws collide with the inner wall of the workpiece 1 or other members as the workpiece 1 moves (transfers) or changes its posture, and at this time, 1.5kHz, 3kHz, 6kHz, Abnormal noises occur at frequencies of 12kHz and 24kHz. Note that the sound in a specific frequency band as abnormal noise is caused by the movement (transportation) speed of the workpiece 1, the speed of the change in posture of the workpiece 1, the material of the casing 2 of the workpiece 1, the internal structure of the workpiece 1, and the noise mixed into the workpiece 1. The amount varies depending on the type of foreign object.

If the frequency band of the abnormal sound is known in advance, a sound signal in a specific frequency band corresponding to the abnormal sound is extracted from the overall sound signal detected by the sound detection unit 35 (for example, by FFT (Fast Fourier transform)). ) may be used. Based on the sound signal in this specific frequency band, it may be determined whether abnormal noise has occurred. Further, in this case, the sound signal in this specific frequency band may be integrated, and it may be determined whether abnormal noise has occurred based on the integrated value.

For example, when abnormal noises with frequencies of 1.5 kHz, 3 kHz, 6 kHz, 12 kHz, and 24 kHz occur, sound signals in the frequency band of 1 kHz to 30 kHz are extracted from the sound signals detected by the sound detection unit 35. Then, it may be determined whether abnormal noise has occurred based on the sound signal in the frequency band of 1 kHz to 30 kHz. Further, in this case, for example, a sound signal in a frequency band of 1 kHz to 30 kHz may be integrated, and it may be determined whether abnormal noise has occurred based on whether this integrated value exceeds a threshold value.

(Clockwise and counterclockwise conveyance of workpiece 1, etc.)
As described above, when the work 1 is conveyed to the seal pasting device 40, the work 1 is rotated clockwise and conveyed. On the other hand, when the work 1 is conveyed from the seal pasting device 40 to the first visual inspection device 50A, the work 1 is rotated counterclockwise and conveyed.

Here, no abnormal noise is generated even if the work 1 is conveyed clockwise, but an abnormal noise may be generated when the work 1 is conveyed counterclockwise. Conversely, no abnormal noise occurs even if the work 1 is conveyed counterclockwise, but an abnormal noise may occur if the work 1 is conveyed clockwise.

For example, in the case of a workpiece 1 that contains a foreign object, the foreign object may only move within the workpiece 1 in one of the clockwise and counterclockwise directions depending on the position of the foreign object inside the workpiece 1. , abnormal noise may occur only on one side.

On the other hand, in this embodiment, since the workpiece 1 is transported both clockwise and counterclockwise, abnormal noises can be appropriately detected.

In addition, as described above, when the work 1 is transported to the sticker pasting device 40 and when the work 1 is transported from the sticker pasting device 40 to the first appearance inspection device 50A, the posture of the work 1 is be changed.

Here, even if the workpiece 1 is simply transported, no abnormal noise is generated, but if the posture of the workpiece 1 is changed, an abnormal noise may be generated. For example, in the case of workpiece 1 with foreign matter mixed in, depending on the position of the foreign matter inside workpiece 1, the foreign matter may only move inside casing 1 when the posture of workpiece 1 is changed, and an abnormal noise may occur for the first time. There are cases where

Therefore, as in the present embodiment, by changing the posture of the work 1 during transport, abnormal noise can be detected more appropriately.

[Processing of appearance inspection device 50]
Next, the processing of the first visual inspection device 50A and the second visual inspection device 50B will be explained. Note that the processing of the first visual inspection device 50A and the processing of the second visual inspection device 50B are basically the same except that the surfaces to be inspected are different.

Therefore, hereinafter, unless otherwise specified, the processing of the first visual inspection apparatus 50A will be representatively explained. Regarding the processing of the second visual inspection device 50B, the front side 3 may be read as the back side 4, the first side surface 5a may be read as the third side surface 5c, and the second side surface 5b may be read as the fourth side surface 5d. Bye.

FIG. 11 is a flowchart showing the processing in the control unit 53 of the visual inspection device 50. First, the control unit 53 of the first visual inspection apparatus 50A determines whether the workpiece 1 is placed on the mounting table 52 (step 201).

A determination as to whether the workpiece 1 has been placed is made based on a signal transmitted from the abnormal noise inspection device 10. For example, when the noise inspection device 10 places the workpiece 1 on the mounting table 52, a signal indicating that the workpiece 1 has been placed is transmitted from the noise inspection device 10 to the first appearance inspection device 50A. Ru.

In the case of the second visual inspection device 50B, when the first transport device 80 places the work 1 on the mounting table 52, a signal indicating that the work 1 has been placed is sent to the first transport device 50B. It is transmitted from the device 80 to the second visual inspection device 50B.

When the workpiece 1 is placed on the mounting table 52 (YES in step 201), the control section 53 controls the first robot arm section 60 and the second robot arm section 70 to move the front surface 3 of the housing 2. , a total of three surfaces, the first side surface 5a and the second side surface 5b, are scanned (step 202). Note that scanning of these three planes will be described in detail later with reference to FIGS. 12 to 19.

Next, the control unit 53 determines whether an abnormality in appearance is detected in the workpiece 1 (the quality of the workpiece 1) based on the images obtained by the first line camera 67 and the second line camera 77. (Step 203).

For example, if even one scratch or tape mark of a certain size or larger (a size that the user can easily see) is detected on three surfaces, the control unit 53 determines that there is an abnormality in appearance. It is determined that it has been detected (YES in step 203).

Further, if a predetermined number or more of scratches or tape marks of a size below a certain size (a size that the user cannot immediately notice) are detected on the three surfaces, the control unit 53 controls the It is determined that an abnormality has been detected (YES in step 203).

If no abnormality in appearance is detected (NO in step 203), the control unit 53 transmits the identification information of the work 1 as well as information indicating that the work 1 is a good product to the second conveyance device 90. (Step 204).

On the other hand, if an abnormality in appearance is detected (YES in step 203), the control unit 53 transfers the identification information of the work 1 as well as information indicating that the work 1 is defective to the second transport device. 90 (step 205).

The workpiece 1 determined to be a defective product in the first visual inspection device 50A is stored in a storage shelf for storing defective products by the second transportation device 90 after the visual inspection in the second visual inspection device 50B, Thereby, defective products are separated from non-defective products.

Next, the appearance inspection in the first appearance inspection apparatus 50A will be specifically explained. FIG. 12 is a diagram showing the locus of scanning by the first scanning section 62 and the second scanning section 72 in the first visual inspection apparatus 50A.

In FIG. 12, solid line arrows indicate the locus of scanning by the first scanning unit 62, and broken line arrows indicate the locus of scanning by the second scanning unit 72.

The solid arrows indicate 1. ~12. These numbers indicate the order in which the first scanning unit 62 scans. Further, the broken line arrows are numbered from "1" to "8", and these numbers indicate the order in which the second scanning section 72 scans.

Also, 1. ~12. The symbols (1), (2), (1'), (2'), (1"), (2") are placed next to the numbers "1" to "8". There is.

The number 1 in parentheses indicates that the imaging angle of the line cameras 67 and 77 is set to the first imaging angle (90°) with respect to the specific surface of the workpiece 1, and the light emitting units 68 and 78 are irradiated. This means that the angle is set to the first irradiation angle (30°) (see FIG. 7). Further, the number 2 in parentheses indicates that the imaging angle of the line cameras 67 and 77 is set to the second imaging angle (60°) with respect to the specific surface of the workpiece 1, and the light emitting units 68 and 78 This means that the irradiation angle is set to the second irradiation angle (60°) (see FIG. 8).

In the upper right corner of the number 1 or 2 in parentheses, nothing is added, "'" is added, or "" is added to the upper right corner. If nothing is attached to the upper right of the number 1 or 2 in parentheses, the number 1 or 2 indicates the imaging angle and irradiation angle with respect to the front 3.

Moreover, when "'" is attached to the upper right of the number 1 or 2 in parentheses, the number 1 or 2 indicates the imaging angle and the irradiation angle with respect to the first side surface 5a. Moreover, when "" is added to the upper right of the number 1 or 2 in parentheses, the number 1 or 2 indicates the imaging angle and the irradiation angle with respect to the second side surface 5b.

For example, in a solid line arrow, 11. The case where the symbol (2") is attached will be explained. In this case, since the arrow is a solid line, it indicates the locus of scanning by the first scanning unit 62. Also, the number 11. In the locus of scanning by the first scanning section 62, (2") indicates that the imaging angle of the first line camera 67 in the first scanning section 62 is the 11th scanning. The second imaging angle (60°) is set to the second side surface 5b, and the irradiation angle of the first light emitting section 68 in the first scanning section 62 is set to the second irradiation angle to the second side surface 5b. This means that it is set at an angle (60°).

In FIG. 12, the front surface 3, the first side surface 5a, and the second side surface 5b are indicated as "upper", "lower", "left", and "right", respectively. In the description of FIG. 12, the terms "upper", "lower", "left", and "right" with respect to the front surface 3, the first side surface 5a, and the second side surface 5b refer to the directions shown in FIG. (The same applies to FIGS. 13 to 19, which will be described later).

In addition, the up-down direction and the left-right direction in the front surface 3 are orthogonal directions in the horizontal plane in the earth seat system. On the other hand, the vertical direction on the first side surface 5a and the second side surface 5b is the vertical direction in the earth coordinate system, and the horizontal direction on the first side surface 5a and the second side surface 5b is the vertical direction in the horizontal plane in the earth coordinate system. It is the direction.

As shown in FIG. 12, the first scanning unit 62 is responsible for scanning the front surface 3 of the workpiece 1 (see the solid arrow on the front surface 3), and the scanning for the first side surface 5a of the workpiece 1 is as follows: This is handled by the second scanning unit 72 (see the broken line arrow on the first side surface 5a). On the other hand, scanning of the second side surface 5b is carried out in cooperation with the first scanning section 62 and the second scanning section 72 (see the solid line arrow and the broken line arrow on the second side surface 5b).

In this embodiment, the same area of the workpiece 1 is captured multiple times at different imaging angles (first imaging angle, second imaging angle) and different irradiation angles (first irradiation angle, second irradiation angle). scanned. Note that in this embodiment, two patterns (see FIGS. 7 and 8) are used as the imaging angle and the irradiation angle, but three or more patterns may be used as the imaging angle and the irradiation angle.

For example, as an example, 1. (1) and 4. In (2), the first scanning unit 62 scans the same area of the front 3 (left side of the front 3) twice at different imaging angles and different irradiation angles. Further, for example, in "1" (1') and "4" (2'), the same area of the first side surface 5a (the left side of the first side surface 5a) is scanned by the second scanning unit 72. , scanned twice at different imaging angles and different illumination angles.

Furthermore, in this embodiment, the same area of the workpiece 1 is scanned multiple times in different scanning directions (vertical direction, horizontal direction). Note that in this embodiment, two directions, the up-down direction and the left-right direction, are used as the scanning directions, but three or more directions may be used as the scanning directions.

In the description of this embodiment, if the scanning direction is an up-down direction, it is treated as the same scanning direction regardless of whether it is an upward direction or a downward direction. Similarly, if the scanning direction is the left-right direction, it is treated as the same scanning direction regardless of whether it is rightward or leftward.

For example, 1. (1), 2. (1), 3. (2), 4. In (2), the front surface 3 of the workpiece 1 is scanned in the vertical direction by the first scanning unit 62, whereas in 5. (1), 8. (1), 9. (2), 12. In (2), the front surface 3 of the workpiece 1 is scanned in the left-right direction by the first scanning unit 62. Further, for example, in "1" (1'), "2" (1'), "3" (2'), and "4" (2'), the second scanning unit 72 scans the first While the side surface 5a of the workpiece 1 is scanned in the vertical direction, the second scanning section 72 scans the first side surface 5a of the workpiece 1 at "5" (1') and "6" (2'). , scanned in the left and right directions.

In addition, in this embodiment, on the second side surface 5b, the duties of the first scanning section 62 and the second scanning section 72 are divided according to the scanning direction. That is, the first scanning unit 62 is in charge of scanning the second side surface 5b in the vertical direction (6.(1"), 7.(1"), 10.(2"), 11.(2") ), the second scanning unit 72 is in charge of scanning the second side surface 5b in the left-right direction (see "7" (1") and "8" (2")).

Here, the width in the left and right direction on the front surface 3, the width in the vertical direction, the width in the left and right direction on the first side surface 5a, and the width in the left and right direction on the second side surface 5b can be scanned at one time by the scanning units 62 and 72. It exceeds the range. Therefore, scanning in the vertical direction and horizontal direction on the front surface 3, scanning in the vertical direction on the first side surface 5a, and scanning in the vertical direction on the second side surface 5b are performed twice in the same scanning direction ( Because it is necessary to change the imaging angle and irradiation angle, a total of 4 times in the same scanning direction).

On the other hand, the width of the first side surface 5a in the vertical direction and the width of the second side surface 5b in the vertical direction are set to be smaller than the width that can be scanned by the scanning sections 62 and 72 at one time. Therefore, it is not necessary to perform the horizontal scanning on the first side surface 5a and the horizontal scanning on the second side surface 5b in the same scanning direction twice (there is no need to use different imaging angles and irradiation angles). , so a total of two times in the same scanning direction).

13 to 19 are diagrams showing the movements of the first scanning section 62 and the second scanning section 72 in the first visual inspection apparatus 50A during scanning. In addition, in FIGS. 13 to 19, only the first light emitting section 68 and the second light emitting section 78 of the first scanning section 62 and the second scanning section 72 are shown in order to make the drawings easier to read. , the first line camera 67, and the second line camera 77 are not shown. In addition, in FIGS. 13 to 19, the symbols (1), (2), (1'), (2'), (1"), and (2") are used with the same meanings as in FIG. .

Referring to FIG. 13A, first, the control section 53 controls the first arm section 61 to move the first scanning section 62 to the upper left position of the front surface 3 (note that the first scanning section 62 is moved to the upper left position of the front surface 3). (See FIG. 12 for the terms top, bottom, left, and right). Then, the control unit 53 sets the imaging angle of the first line camera 67 with respect to the front 3 to the first imaging angle (90°), and sets the irradiation angle of the first light emitting unit 68 with respect to the front 3 to the first irradiation angle. Set the angle (30°).

At the same time, the control section 53 controls the second arm section 71 to move the second scanning section 72 to the upper left position of the first side surface 5a (in addition, the upper left position on the first side surface 5a) (See FIG. 12 for the terms bottom, left, and right). Then, the control unit 53 sets the imaging angle of the second line camera 77 with respect to the first side surface 5a to the first imaging angle (90°), and controls the irradiation of the second light emitting unit 78 with respect to the first side surface 5a. Set the angle to the first irradiation angle (30°).

Next, the control section 53 turns on the first light emitting section 68 in the first scanning section 62. Then, the control unit 53 causes the first arm unit 61 to move the first scanning unit 62 downward (in the horizontal plane in the earth coordinate system) on the front surface 3 of the workpiece 1. The front side 3 of the workpiece 1 is imaged by the first line camera 67 in the first scanning unit 62 . As a result, the left side of the front surface 3 of the workpiece 1 is scanned downward by the first scanning unit 62 at the first imaging angle and the first irradiation angle (see 1.(1) in FIG. 12). ).

The control section 53 turns on the second light emitting section 78 in the second scanning section 72 at the same time as the first light emitting section 68 turns on. Then, the control unit 53 moves the second scanning unit 72 downward (downward in the earth coordinate system) on the first side surface 5a of the workpiece 1 using the second arm unit 71. The first side surface 5a of the workpiece 1 is imaged by the second line camera 77 in the second scanning section 72. As a result, the second scanning unit 72 scans the left side of the first side surface 5a of the workpiece 1 downward at the first imaging angle and the first irradiation angle ("1" in FIG. 12). (See (1')).

Referring to FIG. 13(B), when the second scanning section 72 reaches the lower left position of the first side surface 5a, the control section 53 stops the downward movement of the second scanning section 72. . Then, the control unit 53 causes the second line camera 77 to stop imaging in the second scanning unit 72, and turns off the second light emitting unit 78. At this time, the first scanning section 62 is still scanning the front surface 3 of the workpiece 1. Next, the control section 53 controls the second arm section 71 to move the second scanning section 72 to the right.

Referring to FIG. 13(C), when the second scanning section 72 reaches the lower right position of the first side surface 5a, the control section 53 controls the rightward movement of the second scanning section 72. make it stop. Next, the control section 53 turns on the second light emitting section 78 in the second scanning section 72.

Then, the control section 53 causes the second arm section 71 to move the second scanning section 72 upwardly (also upwardly in the earth coordinate system) on the first side surface 5a. The first side surface 5a of the workpiece 1 is imaged by the second line camera 77 in the scanning section 72. As a result, the right side of the first side surface 5a of the workpiece 1 is scanned upward by the second scanning unit 72 at the first imaging angle and the first irradiation angle ("2" in FIG. 12). (See (1')).

When the second scanning section 72 reaches the lower right position of the first side surface 5a, the first scanning section 62 has reached the lower left position of the front surface 3. When the first scanning section 62 reaches the lower left position of the front surface 3, the control section 53 stops the downward movement of the first scanning section 62. Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68. Next, the control section 53 controls the first arm section 61 to move the first scanning section 62 to the right.

Referring to FIG. 13(D), when the first scanning section 62 reaches the lower right position of the front surface 3, the control section 53 stops the movement of the first scanning section 62 in the right direction. Next, the control section 53 turns on the first light emitting section 68 in the first scanning section 62.

Then, the control unit 53 performs the first scanning while moving the first scanning unit 62 upward (in the horizontal plane in the earth coordinate system) on the front surface 3 using the first arm unit 61. The front side 3 of the workpiece 1 is imaged by the first line camera 67 in the section 62 . As a result, the right side of the front surface 3 of the workpiece 1 is scanned upward by the first scanning unit 62 at the first imaging angle and the first irradiation angle (see 2.(1) in FIG. 12). ).

When the first scanning section 62 reaches the lower right position of the front surface 3, the second scanning section 72 has reached the upper right position of the first side surface 5a. When the second scanning section 72 reaches the upper right position of the first side surface 5a, the control section 53 stops the upward movement of the second scanning section 72. Then, the control unit 53 causes the second line camera 77 to stop imaging in the second scanning unit 72, and turns off the second light emitting unit 78. Then, the control unit 53 causes the second scanning unit 72 to wait at the upper right position of the first side surface 5a.

Referring to FIG. 13(E), when the first scanning section 62 reaches the upper right position of the front surface 3, the control section 53 stops the upward movement of the first scanning section 62. Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68. At this time, the second scanning section 72 is still waiting at the upper right position of the first side surface 5a.

Referring to FIG. 13(F), next, the control unit 53 changes the imaging angle of the first line camera 67 from the first imaging angle (90°) with respect to the front 3 to the second imaging angle with respect to the front 3. angle (60°). Further, the control unit 53 changes the irradiation angle of the first light emitting unit 68 from the first irradiation angle (30°) with respect to the front surface 3 to the second irradiation angle (60°) with respect to the front surface 3.

At the same time, the control unit 53 changes the imaging angle of the second line camera 77 from the first imaging angle (90°) with respect to the first side surface 5a to the second imaging angle (60°) with respect to the first side surface 5a. °). Further, the control unit 53 changes the irradiation angle of the second light emitting unit 78 from the first irradiation angle (30°) with respect to the first side surface 5a to the second irradiation angle (60°) with respect to the first side surface 5a. Change to

Referring to FIG. 14(G), next, the control unit 53 lights up the first light emitting unit 68 in the first scanning unit 62. Then, the control unit 53 causes the first arm unit 61 to move the first scanning unit 62 downward (in the horizontal plane in the earth coordinate system) on the front surface 3 of the workpiece 1. The front side 3 of the workpiece 1 is imaged by the first line camera 67 in the first scanning unit 62 . As a result, the right side of the front surface 3 of the workpiece 1 is scanned downward by the first scanning unit 62 at the second imaging angle and the second irradiation angle (see 3.(2) in FIG. 12). reference).

The control section 53 turns on the second light emitting section 78 in the second scanning section 72 at the same time as the first light emitting section 68 turns on. Then, the control unit 53 moves the second scanning unit 72 downward (downward in the earth coordinate system) on the first side surface 5a of the workpiece 1 using the second arm unit 71. The first side surface 5a of the workpiece 1 is imaged by the second line camera 77 in the second scanning section 72. As a result, the second scanning unit 72 scans the right side of the first side surface 5a of the workpiece 1 downward at the second imaging angle and the second irradiation angle ("3" in FIG. 12). (See (2')).

Referring to FIG. 14(H), when the second scanning section 72 reaches the lower right position of the first side surface 5a, the control section 53 stops the downward movement of the second scanning section 72. let Then, the control unit 53 causes the second line camera 77 to stop imaging in the second scanning unit 72, and turns off the second light emitting unit 78. At this time, the first scanning section 62 is still scanning the front surface 3 of the workpiece 1. Next, the control section 53 controls the second arm section 71 to move the second scanning section 72 to the left.

Referring to FIG. 14(I), when the second scanning section 72 reaches the lower left position of the first side surface 5a, the control section 53 stops the movement of the second scanning section 72 in the left direction. let Next, the control section 53 turns on the second light emitting section 78 in the second scanning section 72.

Then, the control section 53 causes the second arm section 71 to move the second scanning section 72 upwardly (also upwardly in the earth coordinate system) on the first side surface 5a. The first side surface 5a of the workpiece 1 is imaged by the second line camera 77 in the scanning section 72. As a result, the left side of the first side surface 5a of the workpiece 1 is scanned upward by the second scanning unit 72 at the second imaging angle and the second irradiation angle ("4" in FIG. 12). (See (2')).

When the second scanning section 72 reaches the lower left position of the first side surface 5a, the first scanning section 62 has reached the lower right position of the front surface 3. When the first scanning section 62 reaches the lower right position of the front surface 3, the control section 53 stops the downward movement of the first scanning section 62. Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68. Next, the control section 53 controls the first arm section 61 to move the first scanning section 62 to the left.

Referring to FIG. 14(J), when the first scanning section 62 reaches the lower left position of the front surface 3, the control section 53 stops the movement of the first scanning section 62 to the left. Next, the control section 53 turns on the first light emitting section 68 in the first scanning section 62.

Then, the control unit 53 performs the first scanning while moving the first scanning unit 62 upward (in the horizontal plane in the earth coordinate system) on the front surface 3 using the first arm unit 61. The front side 3 of the workpiece 1 is imaged by the first line camera 67 in the section 62 . As a result, the left side of the front surface 3 of the workpiece 1 is scanned upward by the first scanning unit 62 at the second imaging angle and the second irradiation angle (see 4.(2) in FIG. 12). ).

When the first scanning section 62 reaches the lower left position of the front surface 3, the second scanning section 72 has reached the upper left position of the first side surface 5a. When the second scanning section 72 reaches the upper left position of the first side surface 5a, the control section 53 stops the upward movement of the second scanning section 72. Then, the control unit 53 causes the second line camera 77 to stop imaging in the second scanning unit 72, and turns off the second light emitting unit 78.

Referring to FIG. 14(K), next, the control section 53 causes the second arm section 71 to rotate the second scanning section 72 so that the second scanning section 72 is positioned on the first side surface 5a. Position it on the left side. Thereby, the scanning direction of the second side surface 5b in the second scanning section 72 is changed from the vertical direction to the horizontal direction.

Also, at this time, the control unit 53 changes the imaging angle of the second line camera 77 from the second imaging angle (60°) with respect to the first side surface 5a to the first imaging angle (60°) with respect to the first side surface 5a. 90°). Further, the control unit 53 changes the irradiation angle of the second light emitting unit 78 from the second irradiation angle (60°) with respect to the first side surface 5a to the first irradiation angle (30°) with respect to the first side surface 5a. Change to

When the rotation in the second scanning section 72 and the change of the imaging angle and the irradiation angle are completed, the first scanning section 62 has reached the upper left position of the front surface 3. When the first scanning section 62 reaches the upper left position of the front surface 3, the control section 53 stops the upward movement of the first scanning section 62. Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68.

Referring to FIG. 14(L), when the rotation in the second scanning section 72 and the change in the imaging angle and the irradiation angle are completed, the control section 53 controls the second light emitting section 78 in the second scanning section 72. lights up. Then, the control unit 53 causes the second arm unit 71 to move the second scanning unit 72 to the right on the first side surface 5a of the workpiece 1, while the second scanning unit 72 moves the second scanning unit 72 to the right. The first side surface 5a of the workpiece 1 is imaged by the line camera 77. As a result, the second scanning unit 72 scans the first side surface 5a of the workpiece 1 in the right direction at the first imaging angle and the first irradiation angle ("5" (1) in FIG. 12). ')reference).

Referring to FIG. 15(M), when the second scanning section 72 is scanning the first side surface 5a rightward, the control section 53 causes the first arm section 61 to scan the first side surface 5a. The scanning section 62 is rotated to position the first scanning section 62 at the upper left of the front surface 3. As a result, the scanning direction of the first scanning unit 62 with respect to the front surface 3 is changed from the vertical direction to the horizontal direction.

Also, at this time, the control unit 53 changes the imaging angle of the first line camera 67 from the second imaging angle (60°) with respect to the front 3 to the first imaging angle (90°) with respect to the front 3. . Further, the control unit 53 changes the irradiation angle of the first light emitting unit 68 from the second irradiation angle (60°) with respect to the front surface 3 to the first irradiation angle (30°) with respect to the front surface 3.

When the rotation in the first scanning section 62 and the change of the imaging angle and the irradiation angle are completed, the second scanning section 72 is still scanning the first side surface 5a toward the right.

Referring to FIG. 15(N), when the rotation in the first scanning section 62 and the change in the imaging angle and the irradiation angle are completed, the control section 53 controls the first light emitting section 68 in the first scanning section 62. lights up. Then, the control unit 53 causes the first line camera 67 in the first scanning unit 62 to move while moving the first scanning unit 62 in the right direction on the front surface 3 of the workpiece 1 using the first arm unit 61. The front side 3 of the workpiece 1 is imaged by this. As a result, the upper side of the front surface 3 of the workpiece 1 is scanned by the first scanning unit 62 toward the right at the first imaging angle and the first irradiation angle (see 5.(1) in FIG. 12). ).

Referring to FIG. 15(O), when the second scanning section 72 reaches the position on the right side of the first side surface 5a, the control section 53 stops the movement of the second scanning section 72 in the right direction. . Then, the control unit 53 causes the second line camera 77 to stop imaging in the second scanning unit 72, and turns off the second light emitting unit 78. At this time, the first scanning section 62 is still scanning the front surface 3 of the workpiece 1 in the right direction.

Referring to FIG. 15(P), next, the control unit 53 changes the imaging angle of the second line camera 77 from the first imaging angle (90°) with respect to the first side surface 5a to the first imaging angle with respect to the first side surface 5a. 5a to the second imaging angle (60°). Further, the control unit 53 changes the irradiation angle of the second light emitting unit 78 from the first irradiation angle (30°) with respect to the first side surface 5a to the second irradiation angle (60°) with respect to the first side surface 5a. Change to

When the change of the imaging angle and the irradiation angle in the second scanning section 72 is completed, the first scanning section 62 has reached the upper right position of the front surface 3.

Referring to FIG. 15(Q), when the first scanning section 62 reaches the upper right position of the front surface 3, the control section 53 stops the movement of the first scanning section 62 in the right direction. Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68.

At this time, the control section 53 turns on the second light emitting section 78 in the second scanning section 72. Then, the control unit 53 causes the second scanning unit 72 to move to the left on the first side surface 5a of the work 1 using the second arm unit 71. The first side surface 5a of the workpiece 1 is imaged by the line camera 77. As a result, the second scanning unit 72 scans the first side surface 5a of the workpiece 1 toward the left at the second imaging angle and the second irradiation angle ("6" (2) in FIG. 12). ')reference).

Referring to FIG. 15(R), when the second scanning unit 72 is scanning the first side surface 5a toward the left, the control unit 53 controls the imaging angle of the first line camera 67 to The first imaging angle (90°) relative to the front surface 3 is changed to the first imaging angle (90°) relative to the second side surface 5b. Further, the control unit 53 changes the irradiation angle of the first light emitting unit 68 from the first irradiation angle (30°) with respect to the front surface 3 to the first irradiation angle (30°) with respect to the second side surface 5b. . At this time, the first scanning section 62 is located at the upper right position with respect to the second side surface 5b (the terms "upper, lower, left, right" in the second side surface 5b are referred to in the figure). 12).

When the change of the imaging angle and the irradiation angle in the first scanning section 62 is completed, the second scanning section 72 is still scanning the first side surface 5a toward the left.

Referring to FIG. 16(S), when the change of the imaging angle and the irradiation angle in the first scanning section 62 is completed, the control section 53 turns on the first light emitting section 68 in the first scanning section 62. Then, the control unit 53 causes the first arm unit 61 to move the first scanning unit 62 downward (also downward in the earth coordinate system) on the second side surface 5b of the workpiece 1. The second side surface 5b of the workpiece 1 is imaged by the first line camera 67 in the first scanning unit 62. As a result, the right side of the second side surface 5b of the workpiece 1 is scanned downward by the first scanning unit 62 at the first imaging angle and the first irradiation angle (6.( in FIG. 12). 1)).

Referring to FIG. 16(T), when the first scanning section 62 reaches the lower right position of the second side surface 5b, the control section 53 stops the downward movement of the first scanning section 62. let Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68. Next, the control section 53 controls the first arm section 61 to move the first scanning section 62 to the left with respect to the second side surface 5b.

When the first scanning section 62 reaches the lower right position of the second side surface 5b, the second scanning section 72 has reached the position on the left side of the first side surface 5a of the workpiece 1. When the second scanning section 72 reaches the position on the left side of the first side surface 5a, the control section 53 stops the movement of the second scanning section 72 to the left. Then, the control unit 53 causes the second line camera 77 to stop imaging in the second scanning unit 72, and turns off the second light emitting unit 78.

Referring to FIG. 16(U), when the first scanning section 62 reaches the lower left position of the second side surface 5b, the control section 53 stops the movement of the first scanning section 62 in the left direction. . Next, the control section 53 turns on the first light emitting section 68 in the first scanning section 62.

Then, the control unit 53 causes the first scanning unit 62 to move upwardly (also upwardly in the earth coordinate system) on the second side surface 5b using the first arm unit 61 while performing the first scanning. The second side surface 5b of the workpiece 1 is imaged by the first line camera 67 in the section 62. As a result, the left side of the second side surface 5b of the workpiece 1 is scanned upward by the first scanning unit 62 at the first imaging angle and the first irradiation angle (see 7. in FIG. 12). (See (1")).

Note that at this time, the control unit 53 moves the second scanning unit 72 to the standby position using the second arm unit 71, and puts the second scanning unit 72 in the standby state.

Referring to FIG. 16(V), when the first scanning section 62 reaches the upper left position of the second side surface 5b, the control section 53 stops the upward movement of the first scanning section 62. . Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68.

Referring to FIG. 16(W), next, the control unit 53 changes the imaging angle of the first line camera 67 from the first imaging angle (90°) with respect to the second side surface 5b to the second imaging angle with respect to the front surface 3. Change the imaging angle to No. 1 (90°). Further, the control unit 53 changes the irradiation angle of the first light emitting unit 68 from the first irradiation angle (60°) with respect to the second side surface 5b to the first irradiation angle (60°) with respect to the front surface 3. . At this time, the first scanning unit 62 is located at the lower right position with respect to the front surface 3 (see FIG. 12 for terms such as upper, lower, left, and right in the front surface 3).

Referring to FIG. 16(X), when the change of the imaging angle and the irradiation angle in the first scanning section 62 is completed, the control section 53 turns on the first light emitting section 68 in the first scanning section 62. Then, the control unit 53 causes the first line camera 67 in the first scanning unit 62 to move while moving the first scanning unit 62 to the left on the front surface 3 of the workpiece 1 using the first arm unit 61. The front side 3 of the workpiece 1 is imaged by this. As a result, the lower side of the front surface 3 of the workpiece 1 is scanned to the left by the first scanning unit 62 at the first imaging angle and the first irradiation angle (see 8.(1) in FIG. 12). ).

Referring to FIG. 17(Y), when the first scanning section 62 reaches the lower left position of the front surface 3, the control section 53 stops the movement of the first scanning section 62 to the left. Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68.

Referring to FIG. 17(Z), the control unit 53 next changes the imaging angle of the first line camera 67 from the first imaging angle (90°) with respect to the front 3 to the second imaging angle with respect to the front 3. Change the angle to (60°). Further, the control unit 53 changes the irradiation angle of the first light emitting unit 68 from the first irradiation angle (30°) with respect to the front surface 3 to the second irradiation angle (60°) with respect to the front surface 3.

Referring to FIG. 17(A'), next, the control section 53 lights up the first light emitting section 68 in the first scanning section 62. Then, the control unit 53 causes the first line camera 67 in the first scanning unit 62 to move while moving the first scanning unit 62 in the right direction on the front surface 3 of the workpiece 1 using the first arm unit 61. The front side 3 of the workpiece 1 is imaged by this. As a result, the lower side of the front surface 3 of the workpiece 1 is scanned by the first scanning unit 62 toward the right at the second imaging angle and the second irradiation angle (see 9.(2) in FIG. 12). ).

Referring to FIG. 17(B'), when the first scanning section 62 reaches the lower right position of the front surface 3, the control section 53 stops the movement of the first scanning section 62 in the right direction. Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68.

Referring to FIG. 17(C'), next, the control unit 53 changes the imaging angle of the first line camera 67 from the second imaging angle (60°) relative to the front surface 3 to the second imaging angle relative to the second side surface 5b. Change to the second imaging angle (60°). Further, the control unit 53 changes the irradiation angle of the first light emitting unit 68 from the second irradiation angle (60°) with respect to the front surface 3 to the second irradiation angle (60°) with respect to the second side surface 5b. . At this time, the first scanning section 62 is located at the upper left position with respect to the second side surface 5b (the terms "upper, lower, left, right" in the second side surface 5b are referred to in the figure). 12).

Referring to FIG. 17(D'), next, the control section 53 turns on the first light emitting section 68 in the first scanning section 62. Then, the control unit 53 causes the first arm unit 61 to move the first scanning unit 62 downward (also downward in the earth coordinate system) on the second side surface 5b of the workpiece 1. The second side surface 5b of the workpiece 1 is imaged by the first line camera 67 in the first scanning unit 62. As a result, the left side of the second side surface 5b of the workpiece 1 is scanned downward by the first scanning unit 62 at the second imaging angle and the second irradiation angle (10 in FIG. 12). 2")).

Referring to FIG. 18(E'), when the first scanning section 62 reaches the lower left position of the second side surface 5b, the control section 53 stops the downward movement of the first scanning section 62. let Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68. Next, the control section 53 controls the first arm section 61 to move the first scanning section 62 to the right with respect to the second side surface 5b.

Referring to FIG. 18(F'), when the first scanning section 62 reaches the lower right position of the second side surface 5b, the control section 53 controls the rightward movement of the first scanning section 62. make it stop. Next, the control section 53 turns on the first light emitting section 68 in the first scanning section 62.

Then, the control unit 53 causes the first scanning unit 62 to move upwardly (also upwardly in the earth coordinate system) on the second side surface 5b using the first arm unit 61 while performing the first scanning. The second side surface 5b of the workpiece 1 is imaged by the first line camera 67 in the section 62. Thereby, the right side of the first side surface 5a of the workpiece 1 is scanned upward by the first scanning unit 62 at the second imaging angle and the second irradiation angle (see 11. in FIG. 12). (See (2")).

Referring to FIG. 18(G'), when the first scanning section 62 reaches the upper right position of the second side surface 5b, the control section 53 stops the upward movement of the first scanning section 62. let Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68.

Referring to FIG. 18(H'), next, the control unit 53 changes the imaging angle of the first line camera 67 from the second imaging angle (60°) relative to the second side surface 5b to the second imaging angle relative to the front surface 3. Change to the second imaging angle (60°). Further, the control unit 53 changes the irradiation angle of the first light emitting unit 68 from the second irradiation angle (60°) toward the second side surface 5b to the second irradiation angle (60°) toward the front surface 3. . At this time, the first scanning unit 62 is located at the upper right position with respect to the front surface 3 (see FIG. 12 for terms such as upper, lower, left, and right in the front surface 3).

Referring to FIG. 18(I'), next, the control section 53 lights up the first light emitting section 68 in the first scanning section 62. Then, the control unit 53 causes the first line camera 67 in the first scanning unit 62 to move while moving the first scanning unit 62 to the left on the front surface 3 of the workpiece 1 using the first arm unit 61. The front side 3 of the workpiece 1 is imaged by this. As a result, the upper side of the front surface 3 of the workpiece 1 is scanned by the first scanning unit 62 toward the left at the second imaging angle and the second irradiation angle (see 12.(2) in FIG. 12). ).

Referring to FIG. 18(J'), when the first scanning section 62 reaches the upper left position of the front surface 3, the control section 53 stops the movement of the first scanning section 62 to the left. Then, the control unit 53 causes the first line camera 67 to stop imaging in the first scanning unit 62, and turns off the first light emitting unit 68.

At this time, the control section 53 controls the second arm section 71 to position the second scanning section 72 on the left side of the second side surface 5b (upper, lower, left, (See Figure 12 for the term right). Then, the control unit 53 sets the imaging angle of the second line camera 77 to the first imaging angle (90°) with respect to the second side surface 5b, and sets the irradiation angle of the second light emitting unit 78 to the second imaging angle (90°) with respect to the second side surface 5b. is set to the first irradiation angle (30°) with respect to the side surface 5b.

Next, the control section 53 turns on the second light emitting section 78 in the second scanning section 72. Then, the control unit 53 causes the second arm unit 71 to move the second scanning unit 72 in the right direction on the second side surface 5b of the workpiece 1, while the second scanning unit 72 moves the second scanning unit 72 in the right direction. The second side surface 5b of the workpiece 1 is imaged by the line camera 77. As a result, the second side surface 5b of the workpiece 1 is scanned rightward by the second scanning unit 72 at the first imaging angle and the first irradiation angle ("7" (1) in FIG. 12). ")reference).

Referring to FIG. 19(K'), when the second scanning section 72 reaches the position on the right side of the second side surface 5b, the control section 53 controls the rightward movement of the second scanning section 72. make it stop. Then, the control unit 53 causes the second line camera 77 to stop imaging in the second scanning unit 72, and turns off the second light emitting unit 78.

Note that at this time, the control unit 53 moves the first scanning unit 62 to the standby position using the first arm unit 61, and puts the first scanning unit 62 in a standby state.

Referring to FIG. 19(L'), next, the control unit 53 changes the imaging angle of the second line camera 77 from the first imaging angle (90°) with respect to the second side surface 5b to the second imaging angle. The imaging angle is changed to the second imaging angle (60°) with respect to the side surface 5b. Further, the control unit 53 changes the irradiation angle of the second light emitting unit 78 from the first irradiation angle (30°) with respect to the second side surface 5b to the second irradiation angle (60°) with respect to the second side surface 5b. Change to

Referring to FIG. 19(M'), next, the control section 53 lights up the second light emitting section 78 in the second scanning section 72. Then, the control unit 53 causes the second arm unit 71 to move the second scanning unit 72 to the left on the second side surface 5b of the workpiece 1, while the second scanning unit 72 moves the second scanning unit 72 to the left. The second side surface 5b of the workpiece 1 is imaged by the line camera 77. As a result, the second side surface 5b of the workpiece 1 is scanned to the left by the second scanning unit 72 at the second imaging angle and the second irradiation angle ("8" (2) in FIG. 12). ")reference).

Referring to FIG. 19(N'), when the second scanning section 72 reaches the position on the left side of the second side surface 5b, the control section 53 stops the movement of the second scanning section 72 in the left direction. let Then, the control unit 53 causes the second line camera 77 to stop imaging in the second scanning unit 72, and turns off the second light emitting unit 78.

Referring to FIG. 19(O'), next, the control section 53 causes the second arm section 71 to move the second scanning section 72 to the standby position, and brings the second scanning section 72 into the standby state. do.

After this, the workpiece 1 is turned upside down by the first transport device 80 and placed on the mounting table 52 of the second visual inspection device 50B with the back surface 4 facing upward. Then, in the same flow as described above, the back surface 4, third side surface 5c, and fourth side surface 5d of the workpiece 1 are inspected by the second appearance inspection device 50B.

(Reason why work 1 is inspected by the operations shown in Figures 12 to 19)
Here, the reason why the workpiece 1 is inspected by the operations shown in FIGS. 12 to 19 will be explained. When inspecting the appearance of the three surfaces in the first scanning section 62 and the second scanning section 72, it is necessary to consider the following points 1) to 4).

1) The first scanning section 62 and the second scanning section 72 complete the scanning of three surfaces in as short a time as possible (reducing inspection time).
2) Inspect the appearance of the workpiece 1 as accurately as possible using the first scanning section 62 and the second scanning section 72.
3) The first scanning section 62 and the second scanning section 72 do not collide with each other.
4) To prevent the light from the first light emitting unit 68 in the first scanning unit 62 from causing optical interference that would adversely affect the imaging by the second line camera 77 in the second scanning unit 72. Similarly, light from the second light emitting unit 78 in the second scanning unit 72 should be prevented from causing optical interference that would adversely affect imaging by the first line camera 67 in the first scanning unit 62. .

First, in order to shorten the inspection time, the control section 53 causes the first scanning section 62 to scan the front surface 3 of the work 1, and at the same time causes the second scanning section 72 to scan the front surface 3 of the work 1. The side surface 5a is being scanned. Further, in order to shorten the inspection time, the control section 53 causes the first scanning section 62 and the second scanning section 72 to cooperate and share the scanning of the second side surface 5b.

Note that if the first scanning section 62 and the second scanning section 72 scan the second side surface 5b at the same time, the two scanning sections 62 and 67 will collide with each other. Therefore, the timing at which the second side surface 5b is scanned by the first scanning unit 62 (see FIGS. 16(S) to 16(V), FIGS. 17(D') to 18(G')) and The timing at which the second side surface 5b is scanned by the second scanning unit 72 (see FIGS. 18(J') to 19(N')) is shifted.

Furthermore, in order to accurately inspect the appearance of the workpiece 1, the control unit 53 causes the first scanning unit 62 to scan the front surface 3 of the workpiece 1 multiple times at different imaging angles and different irradiation angles. . Similarly, the control unit 53 causes the second scanning unit 72 to scan the first side surface 5a of the workpiece 1 multiple times at different imaging angles and different irradiation angles.

In addition, in order to accurately inspect the appearance of the workpiece 1, the control unit 53 causes the first scanning unit 62 to scan the front surface 3 of the workpiece 1 multiple times in different scanning directions (vertical direction, horizontal direction). I'm letting you do it. Similarly, the control unit 53 causes the second scanning unit 72 to scan the first side surface 5a of the workpiece 1 multiple times in different scanning directions.

Note that, regarding the second side surface 5b, the duties of the first scanning section 62 and the second scanning section 72 are allocated according to the scanning direction. Specifically, in the present embodiment, the control section 53 causes the first scanning section 62 to scan the second side surface 5b in the vertical direction, and causes the second scanning section 72 to scan the second side surface 5d in the left and right directions. It is scanned in the direction.

Here, in FIG. 12, 5. (1), 6. (1"), 7. (1"), 8. Let us focus on the movement of the first scanning unit 62 in (1) (corresponding to FIGS. 15(N) to 17(Y)). First, the first scanning unit 62 scans the upper side of the front face 3 in the right direction and reaches the upper right position of the front face 3 (5.(1) in FIG. 12). A second side surface 5b exists beyond the upper right position of the front surface 3, and the first scanning section 62 scans the right side of the first side surface 5a downward in the same flow. (6.(1") in Figure 12).

After that, the first scanning unit 62 scans the left side of the second side surface 5b upward and reaches the upper left position of the second side surface 5b (7.(1'') in FIG. 12). The front face 3 exists beyond the upper left position of the second side face 5b, and the first scanning unit 62 scans the lower side of the front face 3 in the left direction ( 8.(1) in Figure 12).

In addition, in FIG. 12, 9. (2), 10. (2"), 11. (2"), 12. Also in (2), the first scanning unit 62 is similar to 5. except that the imaging angle and the irradiation angle are different. (1), 6. (1"), 7. (1"), 8. The movement is basically the same as (1).

That is, in the present embodiment, the control section 53 causes the first scanning section 62 to scan the front surface 3 of the workpiece 1 in the left-right direction and the first side surface 5a of the workpiece 1 (in the scanning direction with respect to the front surface 3). Inspection time is shortened by performing vertical scanning on adjacent surfaces as a series of steps.

Next, optical interference will be explained. In this embodiment, the control unit 53 controls the scanning movements of the first scanning unit 62 and the second scanning unit 72 so that optical interference does not occur.

Typically, the control unit 53 controls the distance between the first scanning unit 62 and the second scanning unit 72 so that the distance between the first scanning unit 62 and the second scanning unit 72 that are scanning does not become as close as possible. controls the movement of

This is shown, for example, in FIGS. 13(A), 14(G), 15(N), and 16(S). In FIGS. 13(A) and 14(G), when the first scanning unit 62 is moving downward on the front surface 3 of the work 1, the second scanning unit 72 1 and is moved downward on the side surface 5a. Thereby, the distance between the first scanning section 62 and the second scanning section 72 is maintained, and optical interference is prevented.

In FIG. 15(N), when the second scanning section 72 is moved toward the right on the first side surface 5a of the workpiece 1 and has advanced to a certain extent, the first scanning section 62 moves toward the right side of the workpiece 1. At the front 3, scanning is started in the right direction. Thereby, the distance between the first scanning section 62 and the second scanning section 72 is maintained, and optical interference is prevented.

In FIG. 16(S), when the second scanning unit 72 is moved toward the left on the first side surface 5a of the work 1 and has advanced to a certain extent, the first scanning unit 62 A downward scan is started on the second side surface 5b. This increases the distance between the first scanning section 62 and the second scanning section 72, thereby preventing optical interference.

Further, when the distance between the first scanning section 62 and the second scanning section 72 is less than or equal to a certain distance, the control section 53 controls whether the first light emitting section 68 and the second light emitting section 78 are turned on or off. It controls timing, imaging start timing, and imaging end timing (scanning start and end timing) of the first line camera 67 and second line camera 77.

This is shown, for example, in FIG. 13(C), FIG. 13(D), FIG. 14(I), FIG. 14(J), FIG. 15(Q), etc.

In FIGS. 13(C) and 14(I), the distance between the first scanning section 62 and the second scanning section 72 is a certain distance or less. On the other hand, at the timing when the first scanning section 62 reaches the lower side of the front surface 3, the imaging by the first line camera 67 is completed, and the first light emitting section 68 is turned off, the second light emitting section 78 is turned off. When the light is emitted, the second line camera 77 starts imaging. This prevents optical interference.

Similarly, in FIGS. 13(D) and 14(J), the distance between the first scanning section 62 and the second scanning section 72 is equal to or less than a certain distance. On the other hand, at the timing when the second scanning section 72 reaches the upper side of the first side surface 5a, the imaging of the second line camera 77 is completed, and the second light emitting section 78 is turned off, the first light emitting section 78 is turned off. 68 emits light and the first line camera 67 starts imaging. This prevents optical interference.

Similarly, in FIG. 15(Q), the distance between the first scanning section 62 and the second scanning section 72 is less than or equal to a certain distance. On the other hand, at the timing when the first scanning section 62 reaches the right side of the front surface 3, the imaging by the first line camera 67 is finished, and the first light emitting section 68 is turned off, the second light emitting section 78 starts emitting light. Then, imaging by the second line camera 77 is started. This prevents optical interference.

Here, with reference to FIGS. 14(L) to 16(T), the second scanning section 72 is in a state where the second light emitting section 78 is upright (the longitudinal direction of the first light emitting section 68 is The first side surface 5a is scanned in the vertical direction of the earth coordinate system. Further, with reference to FIGS. 18(J') to 19(N'), the second scanning section 72 is scanning the second side surface 5b with the second light emitting section 78 upright. .

On the other hand, the vertical widths of the first side surface 5a and the second side surface 5b are smaller than the length of the second light emitting section 78. Therefore, when light is irradiated onto the side surface 5 with the second light emitting section 78 in an upright position, the second light emitting section 78 is in a lying state (the longitudinal direction of the second light emitting section 78 is (horizontal direction of the coordinate system), the amount of light leaking toward the front surface 3 is greater than when light is irradiated onto the side surface 5.

In other words, when the second light emitting section 78 is upright, the second light emitting section 78 in the second scanning section 72 is closer to the first scanning section than when the second light emitting section 78 is lying down. Optical interference that adversely affects imaging by the first line camera 67 at 62 is likely to occur.

Therefore, as shown in FIGS. 18(J') to 19(N'), the side surface 5 is basically scanned by the second scanning unit 72 with the second light emitting unit 78 upright. The first scanning unit 62 does not scan the front surface 3 when the camera is moving. Alternatively, as shown in FIGS. 14(L) to 15(O), when the side surface 5 is being scanned by the second scanning unit 72 with the second light emitting unit 78 upright, the first The scanning section 62 may scan the front surface 3, but in this case, at least the distance between the first scanning section 62 and the second scanning section 72 is maintained at a certain distance or more.

Note that the second light emitting section 78 may be configured to be partially lit. In this case, in the upright state, the second light emitting section 78 is partially illuminated at a portion corresponding to the width of the side surface 5 in the vertical direction, and the other portion is turned off. This prevents optical interference.

Furthermore, the first light emitting section 68 and the second light emitting section 78 may be configured to be able to emit light in different wavelength regions. Such a method can also prevent optical interference.

<Effect, etc.>
[Abnormal noise inspection device 10]
As described above, in the abnormal noise inspection apparatus 10 according to the present embodiment, the hand section 31 holding the workpiece 1 is moved by the arm section 21 to convey the workpiece 1, and the sound detection section 35 detects the workpiece 1. The sound of workpiece 1 is detected while it is being transported. Then, abnormal noise generated from the workpiece 1 is inspected based on the detected sound signal.

In other words, the abnormal noise inspection device 10 according to the present embodiment has two functions: a function as a conveyance device that conveys the workpiece 1, and a function as an abnormal noise inspection device that inspects abnormal noises generated from the workpiece 1. ing. Therefore, with this abnormal noise inspection device 10, the abnormal noise of the work 1 can be inspected while the work 1 is being transported, and the abnormal noise inspection of the work 1 can be efficiently performed. Furthermore, with the abnormal noise inspection device 10 according to this embodiment, costs can be reduced compared to the case where the conveyance device and the abnormal noise inspection device are prepared separately.

Further, in the abnormal noise inspection device 10 according to the present embodiment, the hand portion 31 holding the work 1 is moved clockwise, and the work 1 is conveyed to the seal pasting device 40. On the other hand, the hand portion 31 holding the workpiece 1 is moved counterclockwise, and the workpiece 1 is transported from the seal applying device 40 to the first visual inspection device 50A.

Then, the sound generated from the work 1 in response to the clockwise movement of the work 1 and the sound generated from the work 1 in response to the counterclockwise movement of the work 1 are detected by the sound detection unit 35. Based on the generated sound signal, abnormal noise generated from the workpiece 1 is inspected.

In this way, by transporting the workpiece 1 clockwise and counterclockwise and inspecting the abnormal noise generated from the workpiece 1 based on the sound generated from the workpiece 1 at that time, abnormal noise can be properly inspected. be able to. Note that the direction in which the workpiece 1 is moved may be upward or downward in the earth coordinate system.

Further, in the abnormal noise inspection device 10 according to the present embodiment, when the work 1 is conveyed to the sticker pasting device 40, the work 1 is The posture (the posture of the hand section 31) is changed. Similarly, when the workpiece 1 is transported from the seal pasting device 40 to the first visual inspection device 50A, the workpiece 1 is placed on the mounting table 52 of the first visual inspection device 50A. The posture (the posture of the hand section 31) is changed.

Then, the sound detection unit 35 detects the sound generated from the work 1 according to the change in the posture of the work 1, and the abnormal noise generated from the work 1 is inspected based on the detected sound signal.

In this way, by changing the posture of the workpiece 1 while the workpiece 1 is being transported and inspecting the abnormal noise generated by the workpiece 1 based on the sound generated from the workpiece 1 at that time, abnormal noise can be appropriately detected. Can be inspected.

Further, in the abnormal noise inspection device 10 according to the present embodiment, the sound detection section 35 is provided in the hand section 31. Thereby, the sound generated from the workpiece 1 while the workpiece 1 is being transported can be appropriately detected. Note that the sound detection section 35 may be provided in other parts of the robot arm section 12 (such as the arm section 21).

Furthermore, in the abnormal noise inspection device 10 according to the present embodiment, the sound detection section 35 is configured to detect the sound by contacting the workpiece 1, and the sound detection section 35 is configured with an AE sensor. ing. Thereby, abnormal noise generated from the workpiece 1 can be detected more appropriately.

Note that the sound detection unit 35 may be configured to detect sound without contacting the workpiece 1. In this case, the sound detection section 35 may be configured by a microphone. Even if the sound detection unit 35 is configured in this way, abnormal noise generated from the workpiece 1 can be appropriately detected.

Note that the frequency band of the abnormal noise to be detected may be the same frequency band as the frequency band of surrounding environmental sounds. In this case, the sound detection unit 35 of the type that detects sound without contacting the workpiece 1 may not be able to appropriately detect abnormal noise due to surrounding environmental sounds. Therefore, for example, in such a case, a type of sound detection unit 35 that detects sound by contacting the workpiece 1 may be used.

Further, in the abnormal noise inspection device 10, abnormal noise generated from the workpiece 1 is inspected based on a signal in a specific frequency band (frequency band corresponding to abnormal noise) in the sound signal detected by the sound detection unit 35. . Thereby, abnormal noises can be properly inspected.

Further, in the abnormal sound inspection device 10 according to the present embodiment, a signal in a specific frequency band (frequency band corresponding to the abnormal noise) is integrated, and the signal generated from the workpiece 1 is detected based on the integrated value. Abnormal noises are checked. This makes it possible to determine the average size of the abnormal noise in the frequency band corresponding to the abnormal noise, so that the abnormal noise can be inspected more appropriately.

[Appearance inspection device 50]
In the appearance inspection apparatus 50 according to the present embodiment, when the front surface 3 (back surface 4) of the workpiece is being scanned by the first scanning section 62, the second scanning section 72 simultaneously scans the first side surface 5a (back surface 4) of the workpiece. 3 side 5c) is scanned. Thereby, the visual inspection apparatus according to the present embodiment can efficiently and quickly complete the visual inspection of the workpiece 1.

Here, there is a problem that visual inspection tends to take more time than other processes on the production line, and it is difficult to balance the takt time with other processes. Particularly, when the workpiece 1 has a relatively wide area to be inspected, such as a stationary game machine, such a problem is likely to occur. On the other hand, in this embodiment, since the inspection time in the visual inspection can be shortened, it becomes easy to balance the takt time with other processes.

Furthermore, in this embodiment, one visual inspection device 50 includes two robot arm sections 60 and 70, so for example, one visual inspection device 50 includes one robot arm section. The number of visual inspection devices 50 can be reduced compared to the case. Thereby, costs can be reduced. Furthermore, the installation space for the inspection system 100 can be reduced, increasing the degree of freedom in space management in the production area.

Further, in the appearance inspection apparatus 50 according to the present embodiment, the first scanning section 62 has a first light emitting section 68, and the second scanning section 72 has a second light emitting section 78. ing.

Thereby, light can be appropriately irradiated onto the locations where the first line camera 67 and the second line camera 77 image.

Further, in the appearance inspection apparatus 50 according to the present embodiment, in the first scanning unit 62, the imaging angle at which the first line camera 67 images the front surface 3 (back surface 4) of the workpiece 1 is adjusted, and The irradiation angle at which the light emitting section 68 irradiates light onto the front surface 3 (rear surface 4) of the workpiece 1 is adjusted. Similarly, in the appearance inspection apparatus 50 according to the present embodiment, in the second scanning unit 72, the imaging angle at which the second line camera 77 images the first side surface 5a (third side surface 5c) of the workpiece 1 is set. In addition, the irradiation angle at which the second light emitting section 78 irradiates light onto the first side surface 5a (third side surface 5c) of the workpiece 1 is adjusted.

Thereby, the appearance of the workpiece 1 can be accurately inspected.

Furthermore, in the appearance inspection apparatus 50 according to the present embodiment, the first scanning unit 62 scans the front surface 3 (back surface 4) of the workpiece 1 multiple times at different imaging angles and different irradiation angles. Thereby, the appearance of the workpiece 1 can be inspected more accurately.

Similarly, in the appearance inspection apparatus 50 according to the present embodiment, the second scanning unit 72 scans the first side surface 5a (third side surface 5c) of the workpiece 1 multiple times at different imaging angles and different irradiation angles. scanned across. Thereby, the appearance of the workpiece 1 can be inspected more accurately.

Furthermore, in the appearance inspection apparatus 50 according to the present embodiment, the first scanning unit 62 scans the front surface 3 (back surface 4) of the workpiece 1 multiple times in different scanning directions. Thereby, the appearance of the workpiece 1 can be inspected more accurately.

Further, in the appearance inspection apparatus 50 according to the present embodiment, the second scanning section 72 scans the first side surface 5a (third side surface 5c) of the workpiece 1 multiple times in different scanning directions. Thereby, the appearance of the workpiece 1 can be inspected more accurately.

Moreover, in the appearance inspection apparatus 50 according to the present embodiment, the second side surface 5b (fourth side surface 5d) is scanned by the first scanning section 62 and the second scanning section 72 in cooperation. Thereby, the inspection time in the visual inspection can be further shortened.

Further, in the appearance inspection apparatus 50 according to the present embodiment, the first scanning section 62 scans the second side surface 5b (fourth side surface 5d) in the vertical direction, and the second scanning section 72 scans the second side surface 5b (fourth side surface 5d). The side surface 5b (fourth side surface 5d) of is scanned in the left-right direction. Thereby, the inspection time in the visual inspection can be further shortened. Note that the second side surface 5b (fourth side surface 5d) may be allocated to the first scanning section 62 and the second scanning section 72 depending on the imaging angle and the irradiation angle. .

In addition, in the appearance inspection device 50 according to the present embodiment, light interference in which the light from the first light emitting section 68 interferes with imaging by the second line camera 77, and light interference from the second light emitting section 78 may occur. The scanning movements of the first scanning section 62 and the second scanning section 72 are controlled so that light interference in which light interferes with imaging by the first line camera 67 does not occur. Thereby, optical interference can be appropriately prevented.

Further, in the appearance inspection apparatus 50 according to the present embodiment, the timing of lighting and extinguishing of the first light emitting section 68 and the second light emitting section 78 is controlled so that optical interference does not occur. Thereby, optical interference can be more appropriately prevented.

Furthermore, in the appearance inspection apparatus 50 according to the present embodiment, the timings for starting and ending imaging by the first line camera 67 and the second line camera 77 are controlled so that optical interference does not occur. Thereby, optical interference can be more appropriately prevented.

In addition, in the appearance inspection apparatus 50 according to the present embodiment, the front surface 3 (back surface 4) is scanned by the first scanning section 62, and the first side surface 5a (back surface 4) is scanned by the second scanning section 72. The side surface 5c) of No. 3 and the second side surface 5b (fourth side surface 5d), which is jointly scanned by the first scanning section 62 and the second scanning section 72, are adjacent to each other. Thereby, multiple surfaces of the workpiece 1 can be efficiently inspected by the first scanning section 62 and the second scanning section 72.

Here, in this embodiment, the first visual inspection device 50A and the second visual inspection device 50B are each formed into a unit. In this way, by unitizing the visual inspection device 50, it is possible to appropriately respond to fluctuations in the production amount (increase or decrease in the production amount) of the workpieces 1 on the production line. In particular, by unitizing the visual inspection device 50, it is possible to appropriately respond to fluctuations in the production amount by decimal times, such as when the production amount of the workpiece 1 is increased by 1.3 times or 1.5 times. I can do it.

When dealing with fluctuations in production, for example, another visual inspection device 50 may be arranged in series behind the first visual inspection device 50A and the second visual inspection device 50B. In this case, the three visual inspection devices 50 may each inspect two of the six surfaces of the workpiece 1. Note that another visual inspection device 50 to be added may be arranged in parallel to the first visual inspection device 50A and the second visual inspection device 50B. Furthermore, the number of visual inspection devices 50 that can be added is not limited to one. Furthermore, one of the first visual inspection device 50A and the second visual inspection device 50B may be omitted. In this case, one visual inspection device 50 inspects all six sides of the workpiece 1.

≪Various variations≫
In the above explanation, the case where the work 1 is a stationary game machine has been explained. On the other hand, the work 1 may be various electronic devices other than a stationary game machine, various automobile parts, or the like. Typically, the work 1 may be any object to be inspected as long as it has a multifaceted shape (it may be a thin object such as a substrate).

The present technology can also have the following configuration.
(1) a first robot arm section including a first arm section and a first scanning section that includes a first line camera and is provided on the first arm section;
a second robot arm having a second arm and a second scanning unit that includes a second line camera and is provided on the second arm;
While the first arm section moves the first scanning section in the scanning direction on the first surface of the workpiece having a first surface and a second surface, using the first line camera, imaging the first surface and causing the first scanning section to scan the first surface, and when the first surface is being scanned by the first scanning section, While moving the second scanning section on the second surface in the scanning direction by the arm section, the second line camera captures an image of the second surface, and the second scanning section and a control unit that scans the second surface.
(2) The appearance inspection device according to (1) above,
The first scanning unit further includes a first light emitting unit that is moved in the scanning direction together with the first line camera and irradiates light to a location where the first line camera images. Device.
(3) The appearance inspection device according to (2) above,
The control unit adjusts an imaging angle at which the first line camera images the first surface, and adjusts an irradiation angle at which the first light emitting unit irradiates light to the first surface. Appearance inspection equipment.
(4) The appearance inspection device according to (4) above,
The control unit causes the first scanning unit to scan the first surface multiple times at different imaging angles and different irradiation angles.
(5) The visual inspection device according to any one of (2) to (4) above,
The second scanning unit further includes a second light emitting unit that is moved in the scanning direction together with the second line camera and irradiates light to a location where the second line camera images. Device.
(6) The appearance inspection device according to (5) above,
The control unit adjusts an imaging angle at which the second line camera images the second surface, and adjusts an irradiation angle at which the second light emitting unit irradiates light to the second surface. Appearance inspection equipment.
(7) The appearance inspection device according to (6) above,
The control unit causes the second scanning unit to scan the second surface multiple times at different imaging angles and different irradiation angles.
(8) The visual inspection device according to any one of (1) to (7) above,
The control section causes the first scanning section to scan the first surface a plurality of times in different scanning directions. Appearance inspection apparatus.
(9) The visual inspection device according to any one of (1) to (8) above,
The control section causes the second scanning section to scan the second surface multiple times in different scanning directions. The external appearance inspection apparatus.
(10) The visual inspection device according to any one of (1) to (9) above,
The work further has a third surface,
The control section causes the first scanning section and the second scanning section to cooperatively scan the third surface. Appearance inspection apparatus.
(11) The appearance inspection device according to (10) above,
The control section causes the first scanning section to scan the third surface in a predetermined scanning direction, and causes the second scanning section to scan the third surface in a direction different from the predetermined scanning direction. Appearance inspection device that scans in different directions.
(12) The appearance inspection device according to (5) above,
The control unit is configured to prevent light interference in which light from the first light emitting unit interferes with imaging by the second line camera, and light from the second light emitting unit to interfere with imaging by the first line camera. A visual inspection device that controls scanning movements by the first scanning section and the second scanning section so as not to cause optical interference that would interfere with imaging.
(13) The appearance inspection device according to (12) above,
The control section controls lighting and extinguishing timings of the first light emitting section and the second light emitting section so that the optical interference does not occur.
(14) The appearance inspection device according to (12) or (13) above,
The control unit controls the timing of starting and ending imaging by the first line camera and the second line camera so that the optical interference does not occur.
(15) The visual inspection device according to any one of (1) to (14) above,
The first surface and the second surface are surfaces adjacent to each other. Appearance inspection device.
(16) The appearance inspection device according to (10) above,
The first surface, the second surface, and the third surface are surfaces adjacent to each other. Appearance inspection apparatus.
(17) First scanning of the first robot arm section on the first surface of the workpiece having a first surface and a second surface by the first arm section of the first robot arm section. while moving the unit in a scanning direction, causing a first line camera of the first scanning unit to image the first surface, and causing the first scanning unit to scan the first surface;
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. Appearance inspection method.
(18) First scanning of the first robot arm section on the first surface of the workpiece having a first surface and a second surface by the first arm section of the first robot arm section. while moving the unit in a scanning direction, causing a first line camera of the first scanning unit to image the first surface, and causing the first scanning unit to scan the first surface;
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. A program that allows a computer to function as a control unit.
(19) First scanning of the first robot arm section on the first surface of the workpiece having a first surface and a second surface by the first arm section of the first robot arm section. while moving the unit in a scanning direction, causing a first line camera of the first scanning unit to image the first surface, and causing the first scanning unit to scan the first surface;
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. ,
A method for manufacturing a workpiece, wherein the quality of the workpiece is determined based on an image taken by a first line camera and an image taken by a second line camera.

1...Work 2...Casing 3...Front 4...Back 5...Side 5a to 5d...First side to fourth side 13...Control section 10...Abnormal noise inspection device 12...Robot arm section 21...Arm section 31... Hand section 35...Sound detection section 40...Seal pasting device 50...Appearance inspection device 50A...First appearance inspection device 50B...Second appearance inspection device 53...Control section 60...First robot arm section 61...First appearance inspection device Arm part 62... First scanning part 67... First line camera 68... First light emitting part 70... Second robot arm part 71... Second arm part 72... Second scanning part 77... Second Line camera 78...Second light emitting unit 80...First transport device 90...Second transport device 100...Inspection system

Claims (17)

a first robot arm section having a first arm section and a first scanning section including a first line camera and provided on the first arm section;
a second robot arm having a second arm and a second scanning unit that includes a second line camera and is provided on the second arm;
While the first arm section moves the first scanning section in the scanning direction on the first surface of the workpiece having a first surface and a second surface, using the first line camera, imaging the first surface and causing the first scanning section to scan the first surface, and when the first surface is being scanned by the first scanning section, While moving the second scanning section on the second surface in the scanning direction by the arm section, the second line camera captures an image of the second surface, and the second scanning section a control unit that scans the second surface;
The work further has a third surface,
The control section causes the first scanning section and the second scanning section to cooperatively scan the third surface, and causes the first scanning section to scan the third surface in a predetermined scanning direction. and the second scanning unit scans the third surface in a manner that intersects with the predetermined scanning direction in the plane so as to overlap the same area as the area scanned by the first scanning unit on the third surface. Appearance inspection device that scans in different directions. The appearance inspection device according to claim 1,
The first scanning unit further includes a first light emitting unit that is moved in the scanning direction together with the first line camera and irradiates light to a location where the first line camera images. Device. The appearance inspection device according to claim 2,
The control unit adjusts an imaging angle at which the first line camera images the first surface, and adjusts an irradiation angle at which the first light emitting unit irradiates light to the first surface. Appearance inspection equipment. The appearance inspection device according to claim 3,
The control unit causes the first scanning unit to scan the first surface multiple times at different imaging angles and different irradiation angles. The appearance inspection device according to claim 2,
The second scanning unit further includes a second light emitting unit that is moved in the scanning direction together with the second line camera and irradiates light to a location where the second line camera images. Device. The appearance inspection device according to claim 5,
The control unit adjusts an imaging angle at which the second line camera images the second surface, and adjusts an irradiation angle at which the second light emitting unit irradiates light to the second surface. Appearance inspection equipment. The appearance inspection device according to claim 6,
The control unit causes the second scanning unit to scan the second surface multiple times at different imaging angles and different irradiation angles. The appearance inspection device according to claim 1,
The control unit causes the first scanning unit to scan the same area of the first surface multiple times in scanning directions that intersect within the plane. The appearance inspection device according to claim 1,
The control unit causes the second scanning unit to scan the same area of the second surface multiple times in scanning directions that intersect within the plane. The appearance inspection device according to claim 5,
The control unit is configured to prevent light interference in which light from the first light emitting unit interferes with imaging by the second line camera, and light from the second light emitting unit to interfere with imaging by the first line camera. An external appearance inspection apparatus that controls scanning movements by the first scanning section and the second scanning section so as not to cause optical interference that would interfere with imaging. The appearance inspection device according to claim 10,
The control section controls lighting and extinguishing timings of the first light emitting section and the second light emitting section so that the optical interference does not occur. The appearance inspection device according to claim 10,
The control unit controls the timing of starting and ending imaging by the first line camera and the second line camera so that the optical interference does not occur. The appearance inspection device according to claim 1,
The first surface and the second surface are surfaces adjacent to each other. Appearance inspection device. The appearance inspection device according to claim 1,
The first surface, the second surface, and the third surface are surfaces adjacent to each other. Appearance inspection apparatus. The first arm section of the first robot arm section causes the first arm section of the first robot arm section to move the first section of the first robot arm section onto the first surface of the workpiece having a first surface, a second surface, and a third surface. While moving the scanning unit in the scanning direction, a first line camera of the first scanning unit captures an image of the first surface, and causes the first scanning unit to scan the first surface. ,
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. ,
The first scanning section and the second scanning section cooperatively scan the third surface, and the first scanning section scans the third surface in a predetermined scanning direction. The second scanning section scans the third surface in a scanning direction that intersects with the predetermined scanning direction so as to overlap the same area as the first scanning section. Inspection method. The first arm section of the first robot arm section causes the first arm section of the first robot arm section to move the first section of the first robot arm section onto the first surface of the workpiece having a first surface, a second surface, and a third surface. While moving the scanning unit in the scanning direction, a first line camera of the first scanning unit captures an image of the first surface, and causes the first scanning unit to scan the first surface. ,
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. ,
The first scanning section and the second scanning section cooperatively scan the third surface, and the first scanning section scans the third surface in a predetermined scanning direction. The second scanning unit scans the third surface in a scanning direction that intersects the predetermined scanning direction so as to overlap the same area as the first scanning unit. A program that makes a computer function as a part. The first arm section of the first robot arm section causes the first arm section of the first robot arm section to move the first section of the first robot arm section onto the first surface of the workpiece having a first surface, a second surface, and a third surface. While moving the scanning unit in the scanning direction, a first line camera of the first scanning unit captures an image of the first surface, and causes the first scanning unit to scan the first surface. ,
While the first surface is being scanned by the first scanning section, the second arm section of the second robot arm scans the second surface of the second robot arm on the second surface. While moving the scanning unit in the scanning direction, a second line camera of the second scanning unit captures an image of the second surface, and causes the second scanning unit to scan the second surface. ,
The first scanning section and the second scanning section cooperatively scan the third surface, and the first scanning section scans the third surface in a predetermined scanning direction. A second scanning unit scans the third surface in a scanning direction intersecting the predetermined scanning direction so as to overlap the same area as the first scanning unit;
A method for manufacturing a workpiece, wherein the quality of the workpiece is determined based on an image taken by a first line camera and an image taken by a second line camera.

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