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WO2009093349A1 - Dispositif d'examen de l'apparence - Google Patents

Dispositif d'examen de l'apparence Download PDF

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Publication number
WO2009093349A1
WO2009093349A1 PCT/JP2008/063173 JP2008063173W WO2009093349A1 WO 2009093349 A1 WO2009093349 A1 WO 2009093349A1 JP 2008063173 W JP2008063173 W JP 2008063173W WO 2009093349 A1 WO2009093349 A1 WO 2009093349A1
Authority
WO
WIPO (PCT)
Prior art keywords
chuck
imaging
connector
station
inspection object
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2008/063173
Other languages
English (en)
Japanese (ja)
Inventor
Makoto Yamada
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Sumitomo Wiring Systems Ltd
Original Assignee
Sumitomo Wiring Systems Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Sumitomo Wiring Systems Ltd filed Critical Sumitomo Wiring Systems Ltd
Publication of WO2009093349A1 publication Critical patent/WO2009093349A1/fr
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

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Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
    • B25J9/023—Cartesian coordinate type
    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/02—Sensing devices
    • B25J19/021—Optical sensing devices
    • B25J19/023—Optical sensing devices including video camera means
    • G—PHYSICS
    • G01—MEASURING; TESTING
    • G01N—INVESTIGATING OR ANALYSING MATERIALS BY DETERMINING THEIR CHEMICAL OR PHYSICAL PROPERTIES
    • G01N21/00—Investigating or analysing materials by the use of optical means, i.e. using sub-millimetre waves, infrared, visible or ultraviolet light
    • G01N21/84—Systems specially adapted for particular applications

Definitions

  • the present invention relates to an appearance inspection apparatus suitable for an appearance inspection of a three-dimensional product such as an automobile connector.
  • the visual inspection method depends on the skill of the person to be inspected, which may cause variations in inspection accuracy.
  • an inspection portion (so-called inspection target surface) of the inspection object is imaged by an imaging unit such as a camera, and an image obtained by imaging is image-processed, and the obtained image data
  • an appearance inspection apparatus that determines the quality of an inspection object based on the above is employed.
  • an inspection area is provided for each inspection object surface, and an imaging unit is installed in each inspection area, or a predetermined position.
  • an imaging unit is installed around the inspection object (for example, see Patent Document 1), or an imaging unit is attached to a so-called articulated robot.
  • the articulated robot is driven and controlled, and the imaging unit is controlled to move corresponding to each inspection target surface of the inspection object arranged at a predetermined position (see, for example, Patent Document 2), so-called multi-joint robot.
  • the inspection object is chucked and the articulated robot is driven and controlled to change the posture of the imaging unit arranged at a predetermined position so that the inspection object surface faces the inspection object (for example, Patent Document 1). Ether.), And the like have been adopted.
  • the present invention has an object to provide an appearance inspection apparatus that can perform appearance inspection at a plurality of locations on an inspection object with a single imaging unit and can be downsized.
  • the visual inspection apparatus takes an image of an inspection object chucked releasably by a chuck mechanism by an imaging unit, and performs image processing on an image obtained by the imaging.
  • the visual inspection apparatus according to the first aspect that performs pass / fail determination of an inspection object based on image data obtained by the image processing is a rotating arm mechanism that is supported so as to be rotatable about a predetermined axis.
  • a chuck mechanism unit that is provided in the rotating arm mechanism unit, chucks the inspection object set on the axis from both sides in the axial direction, and an imaging direction orthogonal to the axis.
  • the imaging unit that images the inspection object, and a focus adjustment mechanism unit that is slidable along the direction parallel to the imaging direction.
  • the rotation arm mechanism that is supported so as to be rotatable around a predetermined axis, and the inspection that is provided on the rotation arm mechanism and set on the axis.
  • a chuck mechanism that chucks an object from both sides in the axial direction, an imaging unit that images an inspection object from an imaging direction orthogonal to the axis, and a rotating arm mechanism along a direction parallel to the imaging direction
  • a focus adjustment mechanism that can be slidably operated.With the inspection object chucked by the chuck mechanism, the rotating arm mechanism is rotated, so that a plurality of inspection objects can be moved. Since the image can be directed in the image capturing direction of the image capturing unit, a single image capturing unit can perform an appearance inspection at a plurality of locations on the inspection object.
  • the appearance inspection apparatus is the appearance inspection apparatus according to the first aspect, and is set at the set station for setting the inspection object in a mounting form.
  • An inspection object mounting table that is movable between a chuck station and a chuck station for chucking an inspection object by the chuck mechanism unit is provided, and the rotating arm mechanism unit is moved and operated by the chuck mechanism unit.
  • An imaging station that images the chucked inspection object by the imaging unit, and an arm movement operation mechanism that can be moved between the chuck station and the chuck station are configured.
  • the imaging unit is configured to capture an image from an imaging direction orthogonal to the axis about which the rotation arm mechanism unit is rotated, and is set on the axis about which the rotation arm mechanism unit is rotated.
  • the inspection object is chucked by the chuck mechanism and the rotation arm mechanism is rotated about the axis, so that the inspection object is rotated around the axis in the imaging area of the imaging unit.
  • the appearance inspection apparatus is the appearance inspection apparatus according to the second aspect, and corresponds to the lower part of the movement path of the chuck mechanism between the imaging station and the chuck station.
  • the inspection object discharge unit is arranged.
  • the space required for rotating the inspection object to be oriented in the imaging direction of the imaging unit can be reduced, the apparatus can be reduced in size, and there is no need to change the imaging area by the imaging unit.
  • the focus adjustment can be performed by sliding the rotating arm mechanism in the direction parallel to the imaging direction by the focus adjustment mechanism, the focus adjustment can be easily performed when imaging a plurality of locations of the inspection object.
  • the appearance inspection apparatus is the appearance inspection apparatus according to the first aspect, wherein the chuck parts on both sides of the chuck mechanism part for chucking the inspection object are formed of a colorless transparent member,
  • the rotary arm mechanism is pivotable about a second axis that passes through the center between the chuck part that is orthogonal to the axis of rotation and the imaging direction and chucks the inspection object.
  • the chuck mechanism is provided in the rotating arm mechanism.
  • the inspection object is chucked on the axis of rotation of the rotating arm mechanism, the inspection object is rotated around the axis to direct the inspection point in the imaging direction.
  • positional deviation focus deviation
  • the device can be miniaturized.
  • 1 is a schematic side view of an appearance inspection apparatus according to an embodiment of the present invention.
  • 1 is a schematic front view of an appearance inspection apparatus according to an embodiment of the present invention.
  • 1 is a schematic plan view of an appearance inspection apparatus according to an embodiment of the present invention. It is imaging explanatory drawing which shows the principal part in an imaging station with a perspective view. It is imaging explanatory drawing which shows the principal part in an imaging station with a perspective view. It is imaging explanatory drawing which shows the principal part in an imaging station with a perspective view. It is imaging explanatory drawing which shows the principal part in an imaging station with a perspective view.
  • FIGS. 1 to 3 show an appearance inspection apparatus 1.
  • a set station 3 is disposed on the front side of the gantry 2, and the chuck station 4 and the imaging station 5 are sequentially separated in the depth direction. Has been placed.
  • the set station 3 is provided with a connector mounting table 7 as an inspection object mounting table for setting the connector 6 as an inspection object in a desired posture.
  • the connector mounting table 7 is provided so as to be detachable and replaceable, so that the various connectors 6 as inspection objects can be set in a desired position at a desired position.
  • Various types of connector mounting tables 7 having appropriate positioning recesses corresponding to the shape are prepared.
  • an electric slider device 8 having a ball screw structure or the like for sliding and operating the connector mounting table 7 in the front-rear direction is provided.
  • the connector 6 set on the connector mounting table 7 is configured to be movable between the set station 3 and the chuck station 4 by driving control of the electric slider device 8.
  • the chuck station 4 includes a chuck mechanism unit 10 for chucking the connector 6 set on the connector mounting table 7, a rotating arm mechanism unit 11 to which the chuck mechanism unit 10 is attached, and the rotating arm mechanism unit.
  • An electric slider device 12 having a ball screw structure or the like for moving up and down 11 is provided.
  • the base 11 a of the rotating arm mechanism 11 is mounted on the mounting base 13 that is slidably moved up and down by the electric slider device 12. It is supported so as to be rotatable around L, and is rotated via a drive motor 14 composed of a servo motor or the like mounted on a mounting base 13 and a gear mechanism (not shown) linked to the drive motor 14.
  • the moving arm mechanism portion 11 is configured to be rotatable around the axis L.
  • the rotating arm mechanism 11 is connected to a first arm 11b having the base 11a and an extending end of the first arm 11b, and is provided to extend in a direction in which the axis L extends.
  • the chuck mechanism 10 is mounted on the extended end of the second arm 11c.
  • the chuck mechanism section 10 has, for example, a pair of left and right chuck claws 10a that can be expanded and contracted as a chuck section, and is set on the connector mounting table 7 moved to the chuck station 4 by the expansion and contraction operations of the chuck claws 10a.
  • the connector 6 is chucked or released from both the left and right sides.
  • the connector 6 is set on the axis L of the rotating arm mechanism 11 when the connector mounting table 7 arrives at the chuck station 4.
  • 10a is configured to chuck the connector 6 releasably from both the left and right sides in the direction of the axis L.
  • the connector 6 is chucked by the chuck claw 10 a at a position eccentric from the main body of the chuck mechanism 10.
  • an electric slider device 15 having a ball screw structure or the like for sliding and operating the electric slider device 12 in the front-rear direction is provided. Then, by the drive control of the electric slider device 15, an arm moving operation mechanism unit that can move the electric slider device 12, which supports the rotating arm mechanism unit 11 and the like, between the chuck station 4 and the imaging station 5 is provided. It is composed.
  • the electric slider device 12 is fixedly attached to and supported by a mounting base 16 that is slidably operated in the front-rear direction by the electric slider device 15.
  • the imaging station 5 includes an imaging unit 18 for imaging the connector 6 chucked by the chuck mechanism unit 10.
  • the imaging unit 18 includes a CCD camera, a lens, and the like, and is configured to image the connector 6 from above.
  • the electric slider device 15 is driven to move the electric slider device 12 from the chuck station 4 to the imaging station 5, and the imaging is performed in the state where the imaging station 5 arrives.
  • the optical axis of the lens system of the unit 18, that is, the imaging direction M passes through the position of the connector 6 chucked by both chuck claws 10 a and is perpendicular to the axis L of the rotating arm mechanism unit 11 that is rotated. It is configured along the direction.
  • the moving direction of the rotating arm mechanism unit 11 that is moved up and down by the electric slider device 12 is also the vertical direction parallel to the imaging direction M, and here, the rotating arm mechanism unit 11 by the electric slider device 12 is used.
  • the vertical adjustment operation of the connector 6 allows the focus adjustment to the inspection target surface of the connector 6 imaged by the imaging unit 18, and the electric slider device 12 constitutes a focus adjustment mechanism unit.
  • an illumination device 19 is appropriately provided so that a desired illuminance is secured on the inspection target surface of the connector 6 imaged by the imaging unit 18.
  • a defective product discharge chute 21 is provided as an inspection object discharge unit.
  • the defective product discharge chute 21 has a connector insertion port 21a corresponding to the lower part of the movement path of the chuck mechanism 10 and a connector discharge port 21b corresponding to a lower side of the gantry 2 so as to have a connector input port.
  • the connector 6 When the chuck of the connector 6 by the chuck mechanism portion 10 is released above 21a, the connector 6 is dropped into the defective product discharge chute 21 from the connector insertion port 21a and guided along the inclination of the defective product discharge chute 21, It is set as the structure collect
  • both chuck claws 10a of the chuck mechanism unit 10 are in a standby state in an expanded state with a predetermined width.
  • the operator sets the connector 6 as the inspection object in the positioning recess of the connector mounting table 7 in a predetermined posture and then turns on the operation switch of the appearance inspection apparatus 1.
  • the electric slider device 8 is operated, and the connector mounting table 7 is slid and operated from the set station 3 to the chuck station 4.
  • the connector 6 is positioned between the chuck claws 10a and the rotating arm mechanism 11 is rotated. It is in the state located on the axis L to be performed.
  • the two chuck claws 10a of the chuck mechanism unit 10 are operated to approach each other, and the connector 6 is chucked from both sides of the axis L direction.
  • the rotating arm mechanism portion 11 and the chuck mechanism portion 10 are slightly raised, and the connector 6 is lifted upward from the positioning recess of the connector mounting table 7.
  • the electric slider device 15 When the connector 6 is lifted from the connector mounting table 7, the electric slider device 15 is activated, and the electric slider device 12, the rotating arm mechanism portion 11, the chuck mechanism portion 10, and the connector 6 are moved from the chuck station 4 to the imaging station 5. The slide is moved.
  • the connector 6 is positioned below the imaging direction M of the imaging unit 18 as shown in FIG. 4. It is in a state. In this state, adjustment is made in advance so that the imaging unit 18 is focused on the upper surface, which is the inspection target surface of the connector 6.
  • the upper surface, the lower surface, the front surface, and the back surface of the connector 6 are inspection target surfaces in the appearance inspection.
  • An area surrounded by a dotted line is an imaging area A by the imaging unit 18.
  • the imaging unit 18 operates to first image the upper surface, which is the first inspection target surface of the connector 6.
  • An image obtained by this imaging is taken into an image processing apparatus (not shown) and subjected to predetermined image processing, and pass / fail determination is made based on image data obtained by the image processing.
  • a known method adopted for this kind of determination such as whether or not a predetermined reference value (threshold value) is exceeded, may be adopted as appropriate.
  • the drive motor 14 is then operated, and the rotating arm mechanism portion 11 is rotated about the axis L as shown in FIG. It is stopped after being rotated.
  • the rotating arm mechanism unit 11 By the rotation of the rotating arm mechanism unit 11, the back surface of the connector 6 is directed in the imaging direction M of the imaging unit 18.
  • the electric slider device 12 is actuated to move and adjust the position of the connector 6 in the vertical direction, thereby adjusting the focus.
  • a known method such as a method of teaching by inputting data in advance or a method of automatic adjustment may be appropriately employed.
  • the imaging unit 18 When the clockwise 90-degree rotation operation of the rotation arm mechanism unit 11 is detected, the imaging unit 18 is activated, and the rear surface, which is the second inspection target surface, of the connector 6 is imaged.
  • the image obtained by this imaging is also taken into the image processing apparatus in the same manner as described above, and predetermined image processing is performed, and pass / fail determination is made based on the image data obtained by the image processing.
  • the drive motor 14 is then operated, and the rotating arm mechanism 11 further moves around the axis L as shown in FIG. It is turned 90 degrees and stopped.
  • the rotating arm mechanism unit 11 By the rotation of the rotating arm mechanism unit 11, the lower surface of the connector 6 is oriented in the imaging direction M of the imaging unit 18.
  • the electric slider device 12 is actuated to move and adjust the position of the connector 6 in the vertical direction, thereby adjusting the focus.
  • the imaging unit 18 is activated and the lower surface, which is the third inspection target surface, of the connector 6 is imaged. The quality of the image obtained by this imaging is also determined in the same manner as described above.
  • the drive motor 14 is then operated, and the rotating arm mechanism 11 further moves around the axis L as shown in FIG. It is turned 90 degrees and stopped.
  • the front surface of the connector 6 is directed in the imaging direction M of the imaging unit 18 by the rotation of the rotating arm mechanism unit 11.
  • the electric slider device 12 is actuated to move and adjust the position of the connector 6 in the vertical direction, thereby adjusting the focus.
  • the imaging unit 18 is activated, and the front surface that is the fourth inspection target surface of the connector 6 is imaged.
  • the quality of the image obtained by this imaging is also determined in the same manner as described above.
  • the electric slider device 15 is activated, and the electric slider device 12, the rotating arm mechanism unit 11, the chuck mechanism unit 10, and the connector 6 are
  • the slide movement operation is performed from the imaging station 5 to the chuck station 4 and arrives at the chuck station 4
  • the electric slider device 12 is operated, and the rotating arm mechanism portion 11 and the chuck mechanism portion 10 are slightly lowered, and the chuck claw 10 a is moved.
  • the chucked connector 6 is returned to the positioning recess of the connector mounting table 7. Thereafter, the chuck claws 10a are expanded and the chuck of the connector 6 is released.
  • the electric slider device 8 When the chuck of the connector 6 is released, the electric slider device 8 is operated, the connector mounting table 7 is returned from the chuck station 4 to the set station 3, and the appearance inspection device 1 is returned to the initial state. Then, the operator collects the connector 6 whose appearance inspection is completed as a non-defective product, sets the connector 6 to be inspected next on the connector mounting table 7, and turns on the operation switch in the same manner as above. Thus, the appearance inspection of the connector 6 is performed, and the appearance inspection of the connector 6 can be sequentially performed in this manner.
  • any of the determination results of each inspection target surface in the connector 6 is defective. If the determination is made, the electric slider device 15 is activated, and the electric slider device 12, the rotating arm mechanism unit 11, the chuck mechanism unit 10 and the connector 6 are in the middle of the sliding movement operation from the imaging station 5 to the chuck station 4.
  • the connector 6 chucked by the both chuck claws 10a arrives above the connector insertion port 21a of the defective product discharge chute 21, it is temporarily stopped and the both chuck claws 10a are expanded. By this expanding operation, the chuck of the connector 6 is released, and the connector 6 falls into the defective product discharge chute 21 and is collected in the collection box 22.
  • the electric slider device 15 is actuated again, and both chuck claws 10a are returned to the chuck station 4 in the expanded state to return to the initial state. Further, the electric slider device 8 is operated, the connector mounting table 7 is returned from the chuck station 4 to the set station 3, and the appearance inspection device 1 is returned to the initial state.
  • the subsequent imaging of the inspection target surface is stopped, and the defective connector 6 is dropped on the defective product discharge chute 21. It is good.
  • the illuminating device 19 so that it may operate
  • the present embodiment is configured as described above, and the imaging unit 18 is configured to capture an image from the imaging direction M orthogonal to the axis L where the rotating arm mechanism unit 11 is rotated, and the rotating arm mechanism unit. Since the connector 6 is chucked by the chuck mechanism unit 10 on both the left and right sides of the axis L on the axis L to be rotated, the rotation arm mechanism unit 11 is rotated around the axis by a predetermined angle. By moving the connector 6, the connector 6 is rotated around the axis L in the imaging area A of the imaging unit 18, and here, a plurality of locations of the connector 6 are directed in the imaging direction of the imaging unit 18. Therefore, it is possible to inspect the appearance of a plurality of inspection target surfaces in the connector 6 by the single imaging unit 18.
  • the image pickup unit is rotated by rotating the connector 6.
  • the space required for directing in the 18 imaging directions M can be reduced, the overall appearance inspection apparatus 1 can be reduced in size, and the imaging area A by the imaging unit 18 need not be changed. Since the focus adjustment can be performed by sliding the connector 6 in the vertical direction parallel to the imaging direction M together with the rotating arm mechanism 11 by the electric slider device 12, the focus adjustment can be easily performed even when imaging a plurality of locations of the connector 6. There is an advantage that can be done.
  • the connector 6 is chucked on the pivot axis L of the pivot arm mechanism 11, the connector 6 is rotated around the axis L to direct the inspection target surface in the imaging direction.
  • the positional deviation (focal deviation) with respect to the imaging unit 18, and therefore it is possible to reduce the focus adjustment width and to reduce the working space for the focus adjustment.
  • the apparatus can be reduced in size and the operating efficiency can be improved.
  • the connector 6 is chucked on the pivot axis L of the pivot arm mechanism 11, the moment of inertia acting on the connector 6 during the pivot operation of the pivot arm mechanism 11 can be suppressed.
  • the speed of the rotating operation can be increased, and this also has the advantage of improving the operating efficiency.
  • the connector 6 is set at the set station 3, chucked by the chuck mechanism unit 10 at the rear chuck station 4 position, and the inspection target surface of the connector 6 is imaged by the image pickup unit 18 at the rear image pickup station 5 position.
  • the imaging unit 18 since it is drawn into a desired position in the appearance inspection apparatus 1 and imaged by the imaging unit 18, it is possible to take an image in a desired imaging environment that is not significantly affected by light outside the appearance inspection apparatus 1. The accuracy can be improved.
  • the defective product discharge chute 21 is disposed in the middle of the movement path of the chuck mechanism 10 between the imaging station 5 and the chuck station 4, If the result of the pass / fail judgment by imaging is defective, the chuck of the connector 6 chucked by the chuck mechanism unit 10 is released during the movement of returning the chuck mechanism unit 10 from the imaging station 5 to the chuck station 4, so The connector 6 can be discharged from the non-defective product discharge chute 21 and mixing of defective products can be effectively prevented.
  • the upper surface, the lower surface, the front surface, and the back surface are the inspection target surfaces as the inspection locations of the connector 6, but if the connector 6 is around the axis L, the desired location is the inspection target surface.
  • the inspection object surface can be set as desired according to the inspection object.
  • zipper mechanism part 10 with which the rotation arm mechanism part 11 and the rotation arm mechanism part 11 were equipped rotates only around the shaft center L in which the rotation arm mechanism part 11 is rotated.
  • the chuck claws 10a on both sides of the chuck mechanism 10 for chucking the connector 6 are formed of a colorless transparent member, and the rotating arm mechanism 11 as shown in FIG. 4 is rotated.
  • the chuck mechanism unit 10 is pivotable so as to be rotatable around a second axis N that passes through the center between the chuck claws 10a that are orthogonal to the axial center L and the imaging direction M and chuck the connector 6. It is good also as a structure with which the mechanism part 11 is equipped.
  • the chucking mechanism unit 10 is provided in the pivoting arm mechanism unit 11 so that the pivoting arm mechanism unit 11 can be freely pivoted about an axis L that is pivoted about the pivoting arm mechanism unit 11 and an axis orthogonal to the imaging direction M. In this case, the appearance inspection of the chuck position is possible.
  • the connector 6 for motor vehicles is illustrated as an inspection target object, it can implement similarly even if it is the external appearance inspection of other three-dimensional products, and is not limited to the external appearance inspection of the connector 6 at all. .

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  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Multimedia (AREA)
  • Physics & Mathematics (AREA)
  • Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Chemical & Material Sciences (AREA)
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  • Biochemistry (AREA)
  • General Health & Medical Sciences (AREA)
  • General Physics & Mathematics (AREA)
  • Immunology (AREA)
  • Pathology (AREA)
  • Investigating Materials By The Use Of Optical Means Adapted For Particular Applications (AREA)
  • Length Measuring Devices By Optical Means (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif d'examen de l'apparence qui peut examiner l'apparence de plusieurs parties d'un objet à examiner par un seul élément d'imagerie, et dont la taille peut être réduite. Le dispositif d'examen de l'apparence (1) produit des images d'un connecteur (6) serré dans un élément d'un mécanisme de serrage (10) au moyen d'un élément d'imagerie (18) et estime la qualité du connecteur (6) d'après les données d'images obtenues par un traitement d'images. Le dispositif d'examen de l'apparence (1) comprend un élément de mécanisme de bras pivotant (11) supporté de façon à pivoter autour d'un centre d'axe prédéterminé (L), l'élément de mécanisme de serrage (10) qui est compris dans l'élément de mécanisme de bras pivotant (11) et serre le connecteur (6) disposé sur le centre de l'axe (L) des deux côtés dans la direction du centre de l'axe (L), l'élément d'imagerie (18) pour former des images du connecteur (6) dans une direction d'imagerie (M) perpendiculaire au centre de l'axe (L), et un dispositif de curseur électrique (12) qui peut faire glisser l'élément de mécanisme de bras pivotant (11) dans une direction parallèle à la direction d'imagerie (M).
PCT/JP2008/063173 2008-01-23 2008-07-23 Dispositif d'examen de l'apparence Ceased WO2009093349A1 (fr)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
JP2008-012479 2008-01-23
JP2008012479A JP2009174943A (ja) 2008-01-23 2008-01-23 外観検査装置

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WO2009093349A1 true WO2009093349A1 (fr) 2009-07-30

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WO2011013239A1 (fr) * 2009-07-31 2011-02-03 住友電装株式会社 Montage pour mesurer la dimension d'une pièce à travailler
JP2022146059A (ja) * 2021-03-22 2022-10-05 株式会社Ｆｄｋエンジニアリング 半割筒状ワークの外観検査装置及び外観検査方法
CN116026260A (zh) * 2022-12-14 2023-04-28 广东九纵智能科技有限公司 用于多轴联动检测有限角度的二轴旋转装置及其标定方法
CN116443618A (zh) * 2021-10-12 2023-07-18 住友重机械工业株式会社 保持装置、移载系统、保持方法、控制装置及存储介质
CN120385697A (zh) * 2025-06-28 2025-07-29 广东世通药品包装材料有限公司 一种旋转检测臂药物喷头成品全方位缺陷筛查装置

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CN105058375B (zh) * 2015-08-11 2016-10-05 苏州鸿普精密模具有限公司 汽车升窗导轨测试机的检测机械手
JP2023101856A (ja) * 2022-01-11 2023-07-24 日立Astemo株式会社 姿勢変更装置および検査方法

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JPH06160066A (ja) * 1992-11-24 1994-06-07 Sekisui Chem Co Ltd 外観検査装置
JPH07239304A (ja) * 1994-02-28 1995-09-12 Fuji Xerox Co Ltd 表面層欠陥検出装置
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JP2002000767A (ja) * 2000-06-19 2002-01-08 Sumitomo Rubber Ind Ltd ゴルフボール用のシーム位置判定装置及びゴルフボールの製造方法

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JPH0634326A (ja) * 1992-07-15 1994-02-08 Sumitomo Rubber Ind Ltd ボールのシーム検査方法及びその装置
JPH06160066A (ja) * 1992-11-24 1994-06-07 Sekisui Chem Co Ltd 外観検査装置
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WO2011013239A1 (fr) * 2009-07-31 2011-02-03 住友電装株式会社 Montage pour mesurer la dimension d'une pièce à travailler
JP5341999B2 (ja) * 2009-07-31 2013-11-13 住友電装株式会社 ワークの寸法測定用治具
US8757036B2 (en) 2009-07-31 2014-06-24 Sumitomo Wiring Systems, Ltd. Jig for measuring dimensions of workpiece
JP2022146059A (ja) * 2021-03-22 2022-10-05 株式会社Ｆｄｋエンジニアリング 半割筒状ワークの外観検査装置及び外観検査方法
JP7655664B2 (ja) 2021-03-22 2025-04-02 株式会社Ｆｄｋエンジニアリング 半割筒状ワークの外観検査装置及び外観検査方法
CN116443618A (zh) * 2021-10-12 2023-07-18 住友重机械工业株式会社 保持装置、移载系统、保持方法、控制装置及存储介质
CN116026260A (zh) * 2022-12-14 2023-04-28 广东九纵智能科技有限公司 用于多轴联动检测有限角度的二轴旋转装置及其标定方法
CN116026260B (zh) * 2022-12-14 2023-09-05 广东九纵智能科技有限公司 用于多轴联动检测有限角度的二轴旋转装置及其标定方法
CN120385697A (zh) * 2025-06-28 2025-07-29 广东世通药品包装材料有限公司 一种旋转检测臂药物喷头成品全方位缺陷筛查装置

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