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WO2021153630A1 - Dispositif d'examen visuel - Google Patents

Dispositif d'examen visuel Download PDF

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Publication number
WO2021153630A1
WO2021153630A1 PCT/JP2021/002893 JP2021002893W WO2021153630A1 WO 2021153630 A1 WO2021153630 A1 WO 2021153630A1 JP 2021002893 W JP2021002893 W JP 2021002893W WO 2021153630 A1 WO2021153630 A1 WO 2021153630A1
Authority
WO
WIPO (PCT)
Prior art keywords
link
end side
work piece
visual inspection
camera
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/JP2021/002893
Other languages
English (en)
Japanese (ja)
Inventor
浩 磯部
純 御堂前
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.)
NTN Corp
Original Assignee
NTN Corp
NTN Toyo Bearing Co 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
Priority claimed from JP2020014510A external-priority patent/JP7461151B2/ja
Priority claimed from JP2020014509A external-priority patent/JP7461150B2/ja
Application filed by NTN Corp, NTN Toyo Bearing Co Ltd filed Critical NTN Corp
Publication of WO2021153630A1 publication Critical patent/WO2021153630A1/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
    • B25J11/00—Manipulators not otherwise provided for
    • 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
    • G01N21/88—Investigating the presence of flaws or contamination
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B15/00—Special procedures for taking photographs; Apparatus therefor
    • G—PHYSICS
    • G03—PHOTOGRAPHY; CINEMATOGRAPHY; ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ELECTROGRAPHY; HOLOGRAPHY
    • G03B—APPARATUS OR ARRANGEMENTS FOR TAKING PHOTOGRAPHS OR FOR PROJECTING OR VIEWING THEM; APPARATUS OR ARRANGEMENTS EMPLOYING ANALOGOUS TECHNIQUES USING WAVES OTHER THAN OPTICAL WAVES; ACCESSORIES THEREFOR
    • G03B17/00—Details of cameras or camera bodies; Accessories therefor
    • G03B17/56—Accessories

Definitions

  • the present invention confirms the presence or absence of scratches, deformation, alteration, chipping, foreign matter contamination, etc., surface condition, etc. of a work (for example, resin molded part), which is a work piece manufactured on a production line or the like, and measures dimensions. Regarding visual inspection equipment.
  • Patent Document 1 a rotation mechanism having three degrees of freedom of rotation is mounted on the tip of an axis robot that moves in three orthogonal axes, and an optical cutting probe is mounted on the rotation mechanism to control the optical cutting probe at an arbitrary angle.
  • a shape measuring device that measures a shape using image data acquired from an imaging signal of an image of a pattern light has been proposed.
  • Patent Document 2 proposes an article inspection method in which a work piece is mounted on the tip of a vertical articulated robot, and the work piece is positioned in front of a fixed camera and lighting to perform an appearance inspection.
  • Patent Document 3 proposes an appearance inspection device in which a plurality of cameras and lights are arranged.
  • An object of the present invention is to provide a visual inspection device having a compact device size and capable of high-speed shooting of an inspection target by a camera from various angles on a work object.
  • the visual inspection device of the present invention is a visual inspection device that positions a camera and a lighting tool with respect to a work piece by a link actuating device to perform a visual inspection of the work piece.
  • the link hub on the distal end side is connected to the link hub on the proximal end side so as to be able to change its posture via three or more sets of link mechanisms, and each of the link mechanisms is linked to the proximal end side. Both ends rotate to the hub and the end link members on the proximal end side and the distal end side, one end of which is rotatably connected to the link hub on the distal end side, and the other ends of the distal end link members on the proximal end side and the distal end side, respectively.
  • the work piece can be arranged in an internal space surrounded by the three or more sets of link mechanisms.
  • the camera and the illuminator can be positioned with respect to the work piece arranged in the internal space. It is desirable that the work piece can be arranged in the internal space within a range that does not interfere with each link member regardless of the posture of the link operating device.
  • the camera and the luminaire are provided on the link hub on the tip side toward the work piece arranged in the internal space.
  • a camera and a luminaire are provided on the link hub on the tip side toward the work piece arranged in the internal space of the link operating device. Therefore, the camera and the illuminator can be positioned from the hemispherical direction at the maximum with respect to the work piece without moving the work piece significantly. Therefore, the visual inspection device can be constructed with a compact configuration, and the image of the inspection target by the camera can be realized at high speed with respect to the work object from various angles as compared with the conventional vertical articulated robot.
  • the work piece is a cube or a rectangular parallelepiped
  • a visual inspection can be performed on five surfaces of the cube or a rectangular parallelepiped.
  • a through hole is provided in the link hub on the base end side, the work piece is carried into the internal space through the through hole, and the work piece is moved from the internal space to the through hole.
  • It may be provided with a transport device that carries out through.
  • a transport device is used to put the work piece into the internal space of the link operating device and perform a visual inspection. For this reason, it is possible to carry out visual inspection of the work piece simply by installing a link operating device in the transport process of the work piece, and it is possible to add a visual inspection process without significantly changing the production process. can. Therefore, the entire equipment can be further made more compact and the cost can be reduced.
  • the transport device may have a position adjusting means for adjusting the position of the work piece according to the posture of the link hub on the tip side with respect to the link hub on the base end side.
  • the distances between the spherical link center and the rotation center on the proximal end side and the distal end side vary depending on the bending angle of the link actuating device. Therefore, if the position of the work piece is adjusted by the position adjusting means of the transport device with respect to the amount of change in the distance, it becomes possible to always acquire an image in focus. Further, since the position of the work piece is adjusted by using the transport device for carrying the work piece, it is not necessary to provide a separate mechanism for adjusting the position, and the entire visual inspection device can be made compact and the cost can be reduced.
  • the maximum bending angle which is the maximum value of the bending angle between the central axis of the link hub on the proximal end side and the central axis of the link hub on the distal end side, is ⁇ max, and the spherical link center on the proximal end side.
  • the distance between the spherical link centers which is the distance between the spherical link centers on the distal end side
  • the diameter of the through hole of the link hub on the proximal end side is DL
  • the camera and the luminaire are installed on the link hub on the base end side, and the work piece can be installed on the link hub on the tip end side.
  • the camera and the illuminator are installed on the link hub on the proximal end side, and the work piece can be positioned with respect to the camera and the illuminator in the internal space of the link actuating device by the link hub on the distal end side. Therefore, the camera and the illuminator can be positioned relative to the work piece from the hemispherical direction at the maximum without moving the work piece significantly. Therefore, the visual inspection device can be constructed with a compact configuration, and the image of the inspection target by the camera can be realized at high speed with respect to the work object from various angles as compared with the conventional vertical articulated robot.
  • the work piece is a cube or a rectangular parallelepiped
  • a visual inspection can be performed on five surfaces of the cube or a rectangular parallelepiped.
  • a through hole is provided in the link hub on the tip side, the work piece is carried into the internal space through the through hole, and the work piece is passed through the through hole from the internal space.
  • a transport device for carrying out may be provided, and the transport device may be provided on the link hub on the tip side.
  • a transport device is used to put the work piece into the internal space of the link operating device and perform a visual inspection. For this reason, it is possible to carry out visual inspection of the work piece simply by installing a link operating device in the transport process of the work piece, and it is possible to add a visual inspection process without significantly changing the production process. can. Therefore, the entire equipment can be further made more compact and the cost can be reduced.
  • the transport device may have a gripping mechanism including a gripping portion that grips the work piece, and a gripping portion direction changing mechanism that changes the direction of the gripping portion.
  • the grip portion direction changing mechanism can change the orientation of the grip portion in the external space direction and the internal space direction of the link operating device. Therefore, both the gripping work of the work piece in the external space and the positioning work of the work piece in the internal space can be performed. Since a plurality of operations can be performed only by providing the gripping mechanism with a gripping portion direction changing mechanism, the entire visual inspection device can be made compact.
  • the transport device may have a work piece position adjusting means for adjusting the position of the work piece according to the posture of the tip end side link hub with respect to the base end side link hub.
  • the distances between the spherical link center and the rotation center on the proximal end side and the distal end side vary depending on the bending angle of the link actuating device. Therefore, if the position of the work piece is adjusted by the work piece position adjusting means of the transport device with respect to the amount of change in the distance, an image that is always in focus can be obtained. Further, since the position of the work piece is adjusted by using the transport device for carrying the work piece, it is not necessary to provide a separate mechanism for adjusting the position, and the entire visual inspection device can be made compact and the cost can be reduced.
  • the link operating device has a maximum bending angle of ⁇ max, which is the maximum value of the bending angle between the central axis of the link hub on the proximal end side and the central axis of the link hub on the distal end side, and the spherical link center and the distal end on the proximal end side.
  • the central link member always has an orbital circle having the same diameter centered on a straight line connecting the spherical link center on the distal end side and the spherical link center on the proximal end side even if the posture of the link operating device changes.
  • the posture of the link operating device changes means that the posture of the link hub on the distal end side with respect to the link hub on the proximal end side changes.
  • the inner end of the central link member does not intersect the intersection of the central axis of the link hub on the proximal end side and the central axis of the link hub on the distal end side.
  • the central link member and the work piece are less likely to come into contact with each other, and the link operating device can have a wide movable range.
  • the "inner end of the central link member” means the portion of the central link member closest to the center of the turning trajectory.
  • the short side of the field of view of the camera is A
  • the maximum bending angle which is the maximum value of the bending angle between the central axis of the link hub on the proximal end side and the central axis of the link hub on the distal end side is ⁇ max
  • the spherical surface on the proximal end side is L
  • the camera in which the following equation holds may be used.
  • the depth of view of the camera is F
  • the maximum bending angle which is the maximum value of the bending angle between the central axis of the link hub on the proximal end side and the central axis of the link hub on the distal end side
  • ⁇ max the maximum value of the bending angle between the central axis of the link hub on the proximal end side and the central axis of the link hub on the distal end side
  • spherical surface on the proximal end side is L
  • the camera in which the following equation holds may be used.
  • the link hub on the tip side may be provided with a through hole through which at least a part of the camera or at least a part of the luminaire is penetrated.
  • a through hole through which at least a part of the camera or at least a part of the luminaire is penetrated.
  • FIG. 6 is a cross-sectional view taken along the line VII-VII of FIG. It is a figure explaining the orbital circle of the central link member of the same link actuating device of a different posture.
  • FIG. 8 is a cross-sectional view taken along the line IX-IX of FIG. It is a figure explaining the interference avoidance method of the link actuating apparatus and a work piece. It is another figure explaining the interference avoidance method between the link actuating device and a work piece.
  • the visual inspection device 1 positions the camera Cr and the illuminator Le with respect to the work piece 2 by the link operating device 7 to perform a visual inspection of the work piece 2.
  • the link hub 13 on the tip side of the link operating device 7, which will be described later, is provided with a camera Cr and a lighting tool Le toward the work piece 2 arranged in the internal space Na of the link operating device 7.
  • the work piece 2 is carried into the internal space Na by the transport device Td described later and is carried out from the internal space Na.
  • the link operating device 7 and the transport device Td are connected to the same controller Ct, and are synchronously controlled by this controller Ct.
  • the controller of the link operating device 7 and the transport device Td may be provided separately, and the link operating device 7 and the transport device Td may be controlled asynchronously.
  • the link operating device 7 is installed, for example, on a gantry 60 in a suspended state in which a base end member 6 described later is horizontally supported.
  • the link actuating device 7 includes a parallel link mechanism 9 that supports the camera Cr and the illuminator Le so as to be able to change the posture, and an attitude control actuator that operates the parallel link mechanism 9. It is provided with 10.
  • Each link mechanism 14 has an end link member 15 on the proximal end side, an end link member 16 on the distal end side, and a central link member 17, and forms a four-node chain link mechanism composed of four rotating pairs.
  • the end link members 15 and 16 on the proximal end side and the distal end side are L-shaped, and one end rotates to the link hub 12 on the proximal end side and the link hub 13 on the distal end side, respectively. It is freely connected.
  • the other ends of the end link members 15 and 16 on the proximal end side and the distal end side are rotatably connected to both ends.
  • the parallel link mechanism 9 has a structure in which two spherical link mechanisms are combined.
  • the central axis of each rotation pair of the base end side link hub 12 and the base end side end link member 15 and each rotation pair of the base end side end link member 15 and the base end side link member 17 is on the base end side. It intersects at the center PA of the spherical link.
  • the central axis of each rotation pair of the tip side link hub 13 and the tip side end link member 16 and each rotation pair of the tip side end link member 16 and the center link member 17 is a spherical surface on the tip side. It intersects at the link center PB.
  • the distances between PAs are the same as each other.
  • the distance between the center of the rotational kinematic pair of the end link member 15 on the proximal end side and the spherical link center PA on the proximal end side, and the distance between the center of the rotational kinematic pair of the central link member 17 and the spherical link center PA on the proximal end side. are the same as each other.
  • Distances are the same as each other.
  • the distance between the center of the rotational pair of the end link member 16 on the distal end side and the spherical link center PB on the distal end side and the distance between the center of the rotational pair even of the central link member 17 and the spherical link center PB on the distal end side are the same. Is.
  • the central axes of each rotational pair of the proximal and distal end link members 15 and 16 and the central link member 17 may have a certain crossing angle ⁇ (FIG. 3) or may be parallel. good.
  • FIG. 4 shows the relationship between the central axis O1 of each rotational pair of the link hub 12 on the proximal end side and the end link member 15 on the proximal end side and the spherical link center PA.
  • the shapes and positional relationships of the front end side link hub 13 (FIG. 3) and the front end side end link member 16 (FIG. 3) are also the same as those in FIG. 4, although not shown.
  • the angle ⁇ formed by the central axis O2 of the kinematic pair is 90 °. However, the angle ⁇ may be other than 90 °.
  • the three sets of link mechanisms 14 have the same geometrical shape.
  • the geometrically identical shape is represented by a geometric model in which each link member 15, 16 and 17 is represented by a straight line, that is, each rotation pair even and a straight line connecting these rotation pairs. It means that the base end side portion and the tip end side portion of the central link member 17 have a symmetrical shape with respect to the central portion regardless of the posture of the model.
  • FIG. 5 is a diagram in which a set of link mechanisms 14 is represented by a straight line.
  • the parallel link mechanism 9 of this embodiment is a rotationally symmetric type, and has a base end side region composed of a base end side link hub 12 and a base end side end link member 15, and a tip end side link hub 13 and a tip end side end.
  • the positional relationship with the distal end side region composed of the partial link member 16 has a positional configuration that is rotationally symmetric with respect to the center line C of the central link member 17.
  • the central portion of each central link member 17 is located on a common orbital circle D.
  • the link hub 13 on the distal end side is rotatable around two orthogonal axes with respect to the link hub 12 on the proximal end side.
  • the degree mechanism is configured.
  • the link hub 13 on the tip side with respect to the link hub 12 on the base end side has a mechanism in which the posture can be changed with two degrees of freedom in rotation.
  • this two-degree-of-freedom mechanism is compact, the movable range of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side can be widened.
  • the maximum value of the bending angle ⁇ between the central axis QA of the link hub 12 on the proximal end side and the central axis QB of the link hub 13 on the distal end side can be set to about ⁇ 90 °.
  • the turning angle ⁇ of the link hub 13 on the tip side with respect to the link hub 12 on the base end side can be set in the range of 0 ° to 360 °.
  • the bending angle ⁇ is a vertical angle at which the central axis QB of the link hub 13 on the distal end side is tilted with respect to the central axis QA of the link hub 12 on the proximal end side.
  • the turning angle ⁇ is a horizontal angle in which the central axis QB of the link hub 13 on the distal end side is tilted with respect to the central axis QA of the link hub 12 on the proximal end side.
  • FIG. 6 shows a state in which the central axis QA of the link hub 12 on the proximal end side and the central axis QB of the link hub 13 on the distal end side are on the same line
  • FIG. 8 shows the central axis QA of the link hub 12 on the proximal end side.
  • a state in which the central axis QB of the link hub 13 on the tip side has a certain operating angle is shown.
  • the central axes O2 of the rotational pairs of the end link members 15 and 16 on the side and the central link member 17 intersect with the spherical link centers PA and PB on the proximal end side and the distal end side on the proximal end side and the distal end side.
  • the geometric shapes of the end link member 15 on the proximal end side and the end link member 16 on the distal end side are the same.
  • the shape of the central link member 17 is the same on the base end side and the tip end side.
  • the base end side link hub 12 has a flat plate-shaped base end member 6 and three rotating shaft connecting members 21 provided integrally with the base end member 6. ..
  • a circular through hole 6a is formed in the center of the base end member 6, and three rotating shaft connecting members 21 are arranged around the through hole 6a at equal intervals in the circumferential direction.
  • the center of the through hole 6a is located on the central axis QA of the link hub 12 on the proximal end side.
  • a rotating shaft 22 whose axis intersects the central axis QA of the link hub 12 on the proximal end side is rotatably connected to each rotating shaft connecting member 21.
  • One end of the end link member 15 on the base end side is connected to the rotating shaft 22.
  • the rotating shaft 22 has a large diameter portion 22a, a small diameter portion 22b, and a male screw portion 22c sequentially along the axial direction, and the rotating shaft 22 has a small diameter portion 22b via two bearings 23. It is rotatably supported by the connecting member 21.
  • the bearing 23 is a ball bearing such as a deep groove ball bearing or an angular contact ball bearing. These bearings 23 are fixed by installing the outer peripheral surface of the outer ring in the inner diameter groove provided in the rotating shaft connecting member 21 in a fitted state. The same applies to the types and installation methods of bearings provided in other rotating pair parts.
  • the rotating shaft 22 has a large diameter portion 22a and is arranged on a concentric shaft with the output shaft 52a of the speed reduction mechanism 52 described later.
  • One end of the end link member 15 on the base end side is connected to the rotating shaft 22 so as to rotate integrally with the rotating shaft 22.
  • a notch 25 is formed at one end of the end link member 15 on the base end side, and both side portions of the notch 25 form a pair of inner and outer rotating shaft support portions 26 and 27. Through holes are formed in each of the pair of rotating shaft support portions 26 and 27, respectively.
  • the rotating shaft connecting member 21 is arranged in the notch 25, and the small diameter portion 22b of the rotating shaft 22 is inserted through the through hole and the inner peripheral surface of the inner ring of the bearing 23.
  • the male screw portion 22c of the rotary shaft 22 projects inward from the inner rotary shaft support portion 27.
  • a spacer 28 is fitted on the outer circumference of the large diameter portion 22a of the rotating shaft 22, and the end link member 15 on the base end side and the output shaft 52a of the reduction mechanism 52 are fixed by bolts 29 via the spacer 28. .. Further, the nut 24 is screwed to the male threaded portion 22c of the rotating shaft 22. A spacer is interposed between the inner ring end surface of the bearing 23 and the pair of rotating shaft support portions 26, 27, and a preload is applied to the bearing 23 when the nut 24 is screwed.
  • a rotating shaft 35 rotatably connected to one end of the central link member 17 is connected to the other end of the end link member 15 on the base end side.
  • the rotating shaft 35 has a large diameter portion 35a, a small diameter portion 35b, and a male threaded portion 35c, and the small diameter portion 35b is interposed via two bearings 36. It is rotatably supported at one end of the central link member 17.
  • a notch 37 is formed at the other end of the end link member 15 on the base end side, and both side portions of the notch 37 form a pair of inner and outer rotating shaft support portions 38 and 39. Through holes are formed in these rotating shaft support portions 38 and 39, respectively.
  • the male screw portion 35c protrudes inward from the inner rotating shaft support portion 39.
  • One end of the central link member 17 is arranged in the notch 37, and the small diameter portion 35b is inserted through the through hole and the inner peripheral surface of the inner ring of the bearing 36. Further, the nut 34 is screwed to the male screw portion 35c. A spacer is interposed between the inner ring end surface of the bearing 36 and the pair of rotating shaft support portions 38, 39, and a preload is applied to the bearing 36 when the nut 34 is screwed.
  • the link hub 13 on the tip side includes a flat tip member 40 and three rotating shaft connecting members 41 provided on the bottom surface of the tip member 40 in a circumferential direction. And have.
  • the center of the circumference on which each rotating shaft connecting member 41 is arranged is located on the central shaft QB of the link hub 13 on the distal end side.
  • a rotating shaft 43 whose axis intersects the central axis QB of the link hub 13 on the distal end side is rotatably connected to each rotating shaft connecting member 41.
  • One end of the end link member 16 on the distal end side is connected to the rotating shaft 43.
  • a rotating shaft 45 rotatably connected to the other end of the central link member 17 is connected to the other end of the end link member 16 on the distal end side.
  • the rotating shaft 43 of the link hub 13 on the distal end side and the rotating shaft 45 of the central link member 17 also have the same shape as the rotating shaft 35, and the rotating shaft connecting member 41 and the rotating shaft connecting member 41 via two bearings (not shown) It is rotatably connected to the other end of the central link member 17.
  • the attitude control actuator 10 is a rotary actuator provided with a reduction mechanism 52, and is coaxially on the lower surface of the base end member 6 of the link hub 12 on the base end side with the rotating shaft 22. It is installed in.
  • the attitude control actuator 10 and the deceleration mechanism 52 are integrally provided, and the deceleration mechanism 52 is fixed to the base end member 6 by the motor fixing member 53.
  • the attitude control actuators 10 are provided in all of the three sets of link mechanisms 14, but if the attitude control actuators 10 are provided in at least two of the three sets of link mechanisms 14, the proximal end side is provided.
  • the attitude of the link hub 13 on the tip side with respect to the link hub 12 can be determined.
  • the speed reduction mechanism 52 has a flange output and has a large diameter output shaft 52a.
  • the tip surface of the output shaft 52a is a planar flange surface 54 orthogonal to the center line of the output shaft 52a.
  • the output shaft 52a is connected to the rotating shaft support portion 26 of the end link member 15 on the proximal end side with a bolt 29 via a spacer 28.
  • a large diameter portion 22a of the rotating shaft 22 that constitutes a rotating pair of the link hub 12 (FIG. 3) on the base end side and the end link member 15 on the base end side is provided on the output shaft 52a of the speed reduction mechanism 52. It fits in the inner diameter groove 57.
  • the link operating device 7 operates the parallel link mechanism 9 by rotationally driving each attitude control actuator 10. Specifically, when the attitude control actuator 10 is rotationally driven, the rotation is decelerated via the reduction mechanism 52 and transmitted to the rotation shaft 22. As a result, the angle of the end link member 15 on the proximal end side with respect to the link hub 12 on the proximal end side changes, and the posture of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side is changed.
  • the tip member 40 of the link hub 13 on the tip side is formed with a through hole 40a penetrating the center of the tip member 40.
  • the camera Cr for photographing the work piece 2 shown in FIG. 2B a part of the camera body is fitted into the through hole 40a so as to face the link internal space Na side, and the side surface of the camera Cr attaches the mounting member 61. It is attached to the tip member 40 via.
  • the illuminator Le that illuminates the work piece 2 has a ring illumination whose light emitting portion is annular, and is attached to the tip member 40 via a support column Lea so as to be located on the outer periphery of the camera Cr.
  • a light emitting diode abbreviated as LED: Light Emitting Diode
  • a fluorescent lamp, a mercury lamp, or the like can also be applied.
  • the central axis of the camera Cr and the central axis of the annular light emitting portion of the illuminator Le are arranged concentrically, and the central axes of the camera Cr and the illuminator Le are the central axes QB of the link hub 13 on the tip side (FIG. 3). ) Is consistent. However, the central axes of the camera Cr and the illuminator Le do not necessarily have to coincide with the central axis QB (FIG. 3) of the link hub 13 on the tip side, and may be parallel to the central axis QB (FIG. 3). good. The central axes of the camera Cr and the illuminator Le may be tilted with respect to the central axis QB (FIG. 3) of the link hub 13 on the tip side.
  • the camera Cr and the illuminator Le are connected to a camera control system (not shown) via wiring, and various controls at the time of shooting are performed by the camera control system.
  • the maximum value of the bending angle ⁇ (FIG. 5) between the central axis QA of the link hub 12 on the proximal end side and the central axis QB of the link hub 13 on the distal end side.
  • the maximum bending angle is ⁇ max
  • the distance between the spherical link centers PA on the proximal end side and the spherical link center PB on the distal end side is L
  • the through hole 6a of the link hub 12 on the proximal end side is L.
  • each central link member 17 always moves on a circular orbital circle Co having a constant diameter about a straight line connecting the spherical link centers PA and PB on the proximal end side and the distal end side.
  • the orbital circle Co referred to here is an inscribed circle of the inner end 17a, which is the portion of the central link member 17 closest to the center of the turning orbit.
  • FIGS. 6 and 7 show the orbital circle Co when the bending angle ⁇ between the central axis QA of the link hub 12 on the proximal end side and the central axis QB of the link hub 13 on the distal end side is 0 °.
  • the orbital circle Co when the angle ⁇ is 90 ° is shown.
  • the center of the orbital circle Co is on a straight line connecting the spherical link centers PA and PB on the proximal end side and the distal end side, and the diameter of the orbital circle Co is also the same.
  • the orbital circle Co of the central link member 17 exists on a plane that is geometrically symmetrical between the base end side and the tip end side.
  • FIG. 10A is an explanatory view (state of a bending angle of 0 °) of the interference avoidance method between the link operating device 7 and the work piece 2
  • FIG. 10B is another explanatory view (maximum bending angle of 90 °) of the interference avoidance method. State).
  • the maximum bending angle at which the link operating device 7 operates during work is ⁇ max
  • the distance between the centers of spherical links is L
  • the diameter of the orbital circle Co (FIG. 7) of the central link member 17 is D1. If so, the link operating device 7 satisfying the relationship of D1> Ltan ( ⁇ max / 2) is shown.
  • the maximum bending angle ⁇ max of the link actuating device of this example is 90 °.
  • the inner end surface of the central link member 17 is the central axis QA of the link hub 12 on the proximal end side and the link hub 13 on the distal end side. It does not intersect the intersection O with the central axis QB. Therefore, even if the work piece 2 is arranged at a position intersecting the intersection O as shown in FIG. 10B, the central link member 17 and the work piece 2 are less likely to come into contact with each other.
  • the link operating device 7 that satisfies the above relational expression while considering the work size of the work piece 2.
  • the work piece 2 is moved in the vertical direction (Z direction) by the transport device Td (FIG. 1) according to the bending angle of the link operating device 7, but the position of the work piece 2 is fixed. It may be moved in the radial direction.
  • 11A to 11C and 12A to 12C are diagrams for explaining the depth of field F, the field of view Fv, and the like of the camera Cr.
  • 11A to 11C show the positional relationship of the work piece 2 with respect to the depth of field F of the camera Cr and the field of view Fv.
  • the range in the depth direction in which the camera Cr is in focus with respect to the distance La from the tip of the camera Cr to the subject is defined as the depth of field F
  • the radial dimension is defined as the field of view Fv.
  • the field of view Fv is a rectangle of short side A ⁇ long side B
  • the in-focus area is a rectangular parallelepiped extending in the depth direction with respect to the field of view Fv.
  • the short side A and the long side B of the visual field Fv may be made into a square having the same dimensions, and a region in focus may be made into a cube with the same dimensions as one side of the visual field Fv up to the depth direction.
  • FIGS. 11B and 11C when the short side of the field of view of the camera Cr is A and the depth of field of the camera Cr is F, the camera Cr satisfying all of the following relationships is mounted on the link operating device 7 and the carrier device Td.
  • FIG. 1 shows a configuration in which the appearance of the work piece 2 is inspected while the link operating device 7 is moved while the position of the work piece 2 is fixed.
  • the work piece 2 exists in the region where the camera Cr is in focus. Therefore, even when the position of the work piece 2 is fixed by the transport device Td (FIG. 1), the appearance inspection can be performed from the five surface directions of the work piece 2.
  • a camera Cr that satisfies only the relational expression of either A for the short side of the field of view Fv or F for the depth of field of the camera Cr may be selected. Even in that case, the amount of movement of the work piece 2 can be reduced by the transport device Td (FIG. 1). Therefore, takt time, that is, productivity can also be improved.
  • the visual inspection device 1 is provided with a transport device Td as a work piece support means for locating the work piece 2 in the internal space Na.
  • the transport device Td uses an XYZ stage that moves in three orthogonal axial directions.
  • the transport device Td includes a linear motion unit 63 which is a position adjusting means erected on the gantry 62, and a gripping mechanism 64 supported by the linear motion unit 63.
  • the transport device Td is, so to speak, a gantry loader.
  • the linear motion unit 63 includes an X-axis linear motion actuator 65 that advances and retreats in the left-right direction (X-axis direction) of FIG. It has a Z-axis linear motion actuator 67 that moves forward and backward in the vertical direction (Z-axis direction).
  • These linear actuators 65, 66, 67 are driven by motors 65a, 66a, 67a, which are drive sources, respectively, and have a conversion mechanism such as a ball screw that converts the rotation of each motor 65a, 66a, 67a into a linear reciprocating motion. Not shown).
  • the guide 65b of the X-axis linear actuator 65 is fixed to the gantry 62, and is guided along the guide 65b extending in the X-axis direction to the slide table 65c of the X-axis linear actuator 65 via the connecting fixing member 68.
  • the guide 66b of the axial linear actuator 66 is fixed.
  • the slide table 67c of the Z-axis linear actuator 67 is fixed to the slide table 66c of the Y-axis linear actuator 66 guided along the guide 66b extending in the Y-axis direction via the connecting fixing member 69.
  • the guide 67b of the Z-axis linear actuator 67 guided by the slide table 67c serves as the output unit of the transfer device Td.
  • a gripping mechanism 64 for gripping the work piece 2 is installed at the tip of the guide 67b of the Z-axis linear actuator 67.
  • the gripping mechanism 64 of this embodiment applies a configuration (vacuum chuck) for gripping the work piece 2 by a suction force of a negative pressure of air, but is not limited to this, for example, a fluid pressure cylinder (shown in the figure). You may use another mechanism such as an air chuck that converts the advancing / retreating operation of the rod into an opening / closing operation of a chuck that grips the work piece 2 via a gear mechanism or the like.
  • the work piece 2 gripped by the gripping mechanism 64 is carried into the internal space Na of the link mechanism through the through hole 6a (FIG. 4) of the base end member 6. Further, the work piece 2 is carried out from the internal space Na to the external space through the through hole 6a (FIG. 4).
  • the linear motion unit 63 may adjust the position of the work piece 2 gripped by the gripping mechanism 64 according to the posture of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side.
  • the work piece 2 is moved above the link operating device 7 by the transport device Td, and as shown by the solid line in FIG. 1, it is covered from the through hole 6a (FIG. 4) provided in the link hub 12 on the proximal end side.
  • the working body 2 is put into the internal space Na of the link operating device 7.
  • the position of the work piece 2 shown by the solid line in FIG. 1 is a state in which the five surfaces of the work piece 2 made of a cube can be inspected.
  • the link operating device 7 is moved, the camera Cr and the illuminator Le are positioned with respect to the work piece 2 from various angles to acquire an image, and OK / NG determination is performed by image processing.
  • the link operating device 7 is supposed to be positioned with respect to a position registered in advance, or to execute an operation pattern created in advance, but this is not the case. Further, the image processing may not be performed in real time, only the image may be acquired at this stage, and the OK / NG (good / bad) determination may be performed in another process. Further, the work piece 2 may be inspected to acquire an image or to perform image acquisition and image processing while being fixed at a fixed position, and the image is moved while the work piece 2 is moved by the transport device Td. An inspection to be acquired or an inspection to acquire an image and perform image processing may be performed.
  • a work which is the work piece 2 is installed by a conveyor or a vertical articulated robot (not shown).
  • the worker may place the work piece 2 at the carry-in position PIN.
  • the work which is the work piece 2 is carried out to the next step by a conveyor (not shown), a vertical articulated robot, or the like at the carry-out position POUT of the work piece 2.
  • the worker may take the work piece 2 and move it to another position.
  • the carry-out position POUT and the carry-in position PIN are provided on the left and right sides of the gantry 60 of the link operating device 7, but they may be provided at different places, and the carry-in position PIN and the carry-out position POUT are located at the same position. You may do it. Further, the carry-out position POUT may be provided individually for the OK product and the NG product of the work piece 2.
  • the camera Cr and the illuminator Le are provided on the link hub 12 on the tip side toward the work piece 2 arranged in the internal space Na of the link operating device 7. Therefore, the camera Cr and the illuminator Le can be positioned with respect to the work piece 2 from the hemispherical direction at the maximum without moving the work piece 2 significantly. Therefore, the appearance inspection device 1 can be constructed with a compact configuration, and the image of the inspection target by the camera Cr can be realized at a high speed with respect to the work piece 2 from various angles as compared with the conventional vertical articulated robot.
  • a through hole 40a is formed in the tip member 40 of the link hub 13 on the tip side, and the camera Cr is fitted into the through hole 40a so as to face the link internal space side, and the side surface of the camera Cr is the mounting member 61. It is attached to the tip member 40 via. In this way, a part of the camera Cr can be inserted through the through hole 40a and installed. Therefore, not only the camera Cr can be easily arranged, but also the cable can be taken out from the through hole 40a to the external space.
  • a through hole 6a is provided in the link hub 12 on the base end side, and the workpiece 2 is carried into the internal space Na through the through hole 6a by the transfer device Td, and is carried out from the internal space Na through the through hole 6a by the transfer device Td. Will be done.
  • the work piece 2 is put into the internal space Na of the link operating device 7 by using the transport device Td, and the appearance inspection is performed. Therefore, the appearance inspection of the work piece 2 can be performed only by installing the link operating device 7 in the transfer process of the work piece 2, and the appearance inspection process is added without significantly changing the production process. can do. Therefore, the entire equipment can be made compact and the cost can be reduced.
  • the transport device Td has a linear motion unit 63 that adjusts the position of the work piece 2 according to the posture of the link hub 13 on the tip side with respect to the link hub 12 on the base end side.
  • the distances between the spherical link centers PA and PB on the base end side and the tip end side and the rotation center change according to the bending angle ⁇ of the link operating device 7. Therefore, if the position of the work piece 2 is adjusted by the linear motion unit 63 of the transport device Td with respect to the amount of change in the distance, it becomes possible to always acquire an image in focus. Further, since the position of the work piece 2 is adjusted by using the transport device Td that conveys the work piece 2, it is not necessary to provide a separate mechanism for position adjustment, and the entire visual inspection device is made compact and the cost is reduced. Can be planned.
  • the second embodiment of FIG. 15 shows an example in which a miniaturized transport device (XYZ stage) Td is used with respect to the above-mentioned first embodiment.
  • a miniaturized transport device XYZ stage
  • FIGS. 16 to 18 described later, only one set of link mechanisms 14 is shown, and the remaining two link mechanisms are omitted.
  • a common gantry 60A is used to fix the transport device Td and the link operating device 7.
  • the carry-in position PIN and the carry-out position POUT of the work piece 2 are the mounting surfaces of the link operating device 7 on the gantry 60A, but other places may be used.
  • the structure is such that the worker manually places the work piece 2 in the carry-in position PIN and takes it out from the carry-out position POUT after the visual inspection.
  • the work piece 2 is placed in the carry-in position PIN using a vertical articulated robot or the like. , It may be taken out from the carry-out position POUT after the visual inspection.
  • a vertical articulated robot may be used for the transport device Td.
  • the other configurations in the figure are the same as those in the first embodiment.
  • a horizontal articulated robot may be used for the transport device Td.
  • the other configurations in the figure are the same as those in the first embodiment.
  • a visual inspection in which the camera Cr and the illuminator Le are fixed to the link hub 13 on the tip side where the tip member 40 does not have a through hole, and the transport device is not provided. It may be the device 1.
  • the visual inspection device 1 is provided with a gripping mechanism 64 for gripping the work piece 2 as a work piece support means for locating the work piece 2 in the internal space Na.
  • the gripping mechanism 64 for example, by the hand of an operator.
  • a support base (not shown) for supporting the work body 2 or a support base and a fixture for fixing the work body 2 to the support base (FIG. FIG. (Not shown) and the like may be applied.
  • the camera Cr and the illuminator Le are fixed to the link hub 13 on the tip side where the tip member 40 does not have a through hole, and the work piece 2 is detachably fixed to the base end member 6. It may be configured to be.
  • the camera Cr and the illuminator Le are fixed to the link hub 13 on the tip side where the tip member 40 has a through hole, and the work piece 2 is detachably fixed to the base end member 6. It may be configured to be.
  • the camera Cr and the illuminating tool Le are fixedly installed on the tip member 40 of the link hub 13 on the tip side, but as a reference proposal example, one or more camera Cr and the illuminating tool Le are installed. It may be mounted on a linear motion actuator, and the positions of the camera Cr and the illumination Le may be slightly changed by the linear motion actuator. Further, as another reference proposal example, either one of the camera Cr and the illuminator Le may be mounted on the tip member 40, and the other may be installed and used in another place such as a gantry. Further, as another reference proposal example, another end effector such as a dispenser may be installed on the tip member 40.
  • the transport device Td may use another mechanism such as a parallel link robot or the like.
  • a workbench on which the work piece 2 can be placed by an operator is provided in the internal space Na surrounded by three or more sets of link mechanisms 14, and the camera Cr and the camera Cr and the workbench 2 are directed toward the work piece 2 arranged on the workbench in the internal space Na.
  • the illuminator Le may be provided on the link hub 13 on the tip side. In this case, the entire visual inspection device can be made compact and simple.
  • the entire camera Cr may be fitted into the through hole 40a of the tip member 40 in the link hub 13 on the tip side.
  • a part of the illuminating tool Le may be fitted into the through hole 40a of the tip member 40, or the entire illuminating tool Le may be fitted.
  • FIGS. 21 to 30 A visual inspection device that combines a link operating device and a transport device will be described with reference to FIGS. 21 to 30.
  • the same components as those in the first embodiment are designated by the same reference numerals, and detailed description thereof will be omitted.
  • the configuration of the parallel link mechanism 9 and the attitude control actuator 10 is the same as that of the first embodiment.
  • the visual inspection device 1 performs a visual inspection of the work piece 2 by positioning the camera Cr and the illuminator Le relative to the work piece 2 by the link operating device 7.
  • a camera Cr and a luminaire Le are installed on a link hub 12 on the base end side of the link operating device 7.
  • the link actuating device 7 can position the work piece 2 with respect to the camera Cr and the illuminator Le in the internal space Na of the link actuating device 7 by the link hub 13 on the tip side.
  • the internal space Na is a space that does not interfere with each link member regardless of the posture of the link operating device 7. It is desirable that the work piece 2 can be positioned in the internal space Na within a range that does not interfere with each link member regardless of the posture of the link operating device 7.
  • the transport device Td is installed on the link hub 13 on the tip side, and the work piece 2 is carried into the internal space Na by the transport device Td and is carried out from the internal space Na.
  • the link operating device 7 and the transport device Td are connected to the same controller Ct, and are synchronously controlled by the controller Ct.
  • the controller of the link operating device 7 and the transport device Td may be provided separately, and the link operating device 7 and the transport device Td may be controlled asynchronously.
  • the link operating device 7 is installed on the gantry 60, for example, in a suspended state in which the base end member 6 described later of the link operating device 7 is horizontally supported.
  • the link actuating device 7 includes a parallel link mechanism 9 that supports the work piece 2 in a posture-changeable manner via a grip portion 64a of the transport device Td (FIG. 21), and the parallel link.
  • a posture control actuator 10 for operating the mechanism 9 is provided.
  • the base end member 6 of the link hub 12 on the base end side is formed with a through hole 6a penetrating the center of the base end member 6.
  • the camera Cr that photographs the work piece 2 has a part of the camera body fitted in the through hole 6a so as to face the link internal space Na side, and the side surface of the camera Cr is the base end via the mounting member 61. It is attached to the member 6.
  • the illuminator Le that illuminates the work piece 2 has a ring illumination whose light emitting portion is annular, and is attached to the base end member 6 via a support column Lea so as to be located on the outer periphery of the camera Cr.
  • a light emitting diode abbreviated as LED: Light Emitting Diode
  • a fluorescent lamp, a mercury lamp, or the like can also be applied.
  • the central axis of the camera Cr and the central axis of the annular light emitting portion of the illuminator Le are arranged concentrically, and the central axes of the camera Cr and the illuminator Le are the central axes QA of the link hub 12 on the proximal end side (FIG. It is consistent with 23A). However, the central axes of the camera Cr and the illuminator Le do not have to coincide with the central axis QA (FIG. 23A) of the link hub 12 on the proximal end side, and may be parallel to the central axis QA (FIG. 23A). ..
  • the central axes of the camera Cr and the illuminator Le may be tilted with respect to the central axis QA (FIG. 23A) of the link hub 12 on the proximal end side.
  • the camera Cr and the illuminator Le are connected to a camera control system (not shown) via wiring, and various controls at the time of shooting are performed by the camera control system.
  • the camera Cr and the illuminator Le may be controlled wirelessly, or the camera Cr and the illuminator Le may be wirelessly fed.
  • FIG. 23A is an explanatory view (state of a bending angle of 0 °) of the interference avoidance method between the link operating device 7 and the work piece 2
  • FIG. 23B is another explanatory view (maximum bending angle of 90 °) of the interference avoidance method. State).
  • the maximum bending angle at which the link operating device 7 operates during work is ⁇ max
  • the distance between the centers of spherical links is L
  • the diameter of the orbital circle Co (FIG. 7) of the central link member 17 is D. If so, the link operating device 7 satisfying the relationship of D> Ltan ( ⁇ max / 2) is shown.
  • the maximum bending angle ⁇ max of the link operating device 7 in this example is 90 °.
  • the inner end surface of the central link member 17 is the central axis QA of the link hub 12 on the proximal end side and the link hub 13 on the distal end side. It does not intersect the intersection O with the central axis QB. Therefore, even if the work piece 2 is arranged at a position intersecting the intersection O as shown in FIG. 23B, the central link member 17 and the work piece 2 are less likely to come into contact with each other.
  • the link operating device 7 that satisfies the above relational expression while considering the work size of the work piece 2.
  • the work piece 2 is moved in the vertical direction (Z direction) by the transport device Td (FIG. 21) according to the bending angle of the link operating device 7, but the position of the work piece 2 is fixed. It may be moved in the radial direction.
  • 24A to 26B are diagrams for explaining the depth of field F, the field of view Fv, and the like of the camera Cr.
  • 24A to 24C show the positional relationship of the work piece 2 with respect to the depth of field F of the camera Cr and the field of view Fv.
  • the range in the depth direction in which the camera Cr is in focus with respect to the distance La from the tip of the camera Cr to the subject is defined as the depth of field F
  • the radial dimension is defined as the field of view Fv.
  • the field of view Fv is a rectangle of short side A ⁇ long side B
  • the in-focus area is a rectangular parallelepiped extending in the depth direction with respect to the field of view Fv.
  • the short side A and the long side B of the field of view Fv may be made into a square having the same dimensions, and a region in focus may be made into a cube with the same dimensions as one side of the field of view Fv up to the depth direction.
  • FIGS. 24B and 24C when the short side of the field of view of the camera Cr is A and the depth of field of the camera Cr is F, the camera Cr satisfying all of the following relationships is mounted on the link operating device 7 and the carrier device Td.
  • FIG. 21 shows a configuration in which the visual inspection of the work piece 2 is performed while moving the link operating device 7 with the position of the work piece 2 fixed.
  • the work piece 2 exists in the region where the camera Cr is in focus, and the transport device Td ( According to FIG. 21), even when the position of the work piece 2 is fixed, the appearance inspection can be performed from the five sides of the work piece 2.
  • a camera Cr that satisfies only the relational expression of either A for the short side of the field of view Fv or F for the depth of field of the camera Cr may be selected. Even in that case, the amount of movement of the work piece 2 can be reduced by the transport device Td (FIG. 21). Therefore, takt time, that is, productivity can also be improved.
  • 25A, 25B, 26A, and 26B are diagrams for explaining the depth of field F, the field of view Fv, and the like of the camera Cr in the embodiments of FIGS. 31 to 33, which will be described later, in which the transport device is not mounted. In this case as well, the same effect is obtained.
  • a uniaxial linear actuator 67 is used for the transport device Td.
  • the transport device Td is installed on the link hub 13 on the tip side.
  • the transport device Td includes a linear motion actuator 67 which is a means for adjusting the position of the work piece, a gripping mechanism 64 supported by the linear motion actuator 67, and a gripping portion direction changing mechanism 70.
  • the linear actuator 67 moves and drives a guide 67b fixed to the link hub 13 on the tip side via a fixture (not shown), a stage portion 67c guided along the guide 67b, and a stage portion 67c.
  • the guide 67b is inserted into the through hole 40a (FIG. 22A) of the tip member 40 with a predetermined gap, and is fixed to the link hub 13 on the tip side so as to extend in a direction orthogonal to the plane of the tip member 40. Has been done.
  • a gripping mechanism 64 including a gripping portion 64a for gripping the work piece 2 is supported on the stage portion 67c via the gripping portion direction changing mechanism 70.
  • the gripping mechanism 64 of this embodiment uses an L-shaped one having a passage for passing air through the inner diameter portion, and the work piece 2 is gripped by the suction force of the negative pressure of the air at the tip of the gripping mechanism 64.
  • a configuration vacuum chuck is applied in which the work piece 2 is gripped by suction with the grip portion 64a, which is a portion.
  • the gripping mechanism 64 is, for example, an air chuck that converts the advancing / retreating motion of the rod of the fluid pressure cylinder (not shown) into the opening / closing motion of the chuck that grips the workpiece 2 via the gear mechanism or the like. Mechanism may be used.
  • a grip portion direction changing mechanism 70 for changing the direction of the grip portion 64a is provided at the base end portion of the grip mechanism 64.
  • a rotary motor is arranged as the grip portion direction changing mechanism 70 so that the grip portion 64a can be directed in the front-rear direction in the traveling direction of the stage portion 67c.
  • a mechanism other than the rotary motor may be used as the grip portion direction changing mechanism 70 as long as the mechanism is such that the grip portion 64a is directed in the front-rear direction in the traveling direction of the stage portion 67c.
  • the rod-shaped portion of the gripping mechanism 64 may be made into an elastic body, and the tip of the gripping portion 64a may be pulled by a wire or the like as the gripping portion direction changing mechanism 70.
  • the work piece 2 gripped by the gripping mechanism 64 is carried into the internal space Na of the link mechanism 14 through the through hole 40a (FIG. 22A) of the tip member 40. Further, the work piece 2 is carried out from the internal space Na to the external space through the through hole 40a (FIG. 22A).
  • the linear actuator 67 may adjust the position of the work piece 2 gripped by the gripping mechanism 64 according to the posture of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side.
  • the stage portion 67c is further moved downward, and the work piece 2 carried into the carry-in position PIN of the installation surface SF is gripped by the gripping mechanism 64.
  • the grip portion direction changing mechanism 70 is driven to turn the grip portion 64a of the grip mechanism 64 upward.
  • the stage portion 67c is moved upward while the grip portion 64a is facing upward, and the workpiece 2 is connected to the inside of the link operating device 7 from the through hole 40a (FIG. 22A) of the tip member 40. Move to the inspection position of space Na.
  • the link operating device 7 is moved, an image is acquired from the camera Cr while moving the work piece 2, and OK / NG determination is performed by image processing.
  • the link operating device 7 is supposed to be positioned with respect to a position registered in advance, or to execute an operation pattern created in advance, but this is not the case. Image processing may not be performed in real time, only the image may be acquired at this stage, and OK / NG (good / bad) judgment may be performed in another process.
  • an inspection for acquiring an image or an inspection for acquiring an image and performing image processing may be performed, and an image is acquired while the work piece 2 is moved by the transport device Td. Inspection or inspection for image acquisition and image processing may be performed.
  • the stage portion 67c is moved downward, and the work piece 2 is brought out from the through hole 40a (FIG. 22A) to the external space of the link operating device 7.
  • the grip portion direction changing mechanism 70 is driven to turn the grip portion 64a downward, and the work, which is the work piece 2, is placed at the carry-out position POUT.
  • the worker installs the work piece 2 at the carry-in / carry-out positions PIN and POUT of the work piece 2 and takes it out.
  • the work piece 2 may be moved by a conveyor (not shown) or a vertical articulated robot.
  • the OK product and the NG product of the work piece 2 may be placed at different carry-out positions POUT based on the image processing result.
  • the carry-in / carry-out positions PIN and POUT are provided directly below the link operating device 7, but they may be provided at different locations, or the carry-in position PIN and the carry-out position POUT may be provided separately.
  • the camera Cr and the illuminator Le are installed on the link hub 12 on the proximal end side, and the work piece 2 is connected to the internal space Na of the link operating device 7 by the link hub 13 on the distal end side. It can be positioned with respect to the camera Cr and the illuminator Le. Therefore, the camera Cr and the illuminator Le can be positioned relative to the work piece 2 from the hemispherical direction at the maximum without moving the work piece 2 significantly. Therefore, the visual inspection device 1 can be constructed with a compact configuration, and the camera Cr can shoot at a high speed with respect to the work piece 2 from various angles as compared with the conventional vertical articulated robot.
  • the camera Cr a part of the camera body is fitted into a through hole 6a penetrating the center of the base end member 6 so as to face the link internal space Na side, and the side surface of the camera Cr is via the mounting member 61. It is attached to the base end member 6. In this way, a part of the camera Cr can be inserted through the through hole 6a and installed. Therefore, not only the camera Cr can be easily arranged, but also the cable can be taken out from the through hole 6a to the external space.
  • a through hole 40a is provided in the link hub 13 on the tip side, and the work piece 2 is carried into the internal space Na through the through hole 40a by the transfer device Td, and is carried into the internal space Na from the internal space Na through the through hole 40a by the transfer device Td. Will be carried out to.
  • the work piece 2 is put into the internal space Na of the link operating device 7 by using the transport device Td, and the appearance inspection is performed. Therefore, the appearance inspection of the work piece 2 can be performed only by installing the link operating device 7 in the transfer process of the work piece 2, and the appearance inspection process is added without significantly changing the production process. can do. Therefore, the entire equipment can be further made more compact and the cost can be reduced.
  • the transport device Td can change the direction of the grip portion 64a in the external space direction and the internal space direction of the link operating device 7 by the grip portion direction changing mechanism 70 that changes the direction of the grip portion 64a. Therefore, both the gripping work of the work piece 2 in the external space and the positioning work of the work piece 2 in the internal space Na can be performed. Since a plurality of operations can be performed only by providing the gripping mechanism 64 with the gripping direction changing mechanism 70, the entire visual inspection device can be made compact.
  • the transport device Td has a linear actuator 67 that adjusts the position of the work piece 2 according to the posture of the link hub 13 on the distal end side with respect to the link hub 12 on the proximal end side.
  • the distances between the spherical link centers PA and PB on the base end side and the tip end side and the rotation center change according to the bending angle ⁇ of the link operating device 7. Therefore, if the position of the work piece 2 is adjusted by the linear actuator 67 of the transport device Td with respect to the amount of change in the distance, an image that is always in focus can be acquired. Further, since the position of the work piece 2 is adjusted by using the transport device Td that conveys the work piece 2, it is not necessary to provide a separate mechanism for position adjustment, and the entire visual inspection device is made compact and the cost is reduced. Can be planned.
  • the camera Cr and the illuminator Le are fixed to the link hub 12 on the base end side where the base end member 6 does not have a through hole, and a transport device is provided. There may be no visual inspection device 1.
  • the visual inspection device 1 is provided with a gripping mechanism 64 for gripping the work piece 2 on the tip member 40 as a work piece support means for locating the work piece 2 in the internal space Na. In this case, the work piece 2 to be inspected is gripped by the gripping mechanism 64 by, for example, a worker's hand.
  • a support base (not shown) that supports the work body 2 or a support base and a fixing that detachably fixes the work body 2 to the support base. Tools (not shown) or the like may be applied.
  • the work piece 2 is detachably fixed to the link hub 13 on the tip side where the tip member 40 does not have a through hole, and the base end member 6 has a through hole.
  • the camera Cr and the illuminator Le may be fixed to the link hub 12 on the base end side which is not provided.
  • the work piece 2 is detachably fixed to the link hub 13 on the tip side where the tip member 40 does not have a through hole, and the base end member 6 has a through hole.
  • the camera Cr and the illuminator Le may be fixed to the link hub 12 on the proximal end side where 6a is formed.
  • the camera Cr is attached to the base end member 6 via the attachment member 61 with a part of the camera body fitted in the through hole 6a so as to face the internal space Na side. ing.
  • the camera and the illuminator are fixedly installed on the proximal member of the link hub on the proximal end side, but as a reference proposal example, the camera and the illuminator are attached to one or more linear actuators. It may be mounted and the position of at least one of the camera and the illuminator may be slightly changed by a linear actuator. Further, as another reference proposal example, one of the camera and the luminaire may be mounted on the base end member, and the other may be installed and used in another place such as a gantry. In addition, as a reference proposal example, the camera and the lighting equipment may be installed on the gantry 60 or the like. As yet another reference proposal example, another end effector such as a dispenser may be installed on the base end member.
  • the work piece 2 is detachably fixed to the link hub 13 on the tip side, but as a reference proposal example, a transfer device such as a vertical articulated robot is placed in another place.
  • the work piece 2 may be carried in and out from the gap between the link mechanisms 14 by a transport device.
  • the transport device is equipped with a single-axis linear actuator, but a plurality of linear actuators may be used. Further, another mechanism may be used as long as the work piece can be pulled into the internal space of the link operating device.
  • the entire camera Cr may be fitted into the through hole 6a of the base end member 6 in the base end side link hub 12. A part of the illuminating tool Le may be fitted into the through hole 6a of the base end member 6, or the entire illuminating tool Le may be fitted.
  • the present invention is not limited to the above embodiments, and various additions, changes, or deletions can be made without departing from the gist of the present invention. Therefore, such things are also included within the scope of the present invention.

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  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Manipulator (AREA)

Abstract

L'invention concerne un dispositif d'inspection visuelle (1) grâce auquel une pièce à travailler (2) est inspectée visuellement par le positionnement d'une caméra (Cr) et d'un illuminateur (Le) par rapport à la pièce à travailler (2) à l'aide d'un dispositif d'actionnement de liaison (7). Dans le dispositif d'actionnement de liaison (7), un moyeu de liaison (13) sur le côté d'extrémité distale est accouplé à un moyeu de liaison (12) sur le côté d'extrémité proximale de façon à pouvoir modifier une posture de ce dernier par au moins trois ensembles de mécanismes de liaison. Un actionneur de commande de posture (10) qui modifie arbitrairement la posture du moyeu de liaison (13) sur le côté d'extrémité distale par rapport au moyeu de liaison (12) sur le côté d'extrémité proximale est fourni à au moins deux ensembles de mécanismes de liaison des au moins trois ensembles de mécanismes de liaison. La pièce à travailler (2) peut être disposée dans un espace interne (Na) du dispositif d'actionnement de liaison (7), et la caméra (Cr) et l'illuminateur (Le) sont disposés sur le moyeu de liaison (13) sur le côté d'extrémité distale vers la pièce à travailler (2) disposée dans l'espace interne (Na).
PCT/JP2021/002893 2020-01-31 2021-01-27 Dispositif d'examen visuel Ceased WO2021153630A1 (fr)

Applications Claiming Priority (4)

Application Number Priority Date Filing Date Title
JP2020014510A JP7461151B2 (ja) 2020-01-31 2020-01-31 外観検査装置
JP2020-014509 2020-01-31
JP2020014509A JP7461150B2 (ja) 2020-01-31 2020-01-31 外観検査装置
JP2020-014510 2020-01-31

Publications (1)

Publication Number Publication Date
WO2021153630A1 true WO2021153630A1 (fr) 2021-08-05

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PCT/JP2021/002893 Ceased WO2021153630A1 (fr) 2020-01-31 2021-01-27 Dispositif d'examen visuel

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Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018194443A (ja) * 2017-05-18 2018-12-06 Ntn株式会社 外観検査装置
WO2019049994A1 (fr) * 2017-09-11 2019-03-14 Ntn株式会社 Machine de travail
WO2019235523A1 (fr) * 2018-06-08 2019-12-12 Ntn株式会社 Dispositif d'actionnement d'articulation

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2018194443A (ja) * 2017-05-18 2018-12-06 Ntn株式会社 外観検査装置
WO2019049994A1 (fr) * 2017-09-11 2019-03-14 Ntn株式会社 Machine de travail
WO2019235523A1 (fr) * 2018-06-08 2019-12-12 Ntn株式会社 Dispositif d'actionnement d'articulation

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