JPS63273003A - Visual confirming instrument - Google Patents
Visual confirming instrumentInfo
- Publication number
- JPS63273003A JPS63273003A JP10632887A JP10632887A JPS63273003A JP S63273003 A JPS63273003 A JP S63273003A JP 10632887 A JP10632887 A JP 10632887A JP 10632887 A JP10632887 A JP 10632887A JP S63273003 A JPS63273003 A JP S63273003A
- Authority
- JP
- Japan
- Prior art keywords
- vehicle body
- sensors
- reflecting plates
- visual
- illuminators
- 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.)
- Granted
Links
- 230000000007 visual effect Effects 0.000 title claims abstract description 35
- 238000012790 confirmation Methods 0.000 claims abstract description 6
- 230000003028 elevating effect Effects 0.000 abstract description 4
- 230000001678 irradiating effect Effects 0.000 abstract 1
- 230000000694 effects Effects 0.000 description 2
- 238000005286 illumination Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 2
- 235000006693 Cassia laevigata Nutrition 0.000 description 1
- 241000735631 Senna pendula Species 0.000 description 1
- 230000006866 deterioration Effects 0.000 description 1
- 230000007257 malfunction Effects 0.000 description 1
- 229940124513 senna glycoside Drugs 0.000 description 1
- 230000003746 surface roughness Effects 0.000 description 1
Landscapes
- Length Measuring Devices By Optical Means (AREA)
Abstract
Description
【発明の詳細な説明】
（産業上の利用分野Ｊ
本発明は、主として自動車車体等の大型のワークに形成
した穴位置を視覚センサを用いて確認するようにした視
覚確認装置に関する。DETAILED DESCRIPTION OF THE INVENTION (Industrial Field of Application J) The present invention relates to a visual confirmation device that uses a visual sensor to confirm the position of a hole formed in a large workpiece such as an automobile body.
（従来の技術り
従来、視覚センサを用いてワークの穴位置を確認する場
合、照明器によりワークを直接照射して、ワークからの
反射光を視覚センサで検出するようにしている。(Prior Art) Conventionally, when confirming the position of a hole in a workpiece using a visual sensor, the workpiece is directly irradiated with an illuminator, and the reflected light from the workpiece is detected by the visual sensor.
（発明が解決しようとする問題点］
上記のものでは、照明器を設置する場所が限定されて、
ワークを斜め方向から照射せざるを得々〈なった場合、
ワークの各部位によって視覚センナに向う反射光量が大
幅に変化して誤作動を生じ易くなり、又黒色のワークで
はその表面に照明器や周囲の物体の像が写り、穴位置が
確認しにくくなる問題がある。(Problems to be solved by the invention) In the above, the place where the illuminator can be installed is limited.
If you have no choice but to irradiate the workpiece from an oblique direction,
The amount of light reflected toward the vision sensor varies greatly depending on each part of the workpiece, making it more likely to malfunction, and with black workpieces, images of illuminators and surrounding objects will appear on the surface, making it difficult to confirm the hole position. There's a problem.
又、視覚センサに照明器を取付けることも考えられるが
、これでは重量が増して視覚センサを可動にする場合問
題があり、又メンテナンス性も悪くなる。It is also conceivable to attach an illuminator to the visual sensor, but this increases the weight and causes problems when making the visual sensor movable, and also makes maintenance difficult.
本発明は、かかる問題点を解決し、照明器を視覚センサ
の側方に離間配置しても確実に視覚確認を行い得られる
ようＫＬ、ｆＦ−装置を提供することをその目的とする
。SUMMARY OF THE INVENTION An object of the present invention is to solve such problems and to provide a KL, fF-device that can reliably perform visual confirmation even if the illuminator is placed apart to the side of the visual sensor.
（問題点を解決するための手段Ｊ
本発明は、上記目的を達成すべく、視覚センサのワーク
に対向する面に該視覚センサの視野を覆わないように反
射板を設け、該反射板を照射する照明器を設けて、該反
射板からの反射光によりワークを照明するようにしたこ
とを特命とする。(Means for Solving the Problems J) In order to achieve the above object, the present invention provides a reflector plate on the surface of the visual sensor facing the work so as not to cover the field of view of the visual sensor, and irradiates the reflector plate. The mission was to provide an illuminator to illuminate the workpiece using the reflected light from the reflector.
（作 用］
ワークは反射板からの反射光により視覚センサ側から一
定範囲に亘り略均等な照度で照明され、ワークの大泣ｆ
ｌｔ′ｔ−確認する場合、穴以外の部分での明るさの変
化が少なくなり、穴の像が暗部として視覚センサに明確
に結像され、穴位置の確認を正確に行い得られる。(Function) The workpiece is illuminated with substantially uniform illuminance over a certain range from the visual sensor side by the reflected light from the reflector, and the workpiece is illuminated with a uniform illuminance.
In the case of lt't-confirmation, the change in brightness in areas other than the hole is reduced, the image of the hole is clearly formed on the visual sensor as a dark area, and the hole position can be accurately confirmed.
又、ワークが黒色の場合でも、ワークに反射板が明るく
写るため、周囲の物体の像が反射板の像で消され、穴位
置を正確に確認できる。Furthermore, even if the workpiece is black, since the reflector appears brightly on the workpiece, images of surrounding objects are erased by the image of the reflector, allowing accurate confirmation of the hole position.
（実施例］
図面はワークたる自動本車体Ｗの位置決め装置の構成要
素として本発明装置を用いた実施例を示し、図中（１）
は位置決め装置の機台、（２）（３）は該機台（１）上
に昇降自在に設けた前後１対の昇降台でアリ、前方の昇
降台（２）の左右両側部に、シリンダ（４ａ Ｊにより
前後動される第１スライド台（４）と、該第１スライド
台（４）上にシリンダ（５ａ １により左右動される第
２スライド台（５）とを設けて、該各第２スライド台（
５）上に車体Ｗの底面前部の左右１対の基準穴Ｗ ａ
、 Ｗ ａに各嵌合するロケートピン（６）と、ＣＣＤ
カメラから成る視覚センサ（７）とを設け、又後方の昇
降台（２）に、シリンダ（８ａ）により前後動される第
３スライド台（８）と、該第３スライド台（８）上に図
示しないフラットベアリングを介して水平方向に遊動自
在な第４スライド台（９）とを設けて、該第４スライド
台（９）上に車体Ｗの底面を受ける左右１対の受具１１
０１ （１０１全役は念。(Example) The drawing shows an example in which the device of the present invention is used as a component of a positioning device for an automatic main body W, which is a workpiece.
(2) and (3) are a pair of front and rear elevating platforms installed on the machine platform (1) so that they can be raised and lowered freely.There are cylinders on both left and right sides of the front elevating platform (2). A first slide table (4) that is moved back and forth by a cylinder (4a) and a second slide table (5) that is moved left and right by a cylinder (5a1) are provided on the first slide table (4), and each 2nd slide stand (
5) A pair of left and right reference holes W a on the bottom front of the vehicle body W
, the locating pins (6) each fitted to W a, and the CCD
A visual sensor (7) consisting of a camera is provided, and a third slide table (8) which is moved back and forth by a cylinder (8a) is provided on the rear lifting table (2), and a third slide table (8) is provided on the third slide table (8). A fourth slide stand (9) that is movable in the horizontal direction via a flat bearing (not shown) is provided, and a pair of left and right receivers 11 for receiving the bottom surface of the vehicle body W are provided on the fourth slide stand (9).
01 (All 101 roles are Nen.
そして、車体Ｗがハンガー等で機台（１）の上方位置に
搬送されたとき、各視覚センサ（７）により各基準穴Ｗ
ａの位置を確認し、次いで第１第２スライド台＋４）
（５）を移動制御して、該各基単穴Ｗａの直下位置に各
ロケートピン（６）を移動させ、この状態で第１昇降台
（２）ｔ−上昇させて各基準穴Ｗａに各ロケートピン（
６）を嵌合させると共に、第２昇降台（３）を上昇させ
て受具α（１（１（Ｉｔ−車体Ｗの底面に当接させ、こ
れらロケートピン（６） （６）と受具（１υ０υとに
より車体Ｗを持上げ、次いで各ロケートピン（６）全車
体Ｗが正規位置に存するときの各基準穴Ｗａの位置に合
致する所定の基準位置に移動させて、車体ｗ４正規位置
に位置決めするようにした。When the vehicle body W is transported to a position above the machine base (1) using a hanger or the like, each reference hole W is detected by each visual sensor (7).
Check the position of a, then move the first and second slides +4)
(5) to move each locate pin (6) to a position directly below each base hole Wa, and in this state, raise the first elevating table (2) t- and place each locate pin in each reference hole Wa. (
At the same time, the second lifting platform (3) is raised to abut against the bottom surface of the vehicle body W, and these locate pins (6) (6) and the receiver ( 1υ0υ to lift the car body W, and then move each locating pin (6) to a predetermined reference position that matches the position of each reference hole Wa when the whole car body W is in the normal position, and position the car body w4 in the normal position. I made it.
ここで、各視覚センサ（力による穴位置の確認に際して
は車体底面を照明する必要があり、そこで車体底面に対
向する各視覚センナ（７）の上面に、該各センサ（７）
の視野を榎わないよう中央に該各センサ（７）のレンズ
を臨ませる透孔（１１ａＪ を形成した反射板Ｏυを取
付け、照明器Ｏ３からの光線を該反射板００で反射して
車体底面を照明するようにした。Here, each visual sensor (when confirming the hole position by force, it is necessary to illuminate the bottom surface of the vehicle body, so each visual sensor (7) is placed on the top surface of each visual sensor (7) facing the bottom surface of the vehicle body.
A reflector plate Oυ with a through hole (11aJ) is installed in the center so that the lens of each sensor (7) faces so as not to obstruct the field of view. It was designed to illuminate.
照明器α２は、レイアウト上の問題とメンテナンス性と
を考慮して、機台（１）の前方の支柱（ｌａＪ上のブラ
ケツ） （１ｂＪに、各視覚センサ（７）の上面の各反
射板（ＩＤｔ斜め前方から照射するように左右１対に設
けるものとし、又該各反射板αυを光 −を散乱すべく
成る程度の表面粗度を持った梨子地の白色板で構成する
ものとした。Considering layout issues and ease of maintenance, the illuminator α2 is equipped with a pillar (bracket on laJ) in front of the machine base (1) (1bJ), and each reflector on the top surface of each visual sensor (7) (1bJ). A pair of left and right reflectors were provided so that the IDt was irradiated diagonally from the front, and each reflector plate αυ was constructed of a pear-like white plate with a surface roughness sufficient to scatter light.
以上の構成によれば、車体底面は反射板旧）がらの反射
光により下方から一定範囲に亘り略均等な照度で照明さ
れ、車体が黒色の場合は車体底面に反射板αυが白く写
り、基準穴Ｗａのみが暗部となり、大泣ｔを視覚センナ
（刀で正確に確認できる。According to the above configuration, the bottom surface of the car body is illuminated with substantially uniform illuminance over a certain range from below by the light reflected from the old reflector plate, and when the car body is black, the reflector αυ appears white on the bottom surface of the car body, and the reference plate Only the hole Wa becomes the dark part, and the big cry can be confirmed accurately with a visual senna (sword).
（発明の効果）
以上の如く本発明によるときは、照明器を、視覚センサ
に取付けたりその近傍に配置しなくとも、視覚センサに
取付けた反射板からの反射光でワークを一定範囲に亘り
略均等な照度で照明でき、周囲の物体の像を写し易い黒
色のワークであっても、視覚センサによる穴位置の確認
を正確に行い得られ、而も視覚センサには反射板を取付
けるだけであるため、視覚センサに照明器を取付ける場
合の重量増やメンテナンス性の悪化といった問題も生じ
ない効果を有する。(Effects of the Invention) As described above, according to the present invention, the workpiece can be illuminated over a certain range using the reflected light from the reflector plate attached to the visual sensor, without the need to attach the illuminator to the visual sensor or place it near the visual sensor. Even with black workpieces that can be illuminated with uniform illumination and images of surrounding objects easily captured, the hole position can be accurately confirmed using the visual sensor, and all that is required is to attach a reflector to the visual sensor. Therefore, problems such as an increase in weight and deterioration in maintainability when attaching an illuminator to a visual sensor have the effect of not occurring.
第１図は本発明装置を具備する車***置決め装置の側面
図、第２図はその正面図、第３図はその平面図である。
Ｗ・・・車体（ワーク）
（７）・・・視覚センサ
（Ｉｌｌ・・・反射板
Ｑ７Ｊ・・・照明器
外２名
窮１頁の続き
移発 明 者 伊 藤 幹 也 埼玉県狭山市
新狭山ング株式会社内FIG. 1 is a side view of a vehicle body positioning device equipped with the device of the present invention, FIG. 2 is a front view thereof, and FIG. 3 is a plan view thereof. W...Vehicle body (work) (7)...Visual sensor (Ill...Reflector Q7J...Continued from 1 page, 2 people outside the illumination device) Inventor: Mikiya Ito Shin, Sayama City, Saitama Prefecture Inside Sayama Ngu Co., Ltd.
Claims (1)
視覚センサのワークに対向する面に該視覚センサの視野
を覆わないように反射板を設け、該反射板を照射する照
明器を設けて、該反射板からの反射光によりワークを照
明するようにしたことを特徴とする視覚確認装置。In a device equipped with a visual sensor facing the workpiece, a reflective plate is provided on the surface of the visual sensor facing the workpiece so as not to cover the field of view of the visual sensor, and an illuminator is provided to illuminate the reflective plate. A visual confirmation device characterized in that a workpiece is illuminated by light reflected from a board.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62106328A JPH07111325B2 (en) | 1987-05-01 | 1987-05-01 | Visual confirmation device |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP62106328A JPH07111325B2 (en) | 1987-05-01 | 1987-05-01 | Visual confirmation device |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS63273003A true JPS63273003A (en) | 1988-11-10 |
| JPH07111325B2 JPH07111325B2 (en) | 1995-11-29 |
Family
ID=14430840
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP62106328A Expired - Fee Related JPH07111325B2 (en) | 1987-05-01 | 1987-05-01 | Visual confirmation device |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH07111325B2 (en) |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6221007A (en) * | 1985-07-17 | 1987-01-29 | ウエスチングハウス エレクトリック コ−ポレ−ション | Visual sensor system for robot |
-
1987
- 1987-05-01 JP JP62106328A patent/JPH07111325B2/en not_active Expired - Fee Related
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6221007A (en) * | 1985-07-17 | 1987-01-29 | ウエスチングハウス エレクトリック コ−ポレ−ション | Visual sensor system for robot |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH07111325B2 (en) | 1995-11-29 |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| CN100451599C (en) | Apperance inspection device for liquid crystal liquid panel | |
| ES2170128T3 (en) | PROCEDURE FOR RECOGNIZING AND EVALUATING DEFECTS IN PARTIALLY REFLECTING SURFACE LAYERS. | |
| EP0362679A3 (en) | Inside surface inspection system and method therefor | |
| CN110186385B (en) | Detection jig and detection platform | |
| JPS63273003A (en) | Visual confirming instrument | |
| KR101605000B1 (en) | Apparatus for inspecting substrate | |
| KR100795400B1 (en) | Lighting Inspection Apparatus for Display Panel | |
| CN205562430U (en) | Used narrow type image device of printed matter surface detecting system | |
| GB2357577A (en) | Illuminator for inspecting substantially flat surfaces | |
| CN207094370U (en) | The backlight assembly of adjustable position | |
| WO2003060488A1 (en) | Lcc device inspection module | |
| KR102027364B1 (en) | Multi optic display inspecting device | |
| DE69008676D1 (en) | Inspection device with dark field lighting. | |
| JP2507421B2 (en) | Observation device for the subject | |
| CN112798611A (en) | Double-station circuit board visual detection system | |
| CN206974886U (en) | The sidelight source component of adjustable position | |
| JP2533383B2 (en) | Lead inspection equipment for semiconductor devices | |
| CN216717431U (en) | Slotted hole CCD detects machine | |
| JPH044000A (en) | Method and device for inspecting printed board | |
| KR960009653Y1 (en) | Ng inspection device | |
| KR0123012Y1 (en) | Chip parts checking apparatus for printed circuit board | |
| CN207280980U (en) | The transparent carrier of dust protection interference | |
| ATE368272T1 (en) | LIGHTING DEVICE USABLE AS A DISPLAY BOARD LIGHTING OR AS A LAMP FOR MOTOR VEHICLES | |
| JP2000074853A (en) | Lighting system for image-picking up drum part of can | |
| JPH04123500A (en) | Observation apparatus for electronic part |
Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |