CN103732353B - Encoder manufactures device, encoder manufacture method, servo motor manufacture method - Google Patents
Encoder manufactures device, encoder manufacture method, servo motor manufacture method Download PDFInfo
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- CN103732353B CN103732353B CN201180072953.3A CN201180072953A CN103732353B CN 103732353 B CN103732353 B CN 103732353B CN 201180072953 A CN201180072953 A CN 201180072953A CN 103732353 B CN103732353 B CN 103732353B
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Classifications
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
- B23P21/00—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control
- B23P21/004—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed
- B23P21/006—Machines for assembling a multiplicity of different parts to compose units, with or without preceding or subsequent working of such parts, e.g. with programme control the units passing two or more work-stations whilst being composed the conveying means comprising a rotating table
-
- G—PHYSICS
- G01—MEASURING; TESTING
- G01D—MEASURING NOT SPECIALLY ADAPTED FOR A SPECIFIC VARIABLE; ARRANGEMENTS FOR MEASURING TWO OR MORE VARIABLES NOT COVERED IN A SINGLE OTHER SUBCLASS; TARIFF METERING APPARATUS; MEASURING OR TESTING NOT OTHERWISE PROVIDED FOR
- G01D5/00—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable
- G01D5/26—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light
- G01D5/32—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light
- G01D5/34—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells
- G01D5/347—Mechanical means for transferring the output of a sensing member; Means for converting the output of a sensing member to another variable where the form or nature of the sensing member does not constrain the means for converting; Transducers not specially adapted for a specific variable characterised by optical transfer means, i.e. using infrared, visible, or ultraviolet light with attenuation or whole or partial obturation of beams of light the beams of light being detected by photocells using displacement encoding scales
- G01D5/34707—Scales; Discs, e.g. fixation, fabrication, compensation
Abstract
The present invention provides a kind of encoder manufacture device, encoder manufacture method, servo motor manufacture method that can improve and manufacture efficiency.A kind of encoder manufacturing the encoder (10) for servo motor (SM) manufactures device (100), has: perform, with circle-shaped configuration and at least one of the disk (30) of encoder (10) and the hub (20) that is provided with this disk (30), multiple operation unit (200～600) that the operation of regulation processes；And turntable (102), by the multiple holding members (110) that can keep in the way of being perpendicular to the axle rotation of table top, hub (20) is located at the peripheral part of turntable separated from each other, and turntable makes multiple holding member (110) move successively and be parked in multiple operation unit (200～600) on each stop position corresponding with each operation unit.
Description
Technical field
Embodiments of the present invention relate to manufacturing the encoder of the encoder for servo motor and manufacture device, encoder manufacture method and servo motor manufacture method.
Background technology
Generally, in there is the servo motor of motor and encoder, form slotted disk and be installed on the axle of motor.At this time, it may be necessary to carry out position alignment so that axle and disk are concentric.In the past, as disk relative to the off-center adjustment apparatus of axle, for example, as it is known that the device described in patent documentation 1.This off-center adjustment apparatus carrys out the offset of test disks by image procossing, and utilizes straight micrometer to interim fixing disk applying external force thus to carry out eccentric adjustment towards center position from peripheral direction.
Prior art literature
Patent documentation
Patent documentation 1: No. 2541164 publications of Japanese Patent No.
Summary of the invention
The problem to be solved in the present invention
In the manufacturing process of servo motor, after bias adjustment terminates, need to use binding agent etc. to be fixed on axle in disk and check without acceptance of persons having after fixing.In the off-center adjustment apparatus of above-mentioned conventional art, carry out described bias adjust, axle be fixed, each operation of checking time, perform these operations successively due to needs, it is therefore desirable to the long period.
Therefore, the present invention makes in view of the above-mentioned problems, it is an object of the invention to provide and can improve encoder manufacture device, encoder manufacture method and the servo motor manufacture method manufacturing efficiency.
Means for solving the above
In order to solve the problems referred to above, according to an aspect of the present invention, a kind of encoder is provided to manufacture device, manufacture the encoder for servo motor, have: multiple operation unit, it is with circle-shaped configuration, and the operation that at least one of the disk of described encoder and the rotary body that is provided with this disk performs regulation processes；And turntable, described rotary body is arranged on separated from each other the peripheral part of described turntable by the multiple holding members that can keep in the way of being perpendicular to the axle rotation of table top, and described turntable makes the plurality of holding member move successively and stop to the plurality of operation unit on each stop position corresponding with each operation unit.
Additionally, according to a further aspect in the invention, it is a kind of encoder manufacture method, for manufacturing the encoder for servo motor, make multiple holding member to moving and stop on each stop position corresponding with each operation unit successively with multiple operation unit of circle-shaped configuration, and the operation that at least one of disk and rotary body is consecutively carried out regulation successively processes, the plurality of holding member is arranged on the peripheral part of turntable separated from each other, and to be provided with described encoder described disk described rotary body by can around be perpendicular to table top axle rotation in the way of keep.
Additionally, according to a further aspect in the invention, it is a kind of servo motor manufacture method, for manufacturing the servo motor with motor and encoder, make multiple holding member to moving and stop on each stop position corresponding with each operation unit successively with multiple operation unit of circle-shaped configuration, and the operation that at least one of disk and rotary body is consecutively carried out regulation successively processes, the plurality of holding member is arranged on the peripheral part of turntable separated from each other, and to be provided with described encoder described disk described rotary body by can around be perpendicular to table top axle rotation in the way of keep.
Invention effect
The present invention according to the above description, it is possible to increase manufacture efficiency.
Accompanying drawing explanation
Fig. 1 is the explanatory diagram of the general configuration for servo motor is described, this servo motor has the encoder produced by encoder of the present embodiment manufacture device.
Fig. 2 is the explanatory diagram of the general configuration for encoder is described, this encoder manufactures device by encoder of the present embodiment and produces.
Fig. 3 is for illustrating that encoder of the present embodiment manufactures the explanatory diagram of the general configuration of the turntable that device is had.
Fig. 4 is for illustrating that encoder of the present embodiment manufactures the explanatory diagram of the general configuration of device.
Fig. 5 A be the disk table under the state being placed with disk and maintain hub assembly state under the top view of holding member.
Fig. 5 B is the sectional view of the holding member of VB-VB section along Fig. 5 A.
Fig. 6 A is disk table and the top view of holding member of the example representing the state being coated with binding agent by adhesive coated unit on hub.
Fig. 6 B is the top view of the holding member of an example of the uniform action for binding agent is described.
Fig. 7 A is the top view of the example representing the concentric adjustment action by concentric adjustment unit.
Fig. 7 B is the side view of the example representing the concentric adjustment action by concentric adjustment unit.
Fig. 8 is to represent to manufacture, by encoder, the flow chart controlling the control content that device performs that device is had.
Fig. 9 is the flow chart of the detailed content of the adhesive coated operation process representing step S200.
Figure 10 is the flow chart adjusting the detailed content that operation processes with one heart representing step S300.
Figure 11 is the flow chart adjusting the detailed content that operation processes with one heart representing step S400.
Figure 12 is the flow chart of the detailed content of the disk fixed work order process representing step S500.
Figure 13 is to represent the flow chart that the concentricity of step S600 measures the detailed content that operation processes.
Detailed description of the invention
Hereinafter, referring to the drawings present embodiment is illustrated.
＜ 1. servo motor ＞
First, the general configuration of servo motor is described with reference to Fig. 1, this servo motor has the encoder produced by encoder of the present embodiment manufacture device.As it is shown in figure 1, servo motor SM has encoder 10 and motor M.Motor M is an example in the power generation source not comprising encoder 10.Although the most also this motor M monomer being referred to as servo motor, but in the present embodiment the structure including encoder 10 is referred to as servo motor SM.Motor M the most at one end side has not shown axle, by making this axle rotate around rotary shaft AX, exports revolving force.
Additionally, motor M is not specially limited, as long as the motor can being controlled by the data that such as position data etc. is detected by encoder 10.It addition, motor M is not limited to the electrodynamic type motor making electricity consumption as power source, for example, it is also possible to be the motor that employs other power source such as hydraulic type motor, pneumatic motor, steam type motor.But, for convenience of description, below, it is that the situation of electrodynamic type motor illustrates to motor M.
Encoder 10 is connected to the end of the revolving force outfan opposition side of the axle SH with motor M.Further, encoder 10 by detect axle SH position (angle), detection motor M(measure object an example) position (the also referred to as anglec of rotation), and export represent this position position data.In addition, encoder 10 is in addition to the position of detection motor M or alternatively method, it is also possible at least one in the speed (also referred to as rotary speed, angular velocity etc.) of detection motor M and the acceleration A (also referred to as rotary acceleration, angular acceleration etc.) of motor M.Now, speed and the acceleration of motor M such as can be detected by following process: to carrying out single order or second-order differential between the used time of position or detection signal is carried out the counting etc. of stipulated time processing.
The allocation position of encoder 10 is not particularly limited to the example shown in present embodiment.Such as, encoder 10 can also be configured to directly link with the output end of axle SH, or can also be configured to be linked by other mechanism and the axle SH etc. such as decelerator, diverter, brake.
＜ 2. encoder ＞
It follows that with reference to Fig. 2, the structure being manufactured the encoder that device produces by encoder of the present embodiment is illustrated.As in figure 2 it is shown, encoder 10 has: be attached to the disk 30 of the end of outfan opposition side with axle by hub 20；And the optical module 40 configured face to face with disk 30.Optical module 40 is installed on printed base plate 50, and printed base plate 50 is arranged on the housing 52 of encoder 10 or motor M by separating part 51.
Disk 30 is formed discoideus, and it is substantially uniform with rotary shaft AX to be configured to disc centre O.That is, disk 30 and hub 20 are to be fixed in the way of concentric, and hub 20 is concatenated in the way of being concentric relative to axle.Further, disk 30 is rotated by the rotation of motor M, the i.e. rotation of hub 20.Additionally, hub 20 is equivalent to an example of rotary body.
The surface facing with optical module 40 of disk 30 is formed the groove row SA of position (angle) for detecting axle SH.Groove row SA is formed to be configured to ring-type Long Circle centered by disc centre O.Groove row SA has the multiple reflection grooves circumferentially arranged on oblong complete cycle.The light that reflection groove reflection one by one is irradiated from light source 41.It addition, be formed with the circular trough CS of the position alignment for carrying out disk 30 and axle SH at the outer circumferential side of the groove row SA of disk 30.Circular trough CS is the ring-type groove centered by disc centre O, and with groove row SA concentric circles configure.Additionally, in the present embodiment, circular trough CS only forms one but it also may formed multiple with concentric circles.
Disk 30 is the most such as formed by glass.Further, groove row SA is had reflection groove and circular trough CS can make the parts of luminous reflectance be formed by coating on the surface at the disk 30 of glass.Additionally, the material of disk 30 is not limited to glass, it is possible to use metal or resin etc..But, when using metal, nontransparent resin etc., in the manufacturing process of following encoder 10, need by light irradiate beyond method make binding agent solidify (such as, the solidification etc. realized by heating), carry out the fixing of disk 30 and hub 20.It addition, reflection groove the most also may be formed so that, and metal higher for reflectance is used as disk 30, the part not reflecting light is formed as matsurface by sputtering etc., or coats the relatively low material of reflectance and reduce reflectance reduction and form reflection groove.But, about the material of disk 30, manufacture method etc., it is not specially limited.
Optical module 40 has the substrate 42 of configuration facing with disk 30.Substrate 42 is formed less than printed base plate 50, is configured on printed base plate 50.Further, the surface of that side facing with disk 30 of this substrate 42 is arranged oriented disk 30 penetrate the light source 41 of light and accept the light row (diagram is slightly) of the reflection light from groove row SA.
Additionally, in the example shown in Fig. 2, encoder 10 is reflective encoder, but is not limited to this, encoder 10 can also be that so-called infiltration type encoder, i.e. light source 41 are configured to configure face to face across disk 30 and the substrate 42 with light row.It addition, in the example shown in Fig. 2, be fixed on hub 20 by disk 30, but the rotary body being provided with hub 20 is not limited to hub 20, for example, it is also possible to be the axle of motor M, or the axle of the encoder linked with the axle of motor M.But, illustrate by the situation that disk 30 is fixed on hub 20 below.
＜ 3. encoder manufactures device ＞
It follows that illustrate that encoder of the present embodiment manufactures the general configuration of device with reference to Fig. 3～Fig. 7.Additionally, in figure 3, omit the diagram of each operation unit in order to the general configuration of turntable is described, in Fig. 4, suitably eliminate disk table 104 and the diagram of holding member 110 to prevent excessively complicated.
(3-1. turntable etc.)
Encoder of the present embodiment manufactures device 100 by disk 30 and hub 20 by carrying out position alignment in the way of concentric and being fixed.As shown in Figure 3 and Figure 4, encoder manufactures device 100 and has substantially basket 101 in rectangular shape and be incorporated in the discoideus turntable 102 of inside of basket 101.Turntable 102 is carried out rotating driving to the arrow A direction of Fig. 3 and Fig. 4 by being arranged in the motor 103 at its center off and on.Peripheral part at turntable 102, for loading six disk tables 104 of disk 30 and for keeping the hub assembly 60(comprising hub 20 and housing 52 with reference to Fig. 5) six holding members 110 (in this embodiment, substantially 60 degree interval) arrange separated from each other the most at equal intervals.Turntable 102 rotates to arrow A direction, makes six disk tables 104 and holding member 110 move to the stop position of regulation successively, also stops certain time at each stop position.
Disk table 104 and holding member 110 are configured to along radial direction, disk table 104 is positioned at inner circumferential side, holding member 110 is positioned at outer circumferential side, and are configured to disk table 104 and are positioned at the most identical radial direction position, similarly holding member 110 each other and also are located at the most identical radial direction position each other.Additionally, the position relationship of the radial direction of disk table 104 and holding member 110 may be reversed.
Here, encoder manufactures the structure of device 100, in the present embodiment, the direction that following setting all around waits for convenience of description.I.e., in figs. 3 and 4, Y-axis negative direction is set to " front ", contrary Y-axis positive direction is set to " afterwards ", X-axis negative direction is set to " left ", contrary X-axis positive direction is set to " right ", Z axis positive direction is set to " on ", contrary Z axis negative direction is set to D score.It addition, call each stop position of turntable 102 as follows.nullI.e.，The stop position of the front side in the Y-axis of the center of rotation by turntable 102 is expressed as " the first website (station) " (in the various figures，It is abbreviated as " 1ST ")，The stop position that have rotated 60 degree from the first website (arrow A direction) in the counterclockwise direction is expressed as " the second website " (in the various figures，It is abbreviated as " 2ST ")，The stop position having further rotated 60 degree from the second website in the counterclockwise direction is expressed as " the 3rd website " (in the various figures，It is abbreviated as " 3ST ")，The stop position having further rotated 60 degree from the 3rd website in the counterclockwise direction is expressed as " the 4th website " (in the various figures，It is abbreviated as " 4ST ")，The stop position having further rotated 60 degree from the 4th website in the counterclockwise direction is expressed as " the 5th website " (in the various figures，It is abbreviated as " 5ST ")，The stop position having further rotated 60 degree from the 5th website in the counterclockwise direction is expressed as " the 6th website " (in the various figures，It is abbreviated as " 6ST ").
Front surface at basket 101 is provided with opening 106.By this opening 106, it is possible to carry out disk 30 and hub assembly 60 relative to the disk table 104 stopped on the first website and the dismounting operation of holding member 110.In the present embodiment, the situation that operator carries out this dismounting operation illustrates as an example but it also may suitable is dismounted cell location on the position corresponding with the first website so that dismounting operation realizes automatization.It addition, be provided with carrying out the display floaters 107 such as the touch panel of various display or operation in the front, left side of basket 101, before basket 101, right side is provided with the guidance panel 108 being configured with not shown button or switch etc..Additionally, display floater 107 or the structure of guidance panel 108 or configuration are not limited to aforesaid way, can carry out showing and operating a panel of both sides for example, it is also possible to arrange, or configuration can also be changed as required.
(3-2. disk table, holding member)
As it is shown in figure 5, disk table 104 is formed as discoideus, and can be arranged on turntable 102 in the way of being perpendicular to the axle rotation of table top.Being formed with the recess (diagram is slightly) of circle on the surface of the upside of disk table 104, disk 30 is chimeric with this recess and is loaded.It addition, be formed with initial point labelling (diagram is slightly) on assigned position in recess, the surface of disk 30 is formed with initial point labelling M1.In the way of making these initial point labellings the most corresponding, disk 30 is positioned on disk table 104, the location substantially being done by the circumferencial direction of disk 30.Additionally, in Figure 5, as an example of initial point labelling M1, it is provided with the figure of equilateral triangle, but is not limited to this.It addition, on the surface of disk 30, in addition to initial point labelling M1, be also formed with positive and negative identification labelling M2.Positive and negative identification labelling M2 is for detecting the labelling that the positive and negative of placed disk 30 is the most correct.In Figure 5, as an example of positive and negative identification labelling M2, it is provided with " abc " such word, but is not limited to this, it is also possible to be other word or mark, pattern etc., as long as its left and right on the radial direction of disk 30 is asymmetric.
In the bottom of disk table 104, the coupking shaft (diagram is slightly) that the lower section of oriented turntable 102 extends is set.This coupking shaft is rotated by disk drive motor (diagram is slightly) and drives, and disk drive motor is moved, on each website, on the pedestal of the lower section that disk drive motor is arranged on turntable 102 by the rotation of turntable 102 together with disk table 104.Disk drive motor is the servo motor with encoder, manufactures, by encoder, the not shown control controlling device that device 100 is had, it is possible to make disk table 104(disk 30) rotate to arbitrary position (angle).Additionally, the output shaft of coupking shaft and disk drive motor can actual on each website link, it is also possible to linked in a non-contact manner by electromagnetic combination such as magnetic force.So, disk table 104 and coupking shaft only it is set on turntable 102 and disk drive motor is arranged on the structure of base side by using, it is possible to obtaining rotary driving force but also the effect of the size of reduction motor 103 not only having reduced turntable 102.Additionally, the not necessarily necessary split of disk table 104 and disk drive motor, it is also possible to be formed as being provided integrally at both the structure on turntable 102.
As it is shown in figure 5, holding member 110 is to overlook the block parts in generally rectangular.Being placed with hub assembly 60 on holding member 110, hub assembly 60 has hub 20, housing 52, the bearing 53 being arranged on housing 52 and rotatably supporting hub 20 and the multiple stud pins 54 being arranged on housing 52.Central part at holding member 110 is provided with through hole 111, and the axle portion 21 of hub 20 inserts in through hole 111.It addition, be provided around hole, multiple location 112 at through hole 111.Multiple stud pins 54 are fitted to position in hole 112, and thus hub assembly 60 is positioned.By such structure, holding member 110 to hub 20 can keep in the way of rotating around the axle being perpendicular to table top.
Additionally, be provided with Magnet 113 in hole, each location 112, Magnet 113 absorption is fitted to position the stud pin 54 in hole.By the absorption affinity of this Magnet 113, keep hub assembly 60.By such structure that make use of Magnet, it is not necessary to for hub assembly 60 being maintained at holding member 110 and carrying out parts or the operation keeping releasing, it is possible to simplify the structure of holding member 110, and the dismounting operation of hub assembly 60 becomes easy.
Arrange the coupking shaft (diagram is slightly) that the lower section of oriented turntable 102 extends in the bottom of holding member 110, this coupking shaft is linked by the axle portion 21 of through hole 111 with hub 20.This coupking shaft is rotated by hub drive motor (diagram is slightly) and drives, and hub drive motor is moved, on each website, on the pedestal of the lower section that hub drive motor is arranged on turntable 102 by the rotation of turntable 102 together with holding member 110.Hub drive motor is the servo motor with encoder, by the not shown control controlling device, it is possible to make hub 20 rotate to arbitrary position (angle).As aforementioned, the output shaft of coupking shaft and hub drive motor can actual on each website link, it is also possible to is linked in a non-contact manner by electromagnetic combination such as magnetic force.Additionally, the not necessarily necessary split of holding member 110 and hub drive motor, it is also possible to be formed as being provided integrally at both the structure on turntable 102.
The axle portion 21 of hub 20 is provided with for stoping the otch 22 rotated relative to the axle SH linked.This otch 22 is used as disk 30 and the reference position of hub 20 position alignment in a circumferential direction.I.e., such as, hub 20 is made to rotate in advance by utilizing hub drive motor so that otch 22 is in references angle (such as 0 degree), in the way of making initial point labelling M1 be in the angle of regulation relative to this otch 22, disk 30 is fixed on hub 20, so can carry out disk 30 and hub 20 position alignment in a circumferential direction.
(3-3. operation unit)
As shown in Figure 4, five operation unit of the operation process that at least one to disk 30 and hub 20 performs regulation are arranged in turntable 102 around with circle-shaped.Each operation unit is configured on the position corresponding with the second to the 6th website respectively.Hereinafter, each operation unit is illustrated.
(the operation unit of 3-3-1. the second website)
The position corresponding with the second website is configured with to the adhesive coated unit 200 of coated with adhesive between disk 30 and hub 20.Adhesive coated unit 200 has absorption layer 201, video camera 202 and the adhesive coated device 203 that absorption disk 30 makes disk 30 move.The not shown track that these absorption layers 201, video camera 202 and adhesive coated device 203 are disposed along being located on scaffold 204 is on the slide block 205 that arrow B direction is moved.By this slide block 205, it is possible to make absorption layer 201, video camera 202 and adhesive coated device 203 move to the radial direction of turntable 102, it is possible to make any device move to the disk table 104 stopped on the second website or holding member 110 as required.
As shown in Figure 6A, adhesive coated device 203 coated with adhesive S on the edge 23 of hub 20.Binding agent S is the ultraviolet hardening binding agent being started solidification by ultraviolet irradiation.In the example shown in Fig. 6 A, on the peripheral part of the upper surface that the binding agent S of multiple droplet-like is circumferentially coated in edge 23.Additionally, the coating method of binding agent is not limited to this, such as, various modes such as being coated equably on the upper surface of edge 23 by bristle can be used.In this condition, by absorption layer 201, make disk 30 be raised from disk table 104, holding member 210 moves, and is crimped into the edge 23 of the hub 20 being coated with binding agent.When this crimping, as shown in Figure 6B, by hub drive motor, hub 20 is made respectively to rotate to an angle (so-called joint (linking)) with counter clockwise direction along clockwise direction.This spinning movement respectively can be carried out once on twocouese, it is also possible to carries out repeatedly respectively.Thereby, it is possible to make binding agent S uniform, and the air being present between disk 30 and hub 20 can be made to escape to outside.
In addition, owing to not solidifying to the period binding agent S of irradiation ultraviolet radiation (fixing) on the 4th following website temporarily from this moment, therefore, although disk 30 is adsorbed on hub 20 by the surface tension of binding agent S, but disk 30 can carry out relative movement on XY face (comprising the plane of X-axis and Y-axis) direction.Therefore, on the 3rd website and the 4th website, it is possible to push disk 30 thus carry out the concentric position adjustment of disk 30 and hub 20.
The predetermined portion of the video camera 202 disk 30 to comprising initial point labelling M1 and positive and negative identification labelling M2 shoots.By the image procossing according to this shooting signal, it is possible to, confirm disk 30 positive and negative towards and origin position.Specifically, disk 30 face up mounting state under positive and negative identification labelling M2 or one part in advance as sample image be registered in control device storage part in, control device to be compared with the sample image logged in by the image captured by video camera 202, when shoot image extracts sample image out time, it is judged that for disk 30 positive and negative towards correctly being loaded.On the contrary, when not extracting sample image out in shooting image, it is judged that the positive and negative for disk 30 loads with being reversed.Confirmed by (when being positioned on disk table 104) before being positioned on hub 20 at disk 30 this disk 30 positive and negative towards, when the positive and negative being judged as disk 30 overturns, do not carry out disk 30 to move to the bonding of hub 200 website the most rearwards, each website below does not carry out operation and processes and move back to the first website.Fixing due to disk 30 and hub 200 is not performed, therefore correct towards remanufacturing by being again set to by disk 30.
It follows that the confirmation to the origin position of disk 30 illustrates.Origin position refers to become the position of the benchmark of the circumferencial direction of disk 30.The initial point labelling M1 under the state that the initial point of disk 30 offsets or one part is not had to be registered in the storage part controlling device as sample image in advance, control device to be compared with the sample image logged in by the image taken by video camera 202, when the difference of the angle between initial point labelling M1 and the initial point labelling M1 logged in extracted out from shooting image is in permissible range, it is judged that normal for origin position.On the contrary, time outside the difference in angle is in permissible range, it is judged that abnormal for origin position.Disk 30 by (state by being positioned on disk table 104) before being positioned on hub 20 and disk 30 after the mounting of hub 20 (with one heart adjusting on the 4th website after the joint on the second website, below after) the two moment confirm the origin position of this disk 30, when being judged as that in the former origin position is abnormal, disk table 104 is made to rotate by disk drive motor, perform the adjustment of the origin position of disk 30, so that the difference of above-mentioned angle is in permissible range.On the contrary, when being judged as that origin position is abnormal in the latter, each website below does not perform operation and processes just to the first website return.Owing to fixing (solidification of binding agent S) of now disk 30 and hub 200 is not the most performed, therefore, by being peeled off from hub 20 by disk 30 and being again set, it is possible to remanufacture.
(the operation unit of 3-3-2. the 3rd website)
The position corresponding with the 3rd website is configured with concentric adjustment unit 300, concentric adjustment unit 300 by disk 30 and hub 20 to carry out position alignment in the way of concentric.Adjustment unit 300 has video camera 301 and the pressing device 310 pushed by the peripheral end face of disk 30 to radial direction with one heart.The not shown track that video camera 301 is disposed along being located on scaffold 302 is on the slide block 303 that arrow C direction is moved.By this slide block 303, it is possible to make video camera 301 move to the radial direction of turntable 102, it is possible to make video camera 301 move on the holding member 110 stopped on the 3rd website as required.Additionally, slide block mechanism is not necessarily necessary in concentric adjustment unit 300, it is also possible to video camera 301 is fixed configuration and is located on the holding member 110 stopped on the 3rd website.Additionally, video camera 301 is equivalent to an example of filming apparatus.
The predetermined portion of disk 30 is shot by video camera 301 so that including at least the part of the circular trough CS being formed on disk 30.By the image procossing according to this shooting signal, carry out the detection of the concentricity (offset) of disk 30 and hub 20.Specifically, a part of circular trough CS is registered in the storage part controlling device as sample image in advance, controls device and is compared with the sample image logged in by the image captured by video camera 202, and extracts the circular trough CS in shooting image out.The extraction of this circular trough CS is carried out the number of times of regulation in the period that hub 20 rotates a circle, and calculates maximum and the difference of minima of the position signalling of the circular trough CS extracted out.The half of this difference is detected as disk 30 and the concentricity of hub 20.
As shown in figures 7 a and 7b, pressing device 310 has: the abutting part 311 abutted with the peripheral end face of disk 30；It is arranged on the mirror assemblies 312 of the lower section of abutting part 311；Support the support 313 of described abutting part 311 and mirror assemblies 312；And make the linear motor (diagram is slightly) that support 313 moves.Pressing device 310 is when being in the concentricity of angle disk 30 being detected (offset) and being maximum position (obtaining maximum or the angle of minima of position signalling), make abutting part 311 move along the radial direction of disk 30, push the peripheral end face of disk 30 to radial direction central side and move it so that concentricity (offset) reduces.About position alignment, while carrying out the video camera 301 detection to concentricity, carry out repeatedly with the unit of such as 1 μm, until concentricity is below feasible value.
Additionally, whether the feasible value of the concentricity on the 3rd website terminates according to the position alignment on the 4th following website and is changed.I.e., at the end of the position alignment on the 4th website, it is set to first feasible value bigger than the feasible value of the 4th following website, when the position alignment on the 4th website is not over, is set to second feasible value identical with the feasible value of the 4th following website.Do so, just can adjust the position alignment on the 4th following website as inching in two operations of continuous print using the position alignment on the 3rd website as coarse regulation with one heart.It addition, by the switching of above-mentioned feasible value, in the scope below the first feasible value, when the position alignment time of the 4th website is shorter, position adjustment precise decreasing on 3rd website, along with the position alignment time of the 4th website is elongated, the position adjustment precision on the 3rd website improves.So, owing to the position adjustment precision on the 3rd website can be changed according to the position alignment time of the 4th following website, therefore, not free waste during the concentric adjustment on the 3rd website processes such that it is able to adjust the most with one heart.
On the other hand, in concentric adjustment unit 300, when carrying out above-mentioned position alignment, by the image procossing of the shooting signal according to video camera 301, carry out the detection of interval d between the front end of the peripheral end face 31 of disk 30 and the abutting part 311 of pressing device 310.This is because: by interval d is detected, abutting part 311 high-speed mobile continuously can be made before abutting part 311 arrives the peripheral end face 31 of disk 30, and dead slow speed (small) can be switched to the peripheral end face 31 of disk 30 after abutting part 311 abuts move and carry out position alignment such that it is able to shorten and adjusting the time used in operation with one heart on the 3rd website.Its detailed content is described below.
Generally, when the disk using glass is used as encoder disk, owing to disk makes light transmission, it is difficult to time the most untreated directly use video camera identification peripheral end face.Therefore, in the present embodiment, in order to be carried out the peripheral end face 31 of test disks 30 by video camera 301, mirror assemblies 312(is set in the diagram, eliminates the diagram of mirror assemblies 312).As shown in Figure 7 B, mirror assemblies 312, when making holding member 110 stop on the stop position corresponding with concentric adjustment unit 300, is positioned at and is on the position of the opposition side of video camera 301 side across disk 30.In the example shown in Fig. 7 B, mirror assemblies 312 is in the way of the lower section present at least at the peripheral end face 31 of disk 30, extended to hub 20 side from support 313.Mirror assemblies 312 is the parts on the surface of disk 30 side with minute surface, such as, uses mirror-surface sheet etc..
Additionally, illustrate the most especially, but the usual chamfering in corner of peripheral end face processes in glass rounding dish.Therefore, in the part beyond peripheral end face, light readily penetrates through, but, on peripheral end face, owing to the chamfer shape in corner makes light scatter, therefore there is the character that the part that peripheral end face shot the most secretly, in addition by video camera is shot the brightest by video camera.Therefore, by arranging mirror assemblies 312, this character is utilized, it is possible to make the peripheral end face 31 of disk 30 and the light and shade difference of part in addition become obvious, video camera 301 so can be used to identify the peripheral end face 31 of disk 30.
On the other hand, owing to requiring that the abutting part 311 of pressing device 310 has high dimensional accuracy and hard and the timeliness little feature of change, the most such as, metal measurement parts (gauge block etc.) are used.Now, due to metallic reflection light, time the most untreated, metal is taken the brightest together with the mirror assemblies 312 of lower section, causes the problem being difficult with the front end of video camera identification abutting part 311 to occur.Therefore, in the present embodiment, as shown in Figure 7 A, the surface being positioned at video camera 301 side of the leading section of abutting part 311 is provided with front end recognition labelling M3.In the example shown in Fig. 7 A, use laser marking machine that the labelling of multiple circle is set in the way of the end that makes labelling is consistent with the front end of abutting part 311.Owing to front end recognition labelling M3 is black, therefore, it is possible to use video camera 301 to identify the front end of abutting part 311.
Additionally, the form of front end recognition labelling M3 is not limited to this, various shape form can be taked.For example, it is possible to suitably change shape and the number of labelling.It addition, in addition to using laser to form labelling, for example, it is also possible to use dark paint (black, redness, navy blue etc.) marking or dark miscellaneous part is attached on abutting part 311.Additionally, the end that not necessarily must make labelling is consistent with the front end of abutting part 311, the front end of abutting part 311 can also be detected by presetting the distance between the end of labelling and the front end of abutting part 311 and to the mark position detected by video camera 301 plus this distance.
Thus, as shown in Figure 7 B, by using video camera 301, image in the way of the front end of the abutting part 311 of the peripheral end face 31 of disk 30 and pressing device 310 is included together with the circular trough CS of above-mentioned disk 30, identify peripheral end face 31 and the front end of abutting part 311 of disk 30 from there through according to the image procossing of shooting signal, and carry out counting period d by the difference calculating these positional informationes.
By above structure, concentric adjustment unit 300 can automatically carry out position alignment accurately to make disk 30 and hub 20 in the way of concentric.
(the operation unit of 3-3-3. the 4th website)
On the position corresponding with the 4th website, in the same manner as above-mentioned concentric adjustment unit 300, it is configured with to make disk 30 and hub 20 in the concentric adjustment unit 400 carrying out position alignment in the way of concentric.That is, the encoder in present embodiment manufactures in device 100, and two the concentric adjustment units 300,400 adjusted with one heart configure continuously in the circumferential direction.Adjustment unit 400 substantially uses identical structure with above-mentioned concentric adjustment unit 300 with one heart, has video camera 401 and pressing device 410, but difference is have ultraviolet lamp 402.That is, concentric adjustment unit 400 has video camera 401 and ultraviolet lamp 402.Described video camera 401 and ultraviolet lamp 402 are arranged on along the not shown track being located on scaffold 403 on the slide block 404 that arrow D direction is moved.By this slide block 404, it is possible to make video camera 401 and ultraviolet lamp 402 move to the radial direction of turntable 102, it is possible to make any device move on the holding member 110 stopped on the 4th website as required.Additionally, video camera 401 is equivalent to an example of filming apparatus.
In concentric adjustment unit 400, in the same manner as above-mentioned concentric adjustment unit 300, image procossing by the shooting signal according to video camera 401, carry out the detection of the concentricity (offset) of disk 30 and hub 20, the abutting part 411 of pressing device 410 pushes the peripheral end face of disk 30 so that it is mobile until concentricity is below feasible value.As it was previously stated, the feasible value of the concentricity on the 4th website is set to the second less feasible value, to having been carried out the disk 30 of coarse regulation on the 3rd website above and hub 20 is finely adjusted whole.The structure of pressing device 410 is identical with aforesaid pressing device 310, and the details of position alignment is also identical with aforesaid concentric adjustment unit 300, and therefore the description thereof will be omitted.
Additionally, in concentric adjustment unit 400, confirm the origin position of disk 30 after the position alignment of disk 30 and hub 20 terminates.This is because: owing to the disk 30 in operation that adjusts with one heart at the third and fourth website moves relative to hub 20, so the origin position of disk 30 likely offsets.Owing to the confirmation method of origin position is identical with aforesaid adhesive coated unit 200, therefore the description thereof will be omitted.When being judged as that origin position is abnormal, in each website afterwards do not perform operation process and return the first website.
On the contrary, when being judged as that origin position is normal, ultraviolet lamp 402 carries out ultraviolet irradiation to disk 30 and hub 20.Exposure rate and irradiation time now are set to the intensity more weak than the disk fixed cell 500 of the 5th following website and shorter time, carry out the precuring of binding agent S.I.e., the ultraviolet lamp 402 operation before the disk fixed work order immediately performed by disk fixed cell 500, i.e. adjusted in operation with one heart by what concentric adjustment unit 400 performed, after concentric position is directed at, as the interim fixing temporary fastening device function carrying out disk 30 and hub 20.By this interim fixing, stand-by time after position alignment terminates and after this by turntable 102 realize mobile time, it is possible to prevent disk 30 from making the position of disk 30 and hub 20 offset owing to inertia force and centrifugal force etc. occur to slide.Additionally, ultraviolet lamp 402 is equivalent to an example of temporary fastening device.
(the operation unit of 3-3-4. the 5th website)
The position corresponding with the 5th website is configured with the fixing disk fixed cell 500 carrying out disk 30 and hub 20.Disk fixed cell 500 is by making binding agent S solidification carry out the fixing binding agent solidified cell of disk 30 and hub 20, using ultraviolet irradiation unit in the present embodiment.
Disk fixed cell 500 has: main part 501；There is the irradiation portion 502 irradiating mouth on the top of the holding member 110 stopped on the 5th website；And cover portion 503.Cover portion 503 covers irradiation portion 502, and the surrounding covering the holding member 110 stopped on the 5th website makes it not contact with turntable 102.The ultraviolet irradiation intensity performed by disk fixed cell 500 and irradiation time are set to the intensity more higher than the ultraviolet lamp 402 of aforesaid 4th website and longer time, make the formal of the binding agent S by ultraviolet lamp 402 precuring solidify.
Additionally, the adhesive coated unit 200 of the disk fixed cell 500 of the 5th website and the second website is configured on the position that the center of rotation of turntable 102 is facing.Thus, two unit be configured in in multiple operation unit of circle-shaped configuration farthest away from position on so that when utilizing adhesive coated unit 200 coated with adhesive S, binding agent is not affected by disk fixed cell 500.
Additionally, in the present embodiment, as disk 30 and an example of the binding agent of hub 20, use ultraviolet hardening binding agent, therefore use ultraviolet irradiation unit is as disk fixed cell 500, but is not limited to this, as long as the device corresponding with the kind of binding agent.Such as, when using the light-cured type binding agent beyond ultraviolet, as long as irradiate the illumination unit of this light, when using thermmohardening type binding agent, as long as heating unit.I.e., in the present embodiment, it is preferred owing to the device solidifying period of binding agent can be adjusted, therefore the binding agent that by external factor such as heat or power radiation solidified is preferably used as binding agent, but as disk fixed cell 500, use the unit that this external factor can be provided.
(the operation unit of 3-3-5. the 6th website)
The position corresponding with the 6th website is configured with the concentricity determination unit 600 of the concentricity measuring disk 30 and hub 20.Concentricity determination unit 600 has video camera 601, and this video camera 601 is arranged on along the not shown track being located on scaffold 602 on the slide block 603 that arrow E direction is moved.By this slide block 603, it is possible to make video camera 601 move to the radial direction of turntable 102, it is possible to make video camera 601 move on the holding member 110 stopped on the 6th website as required.Additionally, in concentricity determination unit 600, slide block mechanism is not necessarily necessary, it is also possible to video camera 601 is fixed configuration and is located on the holding member 110 stopped on the 6th website.
The concentricity detection carried out by concentricity determination unit 600 uses and carries out with the identical method of concentric adjustment unit 300,400 on aforesaid 3rd and the 4th website.Below concentricity detected by judging whether acceptance value as regulation, if concentricity is judged to non-defective unit within acceptance value, if concentricity is more than acceptance value, it is judged to defective products.When being judged to defective products, cannot remanufacture due to binding agent solidification, after therefore taking off from holding member 110 on the first website, process is discarded.
Above adhesive coated unit 200, concentric adjustment unit 300 and 400, disk fixed cell 500 and concentricity determination unit 600 are equivalent to an example of operation unit.
＜ 4. encoder manufactures action (manufacture method) ＞ of device
It follows that use Fig. 8～Figure 13, to by encoder manufacture device 100 carry out above-mentioned disk 30 and the position alignment of hub 20 and fixing time illustrate by controlling the control content that device (CPU) performs.Additionally, control device such as when the starting button (diagram is slightly) being arranged on display floater 107 or guidance panel 108 is pressed, this process is made to start.It addition, before the operation of starting button, operator carry out disk 30 and hub assembly 60 relative to the disk table 104 stopped on the first website and the dismounting operation of holding member 110.
(4-1. disposed of in its entirety)
First, the example using the Fig. 8 disposed of in its entirety to controlling performed by device illustrates.In step s 5, control device and drive motor 103, make turntable 102 rotate predetermined angular (60 degree in the present embodiment).Thus, each disk table 104 on turntable 102 and holding member 110 website separately down moves.
Afterwards, control device and carry out the process corresponding with each website simultaneously in parallel.The while of such, parallel processing such as can be made one to control device (CPU) performed by the known mode as " multitasking " frequently carried out by the OS etc. of computer.
Control device and perform the process (step S10, step S15) corresponding with the first website.In step slo, device is controlled after the dismounting operation that operator carries out disk 30 and hub assembly 60 relative to the disk table 104 stopped on the first website and holding member 110, it is determined that whether starting button is pressed.Repeat this judgement until starting button is pressed, on starting button is pressed, enter into step S15, regard as the dismounting operation on the first website and process (in the various figures, being abbreviated as " 1ST process ") end.Afterwards, following step S70 is entered into.
The process (step S20, step S200, step S25) corresponding with the second website is made to perform simultaneously in parallel it addition, control device.In step S20, control device and judge that disk 30 and hub assembly 60(are recited as " workpiece " in fig. 8.The most identical) whether it is arranged on the disk table 104 and holding member 110 stopped on the second website.The detection of disk 30 and hub assembly 60 is by carrying out from the signal of the sensor being arranged on each disk table 104 and holding member 110.As this sensor, such as, can use the mechanical switch such as limit switch, microswitch or with electromagnetic induction or the proximity transducer of the change that make use of Magnetitum, static capacity or the photoelectric sensor etc. utilizing the light such as visible ray, infrared ray.When disk 30 and hub assembly 60 are arranged on disk table 104 and holding member 110, enter into step S200, control device and perform to use the adhesive coated operation of adhesive coated unit 200 to process (in the various figures, being abbreviated as " 2ST process ").The details that this adhesive coated operation processes describes below.On the contrary, when disk 30 and hub assembly 60 are not provided on disk table 104 and holding member 110, the adhesive coated operation not performing step S200 processes and enters into step S25.In step s 25, the adhesive coated operation process that control device regards as on the second website terminates.Afterwards, following step S70 is entered into.
It addition, control device to perform the process (step S30, step S300, step S35) corresponding with the 3rd website simultaneously in parallel.In step s 30, control device and judge whether the hub assembly 60 being placed with disk 30 is arranged on the holding member 110 stopped on the 3rd website.When hub assembly 60 is not provided on holding member 110, enter into step S300, control device and perform to use the operation that adjusts with one heart of concentric adjustment unit 300 to process (in the various figures, being abbreviated as " 3ST process ").This details adjusting operation process with one heart describes below.On the contrary, when hub assembly 60 is not provided on holding member 110, the operation that adjusts with one heart not performing step S300 processes and enters into step S35.In step s 35, the operation process that adjusts with one heart that control device regards as on the 3rd website terminates.Afterwards, following step S70 is entered into.
Further, control device and perform the process (step S40, step S400, step S45) corresponding with the 4th website process (step S50, step S500, step S55) corresponding with the 5th website and the process (step S60, step S600, step S65) corresponding with the 6th website simultaneously in parallel.These contents are identical with the process (step S30, step S300, step S35) corresponding to above-mentioned 3rd website, and therefore the description thereof will be omitted.In addition, in the various figures the operation process that adjusts with one heart using concentric adjustment unit 400 performed in step S400 is abbreviated as " 4ST process ", in the various figures the disk fixed work order using disk fixed cell 500 performed in step S500 is processed and be abbreviated as " 5ST process ", the concentricity mensuration operation of the use concentricity determination unit 600 performed in step S600 is processed be abbreviated as " 6ST process " in the various figures.
In step S70, each operation process controlled on each website that device judgement is above-mentioned the most all terminates.Repeat this judgement until all of operation process terminates, at the end of all of operation processes, enter into step S75.
In step S75, control device and such as judge whether operator presses the stop button (diagram is slightly) being arranged on display floater 107 or guidance panel 108.When stop button is not pressed, step S5 before returning to, repeats the process that step S5 is later again.On the contrary, when stop button is pressed, this process is made to terminate.
In the example above, with second～the 6th the corresponding process of website owing to performing by controlling device, therefore automatically terminating through certain time, until operator presses starting button, the process corresponding with the first website does not terminates.Therefore, even if the process corresponding with the second to the 6th website terminates, till operator makes the dismounting end of job on the first website and presses starting button, turntable 102 does not rotates to next website.In other words, if the period operator being performed in the process corresponding with the second to the 6th website makes the dismounting end of job on the first website and presses starting button, then the most automatically rotate to next website upon end, turntable 102 in the process corresponding with the second to the 6th website.
(process on 4-2. the second website)
It follows that the details using Fig. 9 to process the adhesive coated operation of above-mentioned step S200 illustrates.
In step S210, control device judge the positive and negative of disk 30 being positioned on disk table 104 towards the most normal.Specifically, controlling device makes the slide block 205 of adhesive coated unit 200 move so that video camera 202 moves on the disk table 104 stopped on the second website, uses the predetermined portion of the video camera 202 disk 30 to comprising positive and negative identification labelling M2 to shoot.Then, as it has been described above, the sample image of the image captured by video camera 202 with the positive and negative identification labelling M2 logged in is compared, when shoot image extracts sample image out time, it is judged that for disk 30 positive and negative towards correctly being loaded.And enter into step S220.On the contrary, when not extracting sample image out in shooting image, it is judged that the positive and negative for disk 30 loads with being reversed, and enters into following step S270.
In step S220, control the adjustment that device performs the origin position of the disk 30 being positioned on disk table 104.Specifically, controlling device uses the predetermined portion of the video camera 202 of the movement disk 30 to comprising initial point labelling M1 on disk table 104 to shoot.Then, as previously mentioned, image taken by video camera 202 is compared with the sample image logged in, when the difference of the angle between initial point labelling M1 and the initial point labelling M1 logged in extracted out from shooting image is in permissible range, it is judged as that origin position is normal, does not carries out the adjustment of origin position.On the contrary, time outside the difference in angle is in permissible range, it is judged that abnormal for origin position.Now, controlling device drives disk drive motor to make disk table 104 rotate, to adjust the angle of disk 30, so that the difference of above-mentioned angle is in permissible range.So, the adjustment of the origin position of disk 30 is performed.Then, step S230 is entered into.
In addition, when on the first website above, disk 30 is positioned on disk table 104 by operator, corresponding with the initial point labelling M1 of disk 30 by the initial point labelling (diagram slightly) that makes disk table 104, carry out disk 30 location substantially in a circumferential direction, owing to being that manually operation positions, limited precision, generally, carries out the automatic adjustment of origin position in above-mentioned steps S220.
In step S230, control device and make the slide block 205 of adhesive coated unit 200 move so that adhesive coated device 203 moves on the holding member 110 stopped on the second website, coated with adhesive S on the edge 23 of hub 20.Then, step S240 is entered into.
In step S240, control device and make the disk 30 being positioned on disk table 104 move on the hub being arranged on holding member 110.Specifically, controlling device makes the slide block 205 of adhesive coated unit 200 move so that absorption layer 201 moves on disk table 104 and declines to disk 30.It follows that make the absorption layer 201 having adsorbed the state of disk 30 rise, slide block 205 is made to move and make absorption layer 201 move on holding member 110.Then, make absorption layer decline to hub 20, disk 30 is crimped onto the edge 23 of hub 20.Then, step S250 is entered into.
In step s 250, control device when being crimped onto edge 23 of hub 20 by disk 30, and drive hub drive motor, makes hub 20 clockwise and counter clockwise direction respectively rotates to an angle (implementing so-called joint (linking)).Afterwards, the absorption of absorption layer 201 is released and make absorption layer increase.Then, step S260 is entered into.
In step S260, due to the enforcement of the joint in above-mentioned steps S250, the origin position of disk 30 likely offsets, and therefore controls device in the same manner as above-mentioned step S220, it is determined that the most normal with the origin position of the disk 30 of hub 20 bonding.When above-mentioned differential seat angle is in permissible range, it is judged that normal for origin position, makes subprocess terminate, return to the host process shown in Fig. 8.On the contrary, at differential seat angle when permissible range is outer, it is judged that abnormal for origin position, step S270 is entered into.
In step S270, control device, by corresponding disk 30 and below hub assembly 60(, is suitably referred to as " workpiece ") it is judged to defective products, and this content is shown on display floater 107.Then, make subprocess terminate, return to the host process shown in Fig. 8.Additionally, this workpiece is defective products, such content is stored in suitable memory area.Thus, in the adhesive coated operation of step S200 processes, because the positive and negative of disk 30 is reverse or origin position after bonding is abnormal and is judged as in the workpiece of defective products each website afterwards not performing operation and processes and return the first website such that it is able to remanufacture.
(process in 4-3. the 3rd website)
It follows that use Figure 10 that the details adjusting operation process with one heart of above-mentioned step S300 is illustrated.
In step S310, control device and judge whether the workpiece being arranged on the holding member 110 stopped on the 3rd website is judged as defective products in operation above.When being the workpiece being judged as defective products, do not perform later process and make subprocess terminate, return the host process shown in Fig. 8.On the contrary, when not being the workpiece being judged to defective products, enter into step S320.
In step s 320, control device and measure disk 30 and the concentricity of hub 20.Specifically, controlling device makes the slide block 303 of concentric adjustment unit 300 move so that video camera 301 moves on the holding member 110 stopped on the 3rd website.Then, make hub 20 rotate period once hub drive motor is driven, use the predetermined portion of the disk 30 of the video camera 301 part to comprising circular trough CS to carry out the shooting of stipulated number.The image that this video camera 202 photographs is compared with the sample image logged in, calculates maximum and the difference of minima of the position signalling of the circular trough CS extracted out in shooting image, using the half of this difference as disk 30 and the concentricity of hub 20.Then, step S330 is entered into.
In step S330, control device and judge that the concentricity calculated in above-mentioned steps S320 is whether within feasible value.In addition, as previously mentioned, at the end of this feasible value position alignment on the 4th website below, it is set to first feasible value bigger than the feasible value of the 4th website below, when position alignment on the 4th website is not over, it is set to second feasible value identical with the feasible value of the 4th website below.When concentricity is within feasible value, make subprocess terminate, return to the host process shown in Fig. 8.On the contrary, when concentricity is bigger than feasible value, step S340 is entered into.
In step S340, control the device image procossing by the shooting signal according to video camera 301, the interval d between the front end of the peripheral end face 31 of test disks 30 and the abutting part 311 of pressing device 310.Then, step S350 is entered into.
In step S350, control device and use pressing device 310 to make disk 30 move ormal weight.Specifically, hub drive motor is driven, makes the position that angle is detected concentricity (offset) maximum (obtaining maximum or the angle of minima of position signalling) of disk 30.Under this state, being driven the linear motor of pressing device 310, making abutting part 311 high-speed mobile continuously, distance is the interval d detected in above-mentioned steps S340.Then, after the front end of abutting part 311 abuts with the peripheral end face 31 of disk 30, the mobile handoff of abutting part 311 become dead slow speed (small) mobile, the peripheral end face 31 of disk 30 is pushed to radial direction central side, move it ormal weight (such as, 1 μm) so that concentricity (offset) reduces.Then, the process that step S320 is later is repeated.
Additionally, in above-mentioned steps S330, even if concentricity is outside feasible value, if the mensuration number of times of concentricity is more than stipulated number, it is also possible to regard as coarse regulation and complete and make subprocess terminate.
(process on 4-4. the 4th website)
It follows that use Figure 11, the details adjusting operation process with one heart of above-mentioned step S400 is illustrated.
Step S410～step S450 are due to identical with aforesaid step S310～step S350, and therefore the description thereof will be omitted.Additionally, in step S430, when concentricity is within feasible value, enter into step S460.
In step S460, due to the enforcement adjusted with one heart in step S350 and step S450, the origin position of disk 30 likely offsets, and therefore controls device in the same manner as above-mentioned step S220, it is determined that the origin position of disk 30 is the most normal.When the difference of the angle between initial point labelling M1 and the initial point labelling M1 logged in extracted out from shooting image is in permissible range, it is determined that normal for origin position, enter into step S470.
In step S470, control device and use the ultraviolet lamp 402 of concentric adjustment unit 400 that disk 30 and hub 20 are carried out ultraviolet irradiation, and carry out the precuring of binding agent S.Thus, carry out disk 30 and the interim of hub 20 is fixed.Afterwards, make subprocess terminate, return the host process shown in Fig. 8.
On the contrary, in above-mentioned steps S460, at above-mentioned differential seat angle when permissible range is outer, it is judged that abnormal for origin position, enter into step S480.
In step S480, control device and corresponding workpiece is judged to defective products, and this content is shown on display floater 107.Then, do not carry out the precuring of binding agent, make subprocess terminate, return to the host process shown in Fig. 8.In addition, this workpiece is that the such content of defective products is thus stored in suitable memory area, because step S400 to adjust with one heart during operation processes the origin position after bonding abnormal and be judged as in the workpiece of defective products each website afterwards not performing operation and process and return the first website such that it is able to remanufacture.
Additionally, in the process above, even if when the mensuration of concentricity is carried out the judgement that more than stipulated number is also unsatisfactory for step S430, then defective products can also be regarded as in step S480.
(process on 4-5. the 5th website)
It follows that the details using Figure 12 to process the disk fixed work order of above-mentioned step S500 illustrates.
In step S510, control device and judge whether the workpiece being arranged on the holding member 110 stopped on the 5th website is judged as defective products in operation above.When being the workpiece being judged to defective products, do not perform later process and make subprocess terminate, return the host process shown in Fig. 8.On the contrary, when not being the workpiece being judged to defective products, enter into step S520.
In step S520, control device, by disk fixed cell 500, disk 30 and hub 20 are carried out ultraviolet irradiation, and carry out the formal solidification of binding agent S.Thus, carry out disk 30 and the formal of hub 20 is fixed.Afterwards, make subprocess terminate, return the host process shown in Fig. 8.
(process on 4-6. the 6th website)
It follows that the details using Figure 13 that the concentricity of above-mentioned step S600 is measured operation process illustrates.
In step S610, control device and judge whether the workpiece being arranged on the holding member 110 stopped on the 6th website is judged as defective products in operation above.When being the workpiece being judged as defective products, do not perform later process and make subprocess terminate, return the host process shown in Fig. 8.On the contrary, when not being the workpiece being judged to defective products, enter into step S620.
In step S620, control device, in the same manner as above-mentioned step S320, measures disk 30 and the concentricity of hub 20.Then, step S630 is entered into.
In step S630, control device and judge that the concentricity determined in above-mentioned steps S620 is whether within acceptance value.When concentricity is within acceptance value, make subprocess terminate, return the host process shown in Fig. 8.On the contrary, when concentricity is bigger than acceptance value, step S640 is entered into.
In step S640, control device and corresponding workpiece is judged to defective products, and this content is shown on display floater 107.Then, make subprocess terminate, return to the host process shown in Fig. 8.Additionally, the workpiece being judged as defective products in this step cannot remanufacture due to binding agent solidification, therefore go out of use process.
Additionally, by control as described above, the encoder 10 utilizing encoder to manufacture device 100 manufacture is mounted on the motorm, and thus servo motor SM completes.But, omit the explanation relevant with the installation on this motor M.
The example ＞ of the effect of ＜ 5. present embodiment
Encoder according to present embodiment discussed above manufactures device 100, turntable 102 moves to multiple operation unit 200～600 successively by making multiple disk table 104 and holding member 110, and stopping on each website corresponding with each operation unit, at least one of each operation unit 200～600 pairs of disks 30 and hub 20 operation being consecutively carried out regulation successively processes.By using such structure, it is possible to implement simultaneously in parallel to be processed by the operation of each operation unit 200～600.The manufacture efficiency of encoder 10 so can be greatly improved.Additionally, for example, it is also possible to consider in series to be configured by each operation unit 200～600 and make each operation process the structure of executed in parallel simultaneously, at this time, it may be necessary to make the workpiece that final operation terminates to the carrying mechanism of original position return etc., cause apparatus structure to complicate.Further, since each operation unit is configured discretely, therefore larger-scale unit and each operation unit are difficult to synchronize.To this, by being set to turntable mode as in the present embodiment, carrying mechanism etc. becomes simple, therefore, it is possible to simplify apparatus structure.It is arranged in turntable 102 around further, since each planning sheet unit can be concentrated, it is possible to miniaturization of the apparatus, and each operation unit easily synchronizes.
It addition, in the present embodiment, especially, in encoder manufactures multiple operation unit 200～600 of being had of device 100, comprise concentric adjustment unit 300,400, disk fixed cell 500 and concentricity determination unit 600.That is, disk 30 and hub 20 first passes through concentric adjustment unit 300,400 to be carried out position alignment in the way of concentric, is fixed followed by disk fixed cell 500, afterwards, measures concentricity by concentricity determination unit 600.By using such structure, it is possible to by disk 30 and hub 20 when in fixing concentric, and can check without acceptance of persons having after fixing.So, when there is eccentric (concentricity is bigger than the acceptance value of regulation), it is possible to process as defective products, it is possible to increase the quality of manufactured encoder 10 also improves encoder and manufactures the reliability of device 100.
It addition, in the present embodiment, especially, multiple operation unit 200～600 comprise the concentric adjustment unit of two configured continuously in the circumferential direction 300,400.Hereby it is achieved that following effect.I.e., generally, in having the servo motor of encoder of high resolution, the concentricity of disk and rotary body needs to be adjusted to below a few μm.Therefore, when using single concentric adjustment unit to carry out position alignment, by repeatedly carrying out the inching of 1 μm unit, the long period is needed.Especially, as in the present embodiment along turntable 102 circumference configure each operation unit time, owing to the dwell time during each operation processes in its structure is certain, therefore, when needing the long period in specific operation, produce and extend the needs setting dwell time matchedly, cause manufacturing efficiency and decline.Therefore, as in the present embodiment, by arranging two concentric adjustment units 300,400, concentric adjustment unit 300 above is utilized to carry out coarse regulation, concentric adjustment unit 400 below is utilized to be finely adjusted whole, it is possible to distribute to two operations by adjusting the required time with one heart.In such manner, it is possible to significantly shorten the time used of each operation, therefore, it is possible to the dwell time of turntable 102 is set to shorter such that it is able to improve further and manufacture efficiency.
It addition, in the present embodiment, especially, it is configured in disk fixed cell 500 concentric adjustment unit 400 nearby in a circumferential direction and there is the ultraviolet lamp 402 as temporary fastening device.Hereby it is achieved that following effect.That is, due to encoder manufacture device 100 be turntable mode, therefore, even if completing position alignment by concentric adjustment unit 400, realized by turntable 102 thereafter mobile time, due to inertia force or the effect of centrifugal force, disk 30 likely sliding, causes disk 30 and the relative offset of hub 20.Further, since the time used of other operations, after position alignment completes, it is possible to produce until turntable 102 is driven to the waiting time only, waiting time period disk 30 and hub 20 be also possible to offset relative to position.Therefore, in concentric adjustment unit 400, after position alignment completes, utilize ultraviolet lamp 402 to carry out disk 30 and the interim of hub 20 is fixed, it is possible to prevent from misplacing as above.Thus, when not dislocation after adjusting with one heart, it is possible to disk 30 and hub 20 are fixed on the 5th website below, therefore, it is possible to improve encoder to manufacture the reliability of device 100, and the quality of manufactured encoder 10 can be improved.Additionally, on the 4th website, it is also possible to consider formally fixing on the 5th website, but as mentioned above, by fixing on the 4th website and formally fixing on the 5th website temporarily, it is possible to the time averaged used of each website is shortened the waiting time, and improve the working performance of entirety.It addition, in formal fixing, need heat disk 30 grade being applied the stronger ultraviolet of intensity, temperature is higher.Therefore; compared with the formal fixing situation carrying out the 4th website; as mentioned above; in the 4th website; interim fixing by realized by the ultraviolet etc. that intensity is more weak; the impact on concentric adjustment unit 400 grade such as ultraviolet can be reduced, and the device for stronger ultraviolet etc. and the protection device of operator can be set on the 5th website.
It addition, in the present embodiment, especially, being included in the adhesive coated unit 200 of coated with adhesive between disk 30 and hub 20 in multiple operation unit 200～600, disk fixed cell 500 carries out the fixing of disk 30 and hub 20 by making the solidification of this binding agent.By using such fixed form, it is possible to carry out this fixing, therefore, it is possible to prevent disk 30 and the dislocation of hub 20 when fixing in the case of not contacting with disk 30 and hub 20.
It addition, in the present embodiment, especially, disk fixed cell 500 has and covers irradiation portion 502 and stop at the cover portion 503 of surrounding of holding member 110 on the 5th website.By this cover portion 503, it is possible to when reducing binding agent solidification, ultraviolet is to External leakage, is irradiated by the ultraviolet produced by disk fixed cell 500 affected therefore, it is possible to be effectively prevented other unit, operator.
It addition, in the present embodiment, especially, operator the removal position (the first website) dismounting operation is carried out and the concentric adjustment unit 400 with ultraviolet lamp 402 and carry out the disk fixed cell 500 of ultraviolet irradiation and configure discretely.Especially, concentric adjustment unit 400 is arranged on the position that the center of rotation of turntable 102 is facing with removal position.Thereby, it is possible to ultraviolet irradiates and is affected when preventing operator from being solidified by binding agent, it is possible to increase workability and safety.
The ＞ such as ＜ 6. modification
Such as, in the above-described embodiment, five operation unit of configuration 200～600 around turntable 102, but the configuration structure of operation unit is not limited to this.Such as, concentric adjustment unit can configure one, it is also possible to configures more than three.Alternatively, it is also possible to carry out the coating of binding agent outside device and be not provided with adhesive coated unit 200.Equally, about the mensuration of concentricity, it is also possible to carry out outside device and be not provided with concentricity determination unit 600.It addition, as previously mentioned, it is also possible to will automatically carry out the dismounting cell location of the dismounting of workpiece on the position corresponding with the first website.
In addition to what said above, it is also possible to by by the method for above-mentioned embodiment, each variation appropriately combined utilize.It addition, illustrate the most one by one, but without departing from the range of the purport of the present invention and technological thought can in addition various changes and more implement.
Description of reference numerals
10 encoders
20 hubs (example of rotary body)
30 disks
31 peripheral end faces
100 encoders manufacture device
102 turntables
110 holding members
200 adhesive coated unit (example of operation unit)
300 concentric adjustment units (example of operation unit)
301 video cameras (example of filming apparatus)
310 pressing devices
312 mirror assemblies
400 concentric adjustment units (example of operation unit)
401 video cameras (example of filming apparatus)
402 ultraviolet lamps (example of temporary fastening device)
410 pressing devices
500 disk fixed cells (example of operation unit)
600 concentricity determination units (example of operation unit)
CS circular trough
M3 front end recognition labelling
SM servo motor
Claims (9)
1. encoder manufactures a device, manufactures the encoder for servo motor, it is characterised in that have:
Multiple operation unit, it is with circle-shaped configuration, and to the disk of described encoder and be provided with this circle
At least one of the rotary body of dish performs the operation of regulation and processes；And
Turntable, multiple by can keep in the way of being perpendicular to the axle rotation of table top to described rotary body
Holding member is arranged on the peripheral part of described turntable separated from each other, and described turntable makes the plurality of maintaining part
Part moves and stops at each stop position corresponding with each operation unit successively to the plurality of operation unit
On,
The plurality of operation unit includes concentric adjustment unit, its to described disk and described rotary body with in
The mode of the heart carries out position alignment,
Described concentric adjustment unit has:
Pressing device, the peripheral end face of described disk is pushed by it to radial direction；And
Filming apparatus, it is in the way of the part including at least the circular trough being formed on described disk, right
The predetermined portion of described disk shoots.
2. encoder as claimed in claim 1 manufactures device, it is characterised in that
The plurality of operation unit includes: concentricity determination unit, and it measures described disk and described rotary body
Concentricity.
3. encoder as claimed in claim 1 or 2 manufactures device, it is characterised in that
Described concentric adjustment unit has mirror assemblies, and described mirror assemblies stops at making described holding member
Under the state on stop position corresponding with described concentric adjustment unit, it is positioned at and is in across described disk
On the position of the opposition side of described filming apparatus side, the surface of the described disk side of described mirror assemblies has
There is minute surface,
The predetermined portion of described disk, in the way of comprising described peripheral end face, is clapped by described filming apparatus
Take the photograph.
4. encoder as claimed in claim 1 or 2 manufactures device, it is characterised in that
Described pressing device has front end recognition mark on the surface being positioned at described filming apparatus side of leading section
Note,
Described filming apparatus is in the way of comprising the described front end recognition labelling of described pressing device, to described circle
The predetermined portion of dish shoots.
5. encoder as claimed in claim 1 or 2 manufactures device, it is characterised in that
The plurality of operation unit includes adjusting with one heart described at least two configured continuously in the circumferential direction list
Unit.
6. encoder as claimed in claim 1 or 2 manufactures device, it is characterised in that
The plurality of operation unit includes disk fixed cell, and described disk and described rotary body are carried out solid by it
It is fixed,
Described concentric adjustment unit before being arranged in described disk fixed cell on described circumferencial direction has
Temporary fastening device, described temporary fastening device after position alignment completes to described disk and described rotary body
Fix temporarily,
Described disk fixed cell to by described temporary fastening device carried out interim fixing described disk and
Described rotary body is formally fixed.
7. encoder as claimed in claim 6 manufactures device, it is characterised in that
The plurality of operation unit is included in the binding agent of coated with adhesive between described disk and described rotary body
Coating unit,
Described disk fixed cell is the binding agent solidified cell making described binding agent solidify,
Described adhesive coated unit and described binding agent solidified cell are configured in the rotation across described turntable
Center and on facing position.
8. an encoder manufacture method, for manufacturing the encoder for servo motor, it is characterised in that
Multiple holding member is made to move successively and stop to the multiple operation unit with circle-shaped configuration and each work
On each stop position that sequence unit is corresponding, and at least one of disk and rotary body is held the most continuously
The operation process that professional etiquette is fixed, the plurality of holding member is arranged on the peripheral part of turntable separated from each other, and
And to be provided with described encoder described disk described rotary body with can around be perpendicular to table top axle rotate
Mode keep,
The operation of described regulation processes and includes that adjusting operation with one heart processes, and it is to described disk and described rotary body
To carry out position alignment in the way of concentric,
Described concentric adjustment operation processes to be had:
Pressing step, the peripheral end face of described disk is pushed by it to radial direction；And
Shooting step, it is in the way of the part including at least the circular trough being formed on described disk, right
The predetermined portion of described disk shoots.
9. a servo motor manufacture method, for manufacturing the servo motor with motor and encoder, it is special
Levy and be,
Multiple holding member is made to move successively and stop to the multiple operation unit with circle-shaped configuration and each work
On each stop position that sequence unit is corresponding, and at least one of disk and rotary body is held the most continuously
The operation process that professional etiquette is fixed, the plurality of holding member is arranged on the peripheral part of turntable separated from each other, and
And to be provided with described encoder described disk described rotary body with can around be perpendicular to table top axle rotate
Mode keep,
The operation of described regulation processes and includes that adjusting operation with one heart processes, and it is to described disk and described rotary body
To carry out position alignment in the way of concentric,
Described concentric adjustment operation processes to be had:
Pressing step, the peripheral end face of described disk is pushed by it to radial direction；And
Shooting step, it is in the way of the part including at least the circular trough being formed on described disk, right
The predetermined portion of described disk shoots.
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| PCT/JP2011/068810 WO2013027252A1 (en) | 2011-08-19 | 2011-08-19 | Encoder manufacturing equipment, encoder manufacturing method, and servo motor manufacturing method |
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| Publication Number | Publication Date |
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| CN103732353A CN103732353A (en) | 2014-04-16 |
| CN103732353B true CN103732353B (en) | 2016-08-31 |
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| CN201180072953.3A Active CN103732353B (en) | 2011-08-19 | 2011-08-19 | Encoder manufactures device, encoder manufacture method, servo motor manufacture method |
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| Country | Link |
|---|---|
| JP (1) | JP5804066B2 (en) |
| CN (1) | CN103732353B (en) |
| WO (1) | WO2013027252A1 (en) |
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| CN105537902A (en) * | 2016-01-22 | 2016-05-04 | 杭州焕杰自动化设备有限公司 | Automatic heat sleeving assembly machine |
| CN107214497B (en) * | 2017-06-28 | 2018-11-09 | 嘉兴顾翔制冷设备有限公司 | A kind of new product assembly equipment |
| WO2020012650A1 (en) * | 2018-07-13 | 2020-01-16 | 三菱電機株式会社 | Encoder, motor, and encoder manufacturing method |
| JP2020012730A (en) * | 2018-07-18 | 2020-01-23 | 多摩川精機株式会社 | Magnetic encoder and method for attaching the same |
| CN114346662B (en) * | 2022-02-21 | 2023-02-10 | 徐州正天科技有限公司 | Outer end connector continuous installation equipment for encoder machining |
| CN116551376B (en) * | 2023-07-10 | 2023-09-26 | 福建宝锋电子有限公司 | Encoder equipment |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1307348A (en) * | 2000-01-31 | 2001-08-08 | 阿尔卑斯电气株式会社 | Rotary encoder and its manufacture |
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS6284931A (en) * | 1985-10-09 | 1987-04-18 | Oriental Motor Kk | Centering method for fixed disk |
| JPS6427827A (en) * | 1987-07-20 | 1989-01-30 | Aronshiya Kk | Encoder disc |
| JPH07112338A (en) * | 1993-10-20 | 1995-05-02 | Ishikawajima Syst Technol Kk | Automatic assembling device |
| JPH09331199A (en) * | 1996-06-10 | 1997-12-22 | Toshiba Corp | Method and device for mounting electronic part |
| JP2000033527A (en) * | 1998-07-17 | 2000-02-02 | Kenwood Corp | Automatic bonding device |
| JP2001260225A (en) * | 2000-03-15 | 2001-09-25 | Canon Inc | Method and apparatus for bonding seal and seal bonded part |
| JP2001308149A (en) * | 2000-04-27 | 2001-11-02 | Matsushita Electric Ind Co Ltd | Apparatus and method of mounting semiconductor for fpc |
| JP2003309400A (en) * | 2002-04-15 | 2003-10-31 | Rozefu Technol:Kk | Apparatus for assembling electronic component |
| JP4189263B2 (en) * | 2003-05-07 | 2008-12-03 | 日流機工株式会社 | Work bench equipment |
| JP4696041B2 (en) * | 2006-10-10 | 2011-06-08 | 光洋機械工業株式会社 | Planetary carrier assembly equipment |
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- 2011-08-19 WO PCT/JP2011/068810 patent/WO2013027252A1/en active Application Filing
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| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN1307348A (en) * | 2000-01-31 | 2001-08-08 | 阿尔卑斯电气株式会社 | Rotary encoder and its manufacture |
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| Publication number | Publication date |
|---|---|
| JPWO2013027252A1 (en) | 2015-03-05 |
| CN103732353A (en) | 2014-04-16 |
| WO2013027252A1 (en) | 2013-02-28 |
| JP5804066B2 (en) | 2015-11-04 |
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