JP2001250751A - Positioning device for sealing rubber for electrolytic capacitor - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform a positioning of sealing rubbers as prescribed with high accuracy even though the size of insertion holes is changed due to the change in types of the sealing rubbers. SOLUTION: A positioning device is one for positioning sealing rubbers 1, which are mounted in apertures provided in a capacitor case and comprise an insertion hole 1a which is inserted with a lead wire, to a prescribed position. The positioning device is constituted into a structure that a plane image comprising the hole 1a provided in the sealing rubber 1 grasped by each chuck 3 is inputted in an image input part 7 by a CCD camera 12 of the image input 7 and the center and the position of the hole 1a are detected on the basis of the inputted image. For changing the actual position of the hole 1a as prescribed, a rotary mechanism 14 of a positioning part 8 is controlled on the basis of the detected center and position of the hole 1a.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a sealing rubber for closing an opening of a case of an electrolytic capacitor. More specifically, the present invention relates to a device for positioning a sealing rubber for an electrolytic capacitor, which is used for positioning the sealing rubber when the sealing rubber is attached to a case opening in a manufacturing process of the electrolytic capacitor.

[0002]

2. Description of the Related Art In general, in the process of manufacturing an electrolytic capacitor, a capacitor element impregnated with an electrolytic solution is accommodated in a capacitor case made of aluminum or the like, and a sealing rubber for closing a case opening is mounted on the element. And
The case opening end is swaged in order to enhance the sealing performance by the sealing rubber.

Here, a pair of lead wires extending from the capacitor element is drawn out from the opening of the capacitor case. Therefore, the sealing rubber is attached to the case opening while inserting the lead wire into each of the pair of insertion holes provided in the rubber. At this time, it is necessary to accurately align the lead hole with the insertion hole of the sealing rubber, and conventionally, positioning of the sealing rubber has been performed prior to mounting.

Japanese Patent Application Laid-Open No. 9-180971 discloses an example of this kind of sealing rubber positioning device. As shown in FIGS. 10 and 11, the positioning device of this publication
Cylindrical holding portion 52 for holding sealing rubber 51 at the lower end inside
A turntable 53 in which the holding portions 52 are rotatably arranged at a constant pitch, and a lead wire insertion hole 5 of a sealing rubber 51.
A pair of upper and lower detection sensors 54 and 55 for detecting the rotational position of the sealing rubber 51 by detecting
A rotation mechanism 56 for rotating the sealing member 51, a brake mechanism 57 for braking the rotation of the holding portion 52, and a state of the lead wire insertion hole 51 a of the rubber 51 before positioning the sealing rubber 51. And an image recognition unit such as a CCD camera 58 for controlling the driving and rotation direction of the rotation mechanism 56 based on the image data. And in this positioning device,
Before positioning the sealing rubber 51, the image recognition unit detects and determines the state of the burrs and the like of the two lead wire insertion holes 51a. Next, the insertion hole 51a having no or few burrs or the like is determined, and the rotation mechanism 56 is driven to rotate the holding portion 52 to a position where the insertion hole 51a is detected by the detection sensors 54 and 55. Thereafter, when the insertion hole 51a is detected, the rotation mechanism 56 is stopped, and the brake mechanism 57 is operated to stop the rotation of the holding portion 52.
Positioning 1 is performed. As described above, the image recognition unit detects and determines the insertion hole 51a having no or little burr or the like, thereby preventing detection errors of the insertion hole 51a by the detection sensors 54 and 55 and performing accurate positioning. .

[0005]

However, in the conventional positioning device, it is considered that the pair of detection sensors 54 and 55 are of a light projection type. Therefore, the insertion hole 51a is detected when the sealing rubber 51 is rotated together with the holding portion 52 and the inner edge of the hole 51a passes through the light emitting path between the two detection sensors 54 and 55. Here, the insertion hole 51a
Has a certain area, even if the insertion hole 51a is detected based on the inner edge thereof, the center of the hole 51a is not detected, and the sealing rubber 5
An error occurred in the positioning of No. 1. For this reason,
There is a possibility that the insertion hole 51a cannot be accurately aligned with the lead wire.

On the other hand, in the conventional positioning device, since the sealing rubber 51 is held at the inner lower end of the cylindrical holding portion 52, when the outer diameter of the sealing rubber 51 changes due to a difference in the type, the position of the sealing rubber 51 is changed. Each time, the type of the holding unit 52 had to be replaced.

In the conventional positioning device, two detection sensors 5 arranged above and below the holding portion 52 are provided.
4, 55, the insertion hole 51a was detected. Therefore, when the inner diameter or the position of the insertion hole 51a is changed due to the type change of the sealing rubber 51, the two detection sensors 54, 55
However, there is a problem that the work of changing the varieties takes time and effort.

Further, in the conventional positioning device, two types of devices, that is, an image recognition unit such as a CCD video camera 58 and detection sensors 54 and 55 must be used to detect the insertion hole 51a. There is a problem that the number of parts increases and the configuration becomes complicated.

The present invention has been made in view of the above circumstances, and a first object of the present invention is to perform positioning of a sealing rubber with high accuracy even if the size of an insertion hole changes due to a change in the type of sealing rubber. An object of the present invention is to provide a positioning device for a sealing rubber for an electrolytic capacitor, which enables the above. A second object of the present invention is to position a sealing rubber for an electrolytic capacitor which makes it possible to easily perform positioning of the sealing rubber without changing or arranging parts at all in response to a type change of a sealing rubber. It is to provide a device.

[0010]

In order to achieve the first object, the invention according to claim 1 is a sealing device including an insertion hole which is attached to a case opening of an electrolytic capacitor and through which a lead wire is inserted. A positioning device used for positioning the rubber in a predetermined arrangement direction, wherein a center detecting means for detecting a center of the insertion hole, a rotation means for rotating the sealing rubber, and a center of the insertion hole. In order to change the arrangement direction of the insertion hole so as to be at a predetermined position, a control means for controlling the rotation means based on the detected center of the insertion hole is provided.

According to the configuration of the present invention, the center of the insertion hole is detected by the center detecting means in order to position the sealing rubber in the predetermined arrangement direction so as to align the insertion hole with the lead wire at the case opening of the electrolytic capacitor. Is done. Then, the rotation unit is controlled by the control unit based on the detected center of the insertion hole, whereby the sealing rubber is rotated and the arrangement direction of the insertion hole is changed so that the center of the insertion hole is at a predetermined position. . Therefore, since the arrangement direction of the insertion hole is changed based on the center of the insertion hole, the arrangement direction of the insertion hole is always accurately adjusted to the predetermined position even if the size of the insertion hole is different due to the type of the product.

According to a second aspect of the present invention, in order to achieve the first object, the holding means for holding the sealing rubber and the holding means for holding the sealing rubber are provided at predetermined positions. A transfer means for transferring the holding means in the order of the center detecting means and the rotating means is provided.

According to the structure of the present invention, in addition to the operation of the first aspect of the invention, when positioning the sealing rubber, the sealing rubber is transferred in the order of the center detecting means and the rotating means which are respectively arranged at predetermined positions. There is no need to use manual labor.

According to a third aspect of the present invention, the center detecting means includes an insertion hole in an end face of the sealing rubber. Image input means for inputting a plane image,
An image recognizing means for recognizing the center of the insertion hole based on the input plane image is provided.

According to the structure of the present invention, in addition to the function of the first or second aspect of the present invention, the insertion hole is formed by the image recognizing means based on the planar image on the end face of the sealing rubber input by the image input means. Is recognized at the center of the image. Accordingly, since the center of the insertion hole is image-recognized, the center of the insertion hole can be image-recognized using the same image input means at the same position even with different types of sealing rubber.

In order to achieve the first object, the invention according to claim 4 is the invention according to claim 3, wherein the outer dimensions of the sealing rubber, the dimensions of the insertion holes and the dimensions of the sealing rubber for each type of sealing rubber. A type data storage unit for storing type data relating to the position in advance, a data selecting unit for selecting the stored type data, and an image recognizing unit perform image recognition according to the type based on the selected type data. And that it is provided.

According to the configuration of the present invention, in addition to the operation of the third aspect of the present invention, even if the type of the sealing rubber is changed, the operator specifies the type using the data selection means in accordance with the type change. By selecting the kind data of the kind, the kind data on the outer dimensions of the sealing rubber, the size and the position of the insertion hole corresponding to the changed kind can be easily obtained from the plurality of kind data stored in the kind data storing means. Can be Therefore, the image recognizing means easily performs image recognition according to the difference in the type of the sealing rubber, and easily recognizes the center of the insertion hole.

In order to achieve the second object, the invention according to a fifth aspect is directed to a sealing rubber having an insertion hole, which is mounted in a case opening of an electrolytic capacitor and through which a lead wire is inserted, is disposed in a predetermined orientation. A positioning device for detecting the position of the insertion hole in the sealing rubber, and a pair of holding members for holding both end surfaces of the sealing rubber for rotating the sealing rubber. Rotating means including a driving source for rotating the piece and each holding piece, and control means for controlling the rotating means based on the detected position of the insertion hole, in order to change the orientation of the insertion hole to a predetermined orientation. It is intended to have.

According to the configuration of the present invention, the position of the insertion hole is detected by the position detecting means in order to position the sealing rubber in a predetermined arrangement direction so as to align the insertion hole with the lead wire at the case opening of the electrolytic capacitor. Is done. Then, the rotation unit is controlled by the control unit based on the detected position of the insertion hole. Thereby, both end surfaces of the sealing rubber are sandwiched by the pair of sandwiching pieces and are rotationally driven by the driving source,
The arrangement direction of the insertion hole is changed to a predetermined arrangement direction. Therefore, since both ends of the sealing rubber are sandwiched by the holding pieces in order to rotate the sealing rubber, even if the outer diameter of the sealing rubber is different due to a difference in type, the sealing rubber can be used without replacement by using the same holding piece. Rotated.

In order to achieve the second object, the invention according to claim 6 is the invention according to claim 5, further comprising a holding means for holding the sealing rubber, and the position detecting means comprises: The purpose is to detect the position of the insertion hole in the sealing rubber held by the means.

According to the structure of the present invention, in addition to the function of the invention described in claim 5, since the sealing rubber is held by the holding means, after the sealing rubber is positioned, its state is changed by the holding means. Will be retained.

In order to achieve the second object, the invention according to claim 7 is the invention according to claim 6, wherein the holding means is arranged such that the center of the sealing rubber having different outer diameters is at a predetermined position. It is intended to hold the sealing rubber so as to be carried out.

According to the structure of the above invention, in addition to the function of the invention described in claim 6, the center of the sealing rubber held by the holding means is always at a predetermined position even if the outer diameter differs depending on the type. Placed in

In order to achieve the second object, the invention according to claim 8 is the invention according to claim 7, wherein the holding means comprises at least two V-shaped members for gripping the outer periphery of the sealing rubber. Alternatively, the chuck includes a U-shaped concave portion.

According to the configuration of the present invention, in addition to the effect of the invention described in claim 7, the outer circumference of the sealing rubber is gripped by the chuck including at least two V-shaped or U-shaped concave portions, so that the variety can be changed. Even when the outer diameters of the different sealing rubbers are different, it is possible to hold the same using the V-shaped recess of the same chuck. Therefore, even when sealing rubber having different outer diameters is handled, it is not necessary to separately replace the holding means and its parts.

According to a ninth aspect of the present invention, in order to attain the second object, the position detecting means arranged at a predetermined position in each of the inventions of the sixth to eighth aspects is provided. A transfer means for transferring the holding means in the order of the means and the rotating means is provided.

According to the configuration of the present invention, in addition to the function of any one of the sixth to eighth aspects of the present invention, the position detecting means and the rotation detecting means arranged at predetermined positions when positioning the sealing rubber are provided. There is no need to use manual labor to transport the sealing rubber in the order of the means.

[0028]

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a perspective view showing an embodiment of an apparatus for positioning a sealing rubber for an electrolytic capacitor according to the present invention.

FIG. 1 is a plan view showing a main part of the positioning apparatus according to the present embodiment. This positioning device is for a sealing rubber mounted on a case opening of an electrolytic capacitor and provided on a capacitor element housed in the case. The sealing rubber includes an insertion hole through which a lead wire extending upward from the capacitor element is inserted. The positioning device is used for positioning the sealing rubber in a predetermined arrangement direction.

As shown in FIG. 1, a plurality of sealing rubbers 1 including a pair of insertion holes 1a are mounted on the positioning device. The positioning device includes a turntable 2 having a circular shape in a plane, and a plurality of chucks 3 radially arranged at equal intervals on a peripheral portion of the table 2. The turntable 2 is intermittently rotated in the counterclockwise direction in FIG. 1 to transfer the chucks 3, and corresponds to a transfer unit of the present invention. The table 2 is driven to rotate by an index 4 provided below the table. Each of the chucks 3 holds the sealing rubber 1 and corresponds to a holding unit of the present invention. As shown in an enlarged manner in FIG. 4, each chuck 3 includes a pair of chuck members 5 including a V-shaped recess 5a for gripping the outer periphery of the sealing rubber 1 having a disk shape. The two chuck members 5 are arranged symmetrically with each other, and can be opened and closed with the V-shaped concave portions 5a facing each other. Each of the chucks 3 is driven to open and close by a chuck actuator (see FIG. 6) 25 as a driving source provided individually for each.

As shown in FIG. 1, the positioning device includes a rubber supply section 6, an image input section 7, a positioning section 8, and an inspection section 9 which are arranged along the transfer path of each chuck 3 by the table 2.
And a rubber discharging unit 10. The rubber supply section 6 supplies the sealing rubber 1 to each chuck 3. The image input unit 7 is to input a planar image including the insertion hole 1 a in the end face of the sealing rubber 1 held by each chuck 3. The positioning section 8 is a section where the sealing rubber 1 transferred from the image input section 7 is rotated and positioned in a predetermined arrangement direction. The inspection unit 9 is to inspect the state of the sealing rubber 1 positioned. The rubber discharging unit 10 is to discharge the sealing rubber 1 whose positioning has been completed to the next step. In the rubber discharging section 10, the sealing rubber 1 whose positioning has been completed is attached to an opening of a capacitor case held by a chuck of a caulking device separately provided.

Next, the image input unit 7 will be described in detail. The image input unit 7 includes a CCD camera 12 supported on a frame 11. As shown in FIG.
Numeral 2 is for inputting a plane image including the insertion hole 1a in the end face of the sealing rubber 1 horizontally held by each of the chucks 3, and corresponds to image input means of the present invention. CCD
The camera 12 captures a planar image of the sealing rubber 1 from above the rubber 1.

Next, the positioning section 8 will be described in detail. The positioning section 8 includes a rotation mechanism 14 supported by the frame 13. As shown in FIG. 3, the rotation mechanism 14 is for rotating the sealing rubber 1 to change the arrangement direction of the insertion holes 1a, and corresponds to the rotation means of the present invention. The rotating mechanism 14 includes a pair of holding pieces 15, 16 for holding upper and lower end surfaces of the sealing rubber 1 held by the chucks 3.
And a rotation motor 17 as a drive source of the present invention provided to the lower holding piece 16 for driving the holding pieces 15 and 16 to rotate. A pair of upper and lower brackets 18 and 19 are respectively supported on the frame 13 so as to be slidable in the vertical direction. The upper holding piece 15 is provided so as to be horizontally rotatable with respect to the upper bracket 18.
The rotation motor 17 is fixed to the lower bracket 19. The lower holding piece 16 has a cylindrical shape, and is fixed to an output shaft at the upper end of a rotation motor 17 and is provided to be horizontally rotatable. The upper and lower holding pieces 15 and 16 are opposed to each other with a predetermined gap therebetween. As shown in FIG.
A chuck 3 holding the sealing rubber 1 is arranged between the parts 5 and 16. Here, the thickness of the sealing rubber 1 is set slightly larger than the thickness of the chuck member 5. Thereby, the upper and lower end surfaces of the sealing rubber 1 are respectively projected upward and downward from the upper and lower end surfaces of the sealing member 1 while being held by the two chuck members 5.
The end faces 5 and 16 can be contacted. Here, the upper and lower brackets 18, 19 are configured to slide in conjunction with each other. The two brackets 18 and 19 are configured such that the upper and lower holding pieces 15 and 16 are brought closer to each other or separated from each other by driving a holding motor 20 provided on the frame 13.

According to this positioning device, each chuck 3
Each of the chucks 3 is sequentially and intermittently transferred by the turntable 2 while holding the sealing rubber 1. Thereby, in particular, in the image input unit 7, the planar image of the sealing rubber 1 including the insertion hole 1 a is input by the CCD camera 12, and then, in the positioning unit 8, the rotation mechanism 14 rotates the insertion hole 1 a.
To correct the orientation.

As shown in FIG. 3, this positioning device
It has a controller 21 for automatically controlling its own movement. A selection switch 22 and a display 23 are provided on the front surface of the housing of the controller 21. The selection switch 22 and the display 23 are operated by an operator to select type data described later, and correspond to data selection means of the present invention. CRT monitor 24 provided adjacent to controller 21
Is for displaying a planar image taken by the CCD camera 12 to the operator.

FIG. 6 is a block diagram showing the electrical configuration of the positioning apparatus. The controller 21 includes a central processing unit (CPU) 31, a ROM 32 as a memory, and a RAM 3
3, an input / output circuit 34, an A / D converter 35 constituting an image processing unit, a binarization circuit 36, an image memory 37, and a display interface 38. CPU31, ROM3
2. The RAM 33, the input / output circuit 34, and the image memory 37 are connected to each other via a bus 39. The input / output circuit 34 is connected to the chuck actuator 25, the index 4, the rotation motor 17, the holding motor 21, the display 23, and the selection switch 22, respectively.

The CPU 31 controls and calculates the positioning device. In the ROM 32,
A predetermined control program required for controlling the positioning device is stored. The ROM 32 previously stores a plurality of types of data on the external dimensions of the sealing rubber 1 and the size and position of the insertion hole 1a for each different type of the sealing rubber 1.
The ROM 32 corresponds to a type data storage unit of the present invention. Data necessary for the CPU 31 to execute the control is written in the RAM 33.

The A / D converter 35 digitizes an analog image signal from the CCD camera 12. The binarizing circuit 36 binarizes the digital image signal by a predetermined threshold value to generate a binary image. The image memory 37 stores a binary image in pixel units. The display interface 38 converts the grayscale input image or the binary image into an analog signal and displays the analog image on the CRT monitor 24.

The CPU 31 controls the various devices 25, 4, 17, 17 based on the control program stored in the ROM 32.
21, 23 and 24 are controlled. The CPU 31 performs image recognition of the center of the insertion hole 1a based on a planar image of the sealing rubber 1 input through the image memory 37,
It corresponds to the image recognition means of the present invention. Here, the CCD camera 12 and the CPU 31 constitute a center detecting means of the present invention for detecting the center of each insertion hole 1a. And C
The PU 31 controls the rotation mechanism 14 based on the center of the insertion hole 1a detected by image recognition in order to change the arrangement direction of the insertion hole 1a so that the center of the insertion hole 1a is at a predetermined position. And corresponds to the control means of the present invention. Further, the CCD camera 12 and the CPU 31 constitute a position detecting means of the present invention for detecting the position of each insertion hole 1a in the sealing rubber 1. Then, the CPU 31 changes the arrangement direction of the insertion hole 1a to a predetermined arrangement direction,
The rotation mechanism 14 is controlled based on the position of the insertion hole 1a detected by the image recognition, and corresponds to the control means of the present invention. Further, based on the type data selected using the selection switch 22 and the display 23, the CPU 31 performs image recognition according to the characteristics of the sealing rubber 1 of the type.

In this embodiment, in order to image-recognize the center of each insertion hole 1a and the position in the sealing rubber 1, a CP is used.
U31 calculates the centers P1 of the two insertion holes 1a shown in FIG. 4, respectively. Then, the CPU 31 recognizes the angle θ between the calculated line L1 connecting the two centers P1 and the predetermined virtual line L0 as the position of the insertion hole 1a. In this embodiment, two chuck members 5
A line extending through the center of the sealing rubber 1 gripped in the direction perpendicular to the longitudinal direction X of the chuck 3 is a virtual line L0.
Is defined as

Here, as shown in FIG. 5, a burr 1b may be present in the insertion hole 1a. And this burr 1
Due to the presence of b, it becomes difficult to recognize the image of the insertion hole 1a as a circle, and the center P1 of the insertion hole 1a may not be able to be calculated accurately. Therefore, in this embodiment, as a method of accurately calculating the center P1 of the insertion hole 1a by eliminating noise in image recognition such as burrs 1b, a conventionally known method is employed. As this calculation method, for example, a “center position detection method of circular image data” disclosed in Japanese Patent Laid-Open No. 5-113315 can be adopted. In this method, first, a circular figure existing on the image data is divided to set a plurality of arc-shaped detection areas. Next, a plurality of center position candidates are determined for each detection area from points on the respective contours of each detection area and the radius of the circular figure. Next, only the center position candidates that fall within a specific range are integrated to be the center position of the detection area, and the center position of each detection area is integrated between a plurality of setting areas to obtain the center of the circular figure. Is what you want. In addition, for example, a calculation method disclosed in “Image center measurement device” in JP-A-5-120429, or JP-A-11-183144.
It is also possible to employ the calculation method disclosed in the publication entitled "Circle detection method". Here, the detailed description thereof is omitted.

In addition, the controller 21 controls each insertion hole 1
In order to image-recognize the position of a, the areas of the insertion holes 1a are calculated and processed.

FIGS. 7A to 7E show the controller 2
The content of the synchronization control by the CPU 1 (CPU 31) is shown in a time chart. FIGS. 7A and 7B show (a) rotation of the turntable 2 by the index 4, (b) recognition of the insertion hole 1a using the CCD camera 12, (c) pinching of the sealing rubber 1 by pinching pieces 15 and 16, (d) 3) The positioning of the sealing rubber 1 by the holding pieces 15 and 16 and the operation of (e) opening and closing of the chuck 3 and the relationship between them are shown.

That is, at time t1 to t2, the controller 2
1 rotates the table 2 by a predetermined angle by the index 4 in order to transfer the sealing rubber 1 held by each chuck 3 to the next position. Thereby, the sealing rubber 1 located in the rubber supply unit 6 is transferred to the image input unit 7, and the sealing rubber 1 located in the image input unit 7 is transferred to the positioning unit 8. In the image input unit 7, the controller 21 operates the CCD camera 12 to input a planar image of the sealing rubber 1 for a predetermined period from time t2, and based on the input image, the center of the insertion hole 1a and Image recognition of the position. This image recognition period is appropriately determined until the time t7 at which the table 2 starts to move next. On the other hand, in the positioning section 8, at time t2, the controller 21 starts to operate the holding motor 20 to hold the sealing rubber 1 by the holding pieces 15, 16. Then, when the sealing rubber 1 is sandwiched between the holding pieces 15 and 16 at time t3, the controller 21
5 starts opening the chuck 3. Thereafter, when the chuck 3 is completely opened at time t4, at time t4 to t6, the controller 21 determines the orientation of the insertion hole 1a in the sealing rubber 1 by using the image recognition result obtained by the image input unit 7. The rotation motor 17 is operated based on the above, and the sealing rubber 1 is rotated by the holding pieces 15 and 16. And
When the positioning of the sealing rubber 1 is completed at time t6, the controller 3 starts closing the chuck 3 by the chuck actuator 25. Thereafter, when the chuck 3 is closed and the sealing rubber 1 is gripped at the time t7, the controller 21 starts moving the holding motor 20 to release the holding of the sealing rubber 1 by the holding pieces 15 and 16. Then, when the holding pieces 15 and 16 are separated from the sealing rubber 1 at time t8, the controller 21 moves the index 4 to transfer the sealing rubber 1 sandwiched between the chucks 3 to the next process from time t8 to t9. To rotate the table 2 by a predetermined angle. Thereafter, from time t9, the controller 21 repeats the operation from time t1 to t9.

FIGS. 8A to 8F sequentially show a series of operations in the positioning unit 8. FIG. First, as shown in FIG. 8A, the chuck 3 holding the sealing rubber 1 by feeding the table 2 is disposed between the upper and lower holding pieces 15 and 16. Next, as shown in FIG.
The sealing rubber 1 gripped by the chuck 3 is sandwiched by the movement of 5 and 16. Next, as shown in FIG. 8C, the chuck 3 is opened with the sealing rubber 1 sandwiched between the holding pieces 15 and 16. Next, as shown in FIG.
With the sealing rubber 1 sandwiched, the holding pieces 15 and 16 are rotated to position the sealing rubber 1. Next, FIG.
As shown in (e), when the positioning of the sealing rubber 1 is completed, the chuck 3 is sandwiched between the holding pieces 15 and 16.
Is closed and the sealing rubber 1 is gripped. Then, FIG.
As shown in the figure, the sandwiching of the sealing rubber 1 by the upper and lower sandwiching pieces 15 and 16 is released.

As described above, according to the positioning device of this embodiment, the sealing rubber 1 is positioned in a predetermined arrangement direction in order to match the arrangement of the lead wires in the case opening of the electrolytic capacitor. Here, in the image input unit 7 of the positioning device, a planar image including the insertion hole 1a on the end face of the sealing rubber 1 gripped by each chuck 3 is converted to a CC.
Input by the D camera 12. The center P1 and position of the insertion hole 1a are image-recognized and detected by the controller 21 based on the input plane image. Then, in the positioning section 8, the controller 21 rotates the rotating mechanism 14 based on the detected center P1 and position of the insertion hole 1a.
Is controlled. As a result, the sealing rubber 1 is
The rotation direction changes the arrangement direction of the two insertion holes 1a so that the center P1 and the position of the insertion holes 1a are at predetermined positions. Therefore, the orientation of the insertion holes 1a can be changed based on the center P1 and the position of the insertion holes 1a.
Even if the size and arrangement of the insertion holes 1a are different, the insertion holes 1a
Is always accurately adjusted to a predetermined position. For this reason, unlike the conventional positioning device that detects the inner edge of the insertion hole 51a as the same hole 51a, according to the positioning device of the present embodiment, even if the size or position of the insertion hole 1a is changed due to a type change. The positioning of the sealing rubber 1 can be performed with high accuracy by accurately detecting each of the insertion holes 1a.

In this embodiment, as shown in FIG. 4, the center P1 of the two insertion holes 1a of the sealing rubber 1 is detected by the controller 21. Then, the controller 21 detects the angle θ between the detected line L1 connecting the two centers P1 and the predetermined virtual line L0 as the position of the insertion hole 1a. Therefore, the angle θ formed with the virtual line L0 can be directly reflected on the rotation operation of the rotation mechanism 14 as the position of the insertion hole 1a. That is, the virtual line L
The sealing rubber 1 can be accurately positioned only by rotating each of the holding pieces 15 and 16 by the rotation motor 17 by an angle θ with respect to 0. For this reason, the calculations and processes performed for positioning the sealing rubber 1 can be simplified, and the positioning accuracy can be increased.

According to the positioning device of this embodiment,
Based on the planar image of the end face of the sealing rubber 1 input by the CCD camera 12, the center P1 and the position of each insertion hole 1a are image-recognized and detected by the controller 21. Therefore, since the center P1 and the position of each insertion hole 1a are detected by inputting a planar image and recognizing the image, unlike the conventional positioning device using the light emitting type detection sensors 54 and 55, the difference between the types is different. Therefore, even if the position of the insertion hole 1a in the sealing rubber 1 is different, the center P1 and the position of the insertion hole 1a can be detected by using the same CCD camera 12 at the same position. For this reason, CCD
The operation for changing the type of the sealing rubber 1 can be simplified because the rearrangement of the camera 12 is not necessary.

According to the positioning device of this embodiment,
By using the selection switch 22 and the display 23 in accordance with the change in the type of the sealing rubber 1, the operator can select specific type data. As a result, from among the plurality of types of data stored in the ROM 32 of the controller 21, the type data relating to the external dimensions and the dimensions and positions of the insertion holes 1a corresponding to the type of the sealing rubber 1 to be used can be easily specified. Will be done. Therefore, the controller 21 can easily perform image recognition according to the difference in the type of the sealing rubber 1, so that the center P of each of the insertion holes 1 a can be determined.
1 and position are easily detected. In this sense, the positioning of the sealing rubber 1 can be easily performed in response to the type change, the work for the type change can be facilitated, and the operation time can be shortened. Become.

According to the positioning device of this embodiment,
The rotation mechanism 14 is controlled by the controller 21 based on the center 1 and position of the insertion hole 1a detected by the image recognition. Then, both end surfaces of the sealing rubber 1 have a pair of holding pieces 15,
The rotation direction of the insertion holes 1a is changed to a predetermined direction by being sandwiched by and rotated by the drive of the rotation motor 17. Therefore, since both ends of the sealing rubber 1 are held by the upper and lower holding pieces 15 and 16 to rotate the sealing rubber 1, even if the outer diameter of the sealing rubber 1 is different due to the difference of the type, the fact that the sealing rubber 1 is changed. There is no restriction on the rotation, and various sealing rubbers 1 can be rotated using the same holding pieces 15 and 16 without particularly exchanging parts. For this reason, the positioning of the sealing rubber 1 can be easily performed without changing any part or changing the arrangement of the components in response to a change in the type of the sealing rubber 1. That is, the operation required for changing the type of the sealing rubber 1 can be simplified, and the operation time can be shortened.

According to the positioning device of this embodiment,
Insertion hole 1a with sealing rubber 1 held by chuck 3
Is detected at the center P1 and the position. The sealing rubber 1 is positioned based on the detection result, and the positioning state is fixed and held by the chuck 3. For this reason, it is possible to move to the next step while the sealing rubber 1 is accurately positioned, and to accurately align the lead wire in the case opening of the electrolytic capacitor with the insertion hole 1a.

According to the positioning device of this embodiment,
The sealing rubber 1 held by the chuck 3 is arranged such that the center P2 is always at a predetermined position in the chuck 3 even if the outer diameter differs depending on the type. Therefore, even with such a structure of the chuck 3, the positioning of the sealing rubber 1 can be easily performed without changing or relocating the chuck 3 in response to a change in the type of the sealing rubber 1.

According to the positioning device of this embodiment,
The outer periphery of the disc-shaped sealing rubber 1 is gripped by a chuck 3 including a pair of chuck members 5 including a V-shaped recess 5a. Accordingly, for example, as shown in FIG. 9, it is possible to grip the sealing rubber 1 </ b> A having a large outer diameter depending on the type of the product, using the V-shaped concave portion 5 a of the same chuck 3. Further, in this case, similarly to the case shown in FIG. 4, the position of the insertion hole 1a can be image-recognized and detected from the angle θ between the line L1 connecting the centers P1 of the two insertion holes 1a and the virtual line L0. it can. Therefore, even when the sealing rubber 1A having a different outer diameter is handled, there is no need to replace parts such as the chuck member 5 or change the arrangement of the chuck 3 at all. In this sense, the positioning of the sealing rubber 1 according to the type change can be further facilitated.

According to the positioning device of this embodiment,
By rotating the turntable 2, the sealing rubber 1 held by each chuck 3 is sequentially transferred by the table 2 together with each chuck 3. Accordingly, the image input unit 7
Then, the planar image of the sealing rubber 1 is input by the CCD camera 12, and the orientation of the insertion hole 1 a is changed by the rotating mechanism 14 in the positioning unit 8. Therefore, each chuck 3
The sealing rubber 1 gripped by the table 2 is sequentially sent to the image input unit 7 and the positioning unit 8 with the movement of the table 2, so that it is not necessary to use manual labor for this transfer. For this reason, the positioning device can be fully automated, and positioning of a large number of sealing rubbers 1 can be performed with high efficiency.

According to the configuration of the positioning device of this embodiment, both end surfaces of the sealing rubber 1 are held by the upper and lower holding pieces 15 and 16 from the state where the outer periphery of the sealing rubber 1 is held by the chuck 3. Thereafter, the gripping of the sealing rubber 1 by the chuck 3 is released, and the holding pieces 15 and 16 are rotated by the rotation motor 17, whereby the sealing rubber 1 is rotated and the arrangement direction of the insertion holes 1a is changed. Accordingly, the movement of the chuck 3 and the movements of the holding pieces 15 and 16 and the rotation motor 17 allow the sealing rubber 1 to be positioned smoothly. For this reason, the tact time at the positioning section 8 can be shortened, the positioning time required for each sealing rubber 1 can be shortened, and the number of sealing rubbers 1 that can be positioned within a fixed time can be reduced. Can be increased more than that of the conventional device.

It should be noted that the present invention is not limited to the above-described embodiment, but can be carried out as follows without departing from the spirit of the invention.

(1) In the above embodiment, the sealing rubber 1 having a circular shape is targeted for positioning. However, the shape of the sealing rubber is not limited to a circular shape, and various shapes such as an elliptical shape and a square shape can be used. The sealing rubber that is provided can also be a positioning target. In this case, the shape of the chuck can be changed according to the shape of the sealing rubber.

(2) In the above embodiment, the sealing rubber 1 having the pair of insertion holes 1a is targeted for positioning. However, the present invention is not limited to this, and the sealing rubber having one or three or more insertion holes is provided. May be the positioning target.

(3) In the above embodiment, the chuck 3 including the pair of chuck members 5 is provided, but the structure of the chuck is not limited to this. For example, a chuck including three or more chuck members may be used. It may be provided.

(4) In the above embodiment, the V-shaped recess 5a
Is provided, but a chuck having a U-shaped concave portion may be provided.

(5) In the above embodiment, the image input unit 7
And the positioning portion 8 are separately provided at different positions, and the sealing rubber 1
The input of the planar image and the positioning of the sealing rubber 1 are performed at different positions. On the other hand, the input of the planar image of the sealing rubber 1 and the positioning of the sealing rubber 1 may be performed at the same position. In this case, for example, the CCD camera is fixed above the chuck, and the rotation mechanism of the sealing rubber is provided so as to be switchable between a position below the camera and a retracted position away from the position below the camera. Just do it.

(6) In the above embodiment, in order to recognize the positions of the two insertion holes 1a of the sealing rubber 1, each of the insertion holes 1a
Although the center P1 of a is calculated, the center of gravity of each insertion hole 1a may be calculated as the center P1 in order to calculate the center P1.

[0063]

According to the first aspect of the present invention,
Even if the size of the insertion hole changes due to a change in the type of the sealing rubber, the effect is achieved that the insertion hole can be accurately detected and the positioning of the sealing rubber can be performed with high accuracy.

According to the configuration of the invention described in claim 2, in addition to the effect of the invention described in claim 1, the positioning device can be fully automated, and positioning of a large number of sealing rubbers can be performed with high efficiency. It has the effect.

According to the third aspect of the present invention, in addition to the effects of the first or second aspect of the present invention, even if the position of the insertion hole in the sealing rubber differs depending on the type of the image, image input can be performed. The effect of simplifying the operation for changing the type of the sealing rubber can be obtained, since the arrangement of the means is not required.

According to the structure of the invention described in claim 4, in addition to the effect of the invention described in claim 3, work for changing the type of sealing rubber can be facilitated, and the work time can be shortened. The effect that can be done.

According to the fifth aspect of the present invention, it is possible to easily perform positioning of the sealing rubber without changing or arranging the components with respect to the type of sealing rubber. Demonstrate.

According to the structure of the invention described in claim 6, in addition to the effect of the invention described in claim 5, it is possible to move to the next step while the sealing rubber is accurately positioned, and to open the case opening of the electrolytic capacitor. The effect that the lead wire and the insertion hole can be accurately aligned with each other.

According to the configuration of the invention described in claim 7, in addition to the effect of the invention described in claim 6, the sealing rubber can be replaced without any replacement or rearrangement of the holding means in response to the type change of the sealing rubber. This has the effect that positioning can be facilitated.

According to the configuration of the invention described in claim 8, the positioning of the sealing rubber according to the type change can be further facilitated with respect to the effect of the invention described in claim 7. .

According to the ninth aspect of the present invention, in addition to the effects of any one of the sixth to eighth aspects, the positioning device can be fully automated and a large number of sealing rubbers can be obtained. The effect that positioning can be performed with high efficiency is exhibited.

[Brief description of the drawings]

FIG. 1 is a plan view showing a main part of a positioning device according to an embodiment.

FIG. 2 is a side view showing the CCD camera of the image input unit.

FIG. 3 is a side view showing a rotation mechanism of a positioning unit.

FIG. 4 is an enlarged plan view showing the sealing rubber held by the chuck.

FIG. 5 is an enlarged plan view showing an insertion hole for a sealing rubber.

FIG. 6 is a block diagram showing an electrical configuration of the positioning device.

FIGS. 7A to 7E are time charts showing the contents of synchronous control.

FIGS. 8A to 8F are explanatory views showing a series of steps by a positioning unit.

FIG. 9 is an enlarged plan view showing the sealing rubber held by the chuck.

FIG. 10 is a plan view showing a conventional positioning device.

11 is a sectional view taken along the line ZZ in FIG.

[Explanation of symbols]

 Reference Signs List 1 sealing rubber 1A sealing rubber 1a insertion hole 2 turntable (transfer means) 3 chuck (holding means) 5a V-shaped recess 12 CCD camera (image input means) 14 rotating mechanism (rotating means) 15 holding piece 16 holding piece 17 for rotation Motor (drive source) 21 Controller (image recognition means, control means) 22 Selection switch (data selection means) 23 Display (data selection means) 32 ROM (type data storage means)

Claims (9)

[Claims] 1. A positioning device used for positioning a sealing rubber including an insertion hole through which a lead wire is inserted through a case opening of an electrolytic capacitor in a predetermined arrangement direction, the positioning device comprising: A center detecting means for detecting a center, a rotating means for rotating the sealing rubber, and a detecting means for changing the arrangement direction of the insertion hole so that the center of the insertion hole is at a predetermined position. Control means for controlling the rotation means based on the center of the insertion hole. 2. A holding means for holding the sealing rubber, and a transfer means for transferring the holding means in the order of the center detecting means and the rotating means respectively arranged at predetermined positions. The positioning device for a sealing rubber for an electrolytic capacitor according to claim 1. 3. An image input unit for inputting a plane image including the insertion hole on an end face of the sealing rubber, and an image of a center of the insertion hole based on the input plane image. 3. The positioning device for a sealing rubber for an electrolytic capacitor according to claim 1, further comprising an image recognition unit for recognition. 4. A kind data storage means for previously storing kind data relating to the outer dimensions of the sealing rubber, dimensions and positions of the insertion holes, for each kind of the sealing rubber, and a means for selecting the stored kind data. 4. The sealing rubber for an electrolytic capacitor according to claim 3, further comprising: a data selection unit, and the image recognition unit performs image recognition corresponding to the type based on the selected type data. 5. Positioning device. 5. A positioning device which is used for positioning a sealing rubber including an insertion hole through which a lead wire is inserted through a case opening of an electrolytic capacitor in a predetermined arrangement direction. Position detecting means for detecting the position of the insertion hole, and a pair of holding pieces for holding both end faces of the sealing rubber and a drive source for rotating the holding pieces, for rotating the sealing rubber. An electrolytic capacitor, comprising: rotating means; and control means for controlling the rotating means based on the detected position of the insertion hole in order to change the arrangement direction of the insertion hole to a predetermined arrangement direction. Positioning device for sealing rubber. 6. A holding means for holding the sealing rubber, wherein the position detecting means detects a position of the insertion hole in the sealing rubber held by the holding means. 6. The sealing rubber positioning device for an electrolytic capacitor according to 5. 7. The holding means for holding the sealing rubber so that the center of the sealing rubber having a different outer diameter is arranged at a predetermined position.
3. The sealing rubber positioning device for an electrolytic capacitor according to claim 1. 8. The sealing for an electrolytic capacitor according to claim 7, wherein said holding means is a chuck including at least two V-shaped or U-shaped recesses for gripping an outer periphery of said sealing rubber. Rubber positioning device. 9. The apparatus according to claim 6, further comprising a transfer unit for transferring the holding unit in the order of the position detection unit and the rotation unit arranged at predetermined positions. A positioning device for a sealing rubber for an electrolytic capacitor according to one aspect.