JP2002096973A - Hole center detecting apparatus - Google Patents

Abstract

PROBLEM TO BE SOLVED: To detect the center of a hole at low cost and with high accuracy. SOLUTION: A reflective photosensor is scanned, together with a cord insertion guide unit, in the direction indicated by the arrow E, along a line C of points B1 and B2 on a semicircular part below the centerline S of a cord insertion hole 28, so as to detect the coordinates of each of the points B1 and B2. Once the coordinates of each of the points B1 and B2 have been detected, a control device determines the distance y between the points B1 and B2 from the coordinates of each of the points B1 and B2 and calculates the distance x between the straight line C and the center P of the hole 28 using a calculation expression to determine the coordinates of the center P of the hole 28. In the expression, r is the radius of the hole 28.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a hole center detecting device which can be used when a wire such as a steel cord for reinforcing rubber parts is wound around a hole forming member such as a spool.

[0002]

2. Description of the Related Art Conventionally, when a steel cord for reinforcing rubber parts or the like is wound around a spool (also called a reel or bobbin), the end of the cord is visually inserted into an insertion hole formed in the spool or the like. are doing.

In order to improve the productivity by automating this,
It is necessary to automatically detect the center of a hole formed in a spool or the like. For example, it is conceivable to use a device that captures a hole with a CCD camera and performs an arithmetic process on the digital image signal using a computer to extract the shape of the hole and detect the center position of the hole.

However, in such a device, CC
Since the D camera is used, there is a problem that the cost of the apparatus is increased. In order to improve this, it is conceivable to directly detect the hole using a reflection type or transmission type optical sensor which is lower in cost than a CCD camera, but such a device simply detects the position of the hole. In this case, there is no problem, but it is difficult to detect the center of the hole with high accuracy.

[0005]

SUMMARY OF THE INVENTION The present invention has been made in view of the above circumstances, and has as its object to provide a hole center detecting device which can detect the center of a hole with high accuracy at low cost.

[0006]

According to a first aspect of the present invention, there is provided a hole center detecting device for detecting coordinates of two points intersecting the same straight line in a circumferential portion of a perfect circular hole;
Coordinate calculation means for calculating the center coordinates of the hole from the coordinates of the two points detected by the coordinate detection means.

Accordingly, the coordinates detecting means detects the coordinates of two points intersecting the same straight line in the circumference of the perfect circular hole, and the coordinate calculating means calculates the center coordinates of the hole from the detected coordinates of the two points. can do. As a result, a low-cost optical sensor or the like can be used as the coordinate detecting means, and the center coordinates of the hole are calculated from the coordinates of the two points.
The center of the hole can be detected with high accuracy.

According to a second aspect of the present invention, in the hole center detecting device according to the first aspect, the hole is adjusted such that the center coordinate calculated by the coordinate calculating means coincides with the tip of the insertion member. It has a moving means for moving at least one of the formed hole forming member and the tip of the insertion member.

Therefore, in addition to the contents described in claim 1,
By moving at least one of the hole forming member having the hole formed therein and the distal end of the insertion member so that the calculated center coordinate coincides with the distal end of the insertion member by the moving means, The tip can be inserted into the hole.

According to a third aspect of the present invention, there is provided the hole center detecting device according to the second aspect, further comprising auxiliary detecting means for detecting a seam of the sheet metal in the hole forming member, wherein the auxiliary detecting means detects the seam of the sheet metal. With the seam as the measurement reference position,
The hole forming member is moved so that the hole becomes the correction scan start coordinate by the coordinate detecting means.

Therefore, in addition to the contents described in claim 2,
The auxiliary detecting means detects the seam of the sheet metal in the hole forming member, sets the detected seam of the sheet metal as a measurement reference position, and moves the hole forming member so that the hole becomes the correction start coordinate by the coordinate detecting means. , The center of the hole can be detected in a short time.

The invention described in claim 4 is the invention according to claim 2 or 3.
In the hole center detecting device according to any one of the above, when the coordinates of the two points cannot be detected by the coordinate detecting means, the hole forming member is moved by a predetermined amount, and the coordinates of the two points are detected again. It is characterized by.

Therefore, in addition to the contents described in claim 2 or 3, when the coordinates of two points cannot be detected by the coordinate detecting means, the hole forming member is moved by a predetermined amount and the coordinates of the two points are changed. Is detected again, so that the center of the hole can be reliably detected.

[0014]

1 to 3 show an embodiment of a cord winding unit to which a hole center detecting device according to the present invention is applied.
It will be described in detail based on.

As shown in FIG. 1, the cord winding unit 10 of the present embodiment includes a pair of left and right spool holding arms 14 and 16 for holding a spool 12 as a hole forming member from both sides in the axial direction. One holding arm 14 is held by a moving means 18 such as an air cylinder in a direction in which the spool 12 is held (in the direction of arrow A in FIG. 1).
And can be moved in the direction of removing the spool 12 (the direction of arrow B in FIG. 1). The holding arms 14 and 16
By the winding servo motor 20 also serving as a moving means,
The held spool 12 is rotatable in the direction around the axis (the direction of the arrow C in FIG. 1 or the direction opposite thereto).

The take-up servo motor 20 is electrically connected via a servo motor driver 22 to a control device 24 having a computer as coordinate calculation means.

As shown in FIG. 2, a cord winding portion (also referred to as a core portion or a body) 12A of the spool 12 is formed of a painted sheet metal 26, and a seam (hereinafter, referred to as a core edge) 26A of the sheet metal 26. Are formed along the axial direction of the spool 12. Also, the cord winding portion 12A
In the vicinity of the core edge 26A, the cord insertion hole 2
8 are formed.

As shown in FIG. 1, the center position of the cord insertion hole 28 is
The distance from L2 is formed at a position L1, and the distance along the outer periphery closer to the core edge 26A is formed at a position L2.

In the vicinity of above the spool 12 held by the holding arms 14 and 16, a cord insertion guide unit 3 for guiding the tip of a cord 30 as an insertion member.
1 and the cord insertion guide unit 3
1 can be moved by a driving device such as an air cylinder (not shown) to a guide position close to the spool 12 as shown in FIG. 1 and a standby position separated from the spool 12 to the back of FIG. ing.

A pair of delivery rollers 33 are provided above the insertion position in the code insertion guide unit 31, and the delivery rollers 33 can be moved in the vertical direction by moving means (not shown). ing. Further, the pair of delivery rollers 33 can be brought into contact with and separated from each other by moving means (not shown). At the upper standby position, the vicinity of the leading end of the cord 30 is pinched, and then moved downward in this state. The leading end of the cord 30 is brought closer to the cord insertion guide unit 31, and then rotated so that the leading end of the cord 30 is moved to the cord insertion guide unit 3.
1 is sent. A guide plate 33A is disposed on each of the pair of feed rollers 33, and the cord 30 is inserted into a guide hole formed by overlapping the V grooves of the guide plates 33A.

The code insertion guide unit 31
It has a pair of left and right guides 32 and 34, and as shown in FIG. 2, comes into contact with both guides 32 and 34 to form a funnel-shaped guide hole 35. For example,
A moving means (such as an air cylinder) moves in a direction in which one guide 34 approaches the other guide 32 (arrow D in FIG. 1) and in a direction away from the other guide 32 (direction opposite to arrow D in FIG. 1). (Not shown).

Also, inside the tip of one guide 32,
A reflection type photo sensor 36 (scan sensor) as coordinate detection means electrically connected to the control device 24 is provided, and the other end of the guide 34 is electrically connected to the control device 24. A color mark sensor 38 is provided as auxiliary detection means. Both guides 32 and 34 and the color mark sensor 38 are moved along the guide rod 40 in the axial direction of the spool 12 (see FIG. 1 (directions of arrows E and F). The stepping motor 42 is a stepping motor driver 4
6 and is electrically connected to the control device 24.

The light emitting portion and the light receiving portion of the reflection type photo sensor 36 are connected to the cord 30 guided by the guide hole 35.
The scanning is performed in the axial direction of the spool 12 so that the same straight line (the spool 1) in the circumferential portion of the cord insertion hole 28 formed in the spool 12 is formed.
(A straight line along the two axial directions) can be detected.

That is, as shown in FIG. 3A, a semicircular point B below the center line S with respect to the cord insertion hole 28.
Along the line C of B1, B2, the reflection type photosensor 36 is scanned together with the code insertion guide unit 31 in the direction indicated by the arrow E in FIG. 3A to detect the coordinates of the points B1, B2. ing.

Next, the operation of the present embodiment will be described.

In this embodiment, the spool holding arm 1
When the spool 12 is set on the spools 4 and 16, the cord insertion guide unit 31 approaches the spool 12. These two guides 32 and 34 are in contact with each other and have a funnel-shaped guide hole 3.
5 are formed.

Next, in response to a signal from the control device 24, the take-up servomotor 20 is operated, and the spool 12 is rotated in a predetermined direction, in this embodiment, in the direction of arrow C in FIG.
At the same time as this rotation, the color mark sensor 38
The core edge 26A of the spool 12 is detected, and the spool 12 is stopped at the detected position (measurement reference positioning).

Next, based on the data stored in the control device 24, the take-up servomotor 20 is again rotated by a predetermined amount α, and the code insertion hole 28 is set at the correction scan start coordinate substantially below the reflection type photosensor 36. To move. At this time, the tip of the cord insertion guide unit 31 is below the center line S with respect to the cord insertion hole 28 (upstream in the rotation direction C).
The predetermined amount α is set so as to be a semicircular portion of the above.

Next, based on the data stored in the controller 24, the stepping motor 42 is driven, and the reflection type photo sensor 36 is operated together with the code insertion guide unit 31.
As shown in FIG. 3A, along the line C, FIG.
(A) is scanned in the direction indicated by arrow E, and point B is scanned.
1, the coordinates of B2 are detected, and the operation stops at point B2.

At this time, if the coordinates of the points B1 and B2 cannot be detected due to a variation in the positional accuracy of the code insertion hole 28, the winding servomotor 20 is stopped based on the data stored in the control device 24. Rotate the fixed amount θ,
The code insertion hole 28 is moved to the measurement reference position, and the coordinates of the points B1 and B2 are detected again.

Next, when the coordinates of the points B1 and B2 are detected, the control device 24 calculates the distance y between the points B1 and B2 from the coordinates of the points B1 and B2, and calculates the distance y between the points B1 and B2 by the following formula. The distance x from the center P of the code insertion hole 28 is calculated, and the coordinates of the center P of the code insertion hole 28 are obtained.

[0032]

(Equation 1) (Here, r is the radius of the cord insertion hole 28.)

Next, the calculated center P of the code insertion hole 28
So that the center of the tip of the guide hole 35 faces the coordinates of
The controller 24 drives the stepping motor 42 to move the code insertion guide unit 31 in the direction of arrow F by the distance y / 2, and also drives the winding servomotor 20 so that the center P of the code insertion hole 28 is at the center P in FIG. The spool 12 is rotated so as to move a distance x in the direction of arrow G in B).

As a result, the code insertion guide unit 31
The center of the tip of the guide hole 35 at
With the center P of Then, after the vicinity of the leading end of the cord 30 is pinched by the pair of sending rollers 33 at the upper standby position, the sending roller 33 is moved downward, and the leading end of the cord 30 is moved to the cord insertion guide unit 3.
It is made to approach the one guide hole 35. Thereafter, the feed roller 33 is rotated to feed the cord 30 by a predetermined amount, and the cord 30 is inserted into the cord insertion hole 28 of the spool 12.

When the leading end of the cord 30 is inserted into the cord insertion hole 28, the two guides 32 and 34 are separated from each other to form a gap through which the cord 30 can pass. To the evacuation position, which is at the back of the paper.

Thereafter, the spool 12 rotates and the cord 30
Is started, and the pair of delivery rollers 33 are separated from each other to release the holding of the cord 30.
Return to the upper standby position.

Accordingly, in this embodiment, the coordinates of two circumferential points B1 and B2 on the same straight line C in the code insertion hole 28 formed in the spool 12 are detected by the reflection type photosensor 36, and these two points B1 and B2 are detected. Are calculated by the control device 24 and the center coordinates of the code insertion hole 28 are obtained.
The center coordinates of the code insertion hole 28 can be obtained at a lower cost than when a CD camera is used.

In this embodiment, the cord insertion hole 28
In this case, even if the center position (coordinates) of the code insertion hole 28 and the center of the guide hole 35 are displaced by a distance of less than 1/2 of the true circle radius r, the deviation can be corrected, and thus the positioning can be performed at low cost and with high accuracy. Becomes possible. If the variation of the center coordinates of the code insertion hole 28 is not more than 1/2 of the hole diameter 2r, high-speed (within 2 seconds) and high-accuracy (within 0.1 mm) positioning can be realized at low cost.

In the present embodiment, the color mark sensor 38 can stably detect the core edge 26A of the spool 12, which is the measurement reference position, without being affected by paint flaws and the like, and starts the correction scan from this measurement reference position. The positioning can be speeded up by moving the reflection type photosensor 36 to the coordinates.

In this embodiment, the cord insertion hole 28
If the coordinates of the points B1 and B2 cannot be detected, the winding servomotor 20 is rotated by a predetermined amount θ based on the data stored in the control device 24, and
Since the coordinates of B2 are detected again, the center of the code insertion hole 28 can be reliably detected.

Further, by using this embodiment, the operation of inserting a code start terminal hole, which has been conventionally performed by a human, can be automated, so that it becomes one of the automation elements of the process.

In the above, the present invention has been described in detail with respect to a specific embodiment. However, the present invention is not limited to such an embodiment, and various other embodiments are within the scope of the present invention. It is clear to a person skilled in the art that is possible. For example, the hole center detection device of the present invention is not limited to the code insertion hole formed in the outer peripheral portion of the spool, and can also be applied to the detection of a hole formed on a plane as long as it is a perfect circular hole. It is.

Further, the coordinate detecting means is not limited to the reflection type photo sensor 36, and another sensor such as an ultrasonic sensor may be used. Further, the auxiliary detecting means is not limited to the color mark sensor 38, and other sensors such as a mechanical sensor may be used.

The moving means is not limited to the servo motor 20 and the stepping motor 42, and other moving means may be used.

[0045]

According to the first aspect of the present invention, there is provided a hole center detecting device according to the present invention, wherein coordinate detecting means for detecting the coordinates of two points intersecting the same straight line in the circumference of a perfect circular hole, and coordinate detecting means. And a coordinate calculating means for calculating the center coordinates of the hole from the coordinates of the two detected points, thereby providing an excellent effect that the center of the hole can be detected at low cost and with high accuracy.

According to a second aspect of the present invention, in the hole center detecting device according to the first aspect, the center coordinates calculated by the coordinate calculating means and the tip of the insertion member coincide with each other.
Since there is a moving means for moving at least one of the hole forming member having the hole formed therein and the tip of the insertion member, it is possible to insert the tip of the insertion member into the hole in addition to the effect of claim 1. Has excellent effects.

According to a third aspect of the present invention, there is provided the hole center detecting device according to the second aspect, further comprising auxiliary detecting means for detecting a seam of the sheet metal in the hole forming member, and detecting the seam of the sheet metal detected by the auxiliary detecting means. The center of the hole is detected in a short time in addition to the effect according to claim 2, since the hole forming member is moved so that the hole becomes the scan start coordinate for correction by the coordinate detecting means at the measurement reference position. It has an excellent effect that it can be produced.

The fourth aspect of the present invention is the second or third aspect.
3. The hole center detecting device according to claim 1, wherein when the coordinates of the two points cannot be detected by the coordinate detecting means, the hole forming member is moved by a predetermined amount and the coordinates of the two points are detected again. In addition to the effect described in any one of (3) and (3), there is an excellent effect that the center of the hole can be reliably detected.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram illustrating a hole center detection device according to an embodiment of the present invention.

FIG. 2 is an enlarged perspective view showing a main part of the hole center detecting device according to one embodiment of the present invention.

3A is an explanatory diagram showing detection points of a hole center detection device according to one embodiment of the present invention, and FIG. 3B is a diagram illustrating detection points of a hole center detection device according to one embodiment of the present invention; It is explanatory drawing which shows the relationship with the center of a hole.

[Explanation of symbols]

Reference Signs List 10 Cord winding unit 12 Spool (hole forming member) 20 Servo motor (moving means) 24 Controller (coordinate calculating means) 26 Sheet metal 26A Core edge (Seam of sheet metal in hole forming member) 28 Code insertion hole 30 Code (insertion member) 31 Code insertion guide unit 32 Guide 34 Guide 35 Guide hole 36 Reflection type photo sensor (coordinate detecting means) 38 Color mark sensor (auxiliary detecting means) 42 Stepping motor (moving means)

 ──────────────────────────────────────────────────続 き Continued on front page (72) Inventor Takahiro Yamada 800 Shimonakano, Kuroiso City, Tochigi Prefecture Inside Bridgestone Kuroiso Plant (72) Inventor Shogo Ueda 800 Shimonakano, Kuroiso City, Tochigi Prefecture Bridgestone Kuroiso Plant, Inc. (72) Inventor Eiji Kudo 800 Shimonakano, Kuroiso City, Tochigi Prefecture Inside Bridgestone Kuroiso Factory (72) Inventor Yuichi Kimura 800 Shimonakano Kuroiso City, Tochigi Prefecture Bridgestone Kuroiso Factory (72) Inventor Yukio Samukawa 6-2-12 Higashi 6-chome, Hasuda-shi, Saitama F-term (reference) 3F058 AA04 AC06 CA00 DA05 HA06 HB02 HB07

Claims (4)

[Claims] 1. A coordinate detecting means for detecting the coordinates of two points intersecting the same straight line in the circumference of a perfect circular hole, and calculating the center coordinates of the hole from the coordinates of the two points detected by the coordinate detecting means. A hole center detecting device, comprising: And moving at least one of the hole forming member having the hole and the tip of the insertion member so that the center coordinate calculated by the coordinate calculating means coincides with the tip of the insertion member. The hole center detecting device according to claim 1, further comprising a moving unit that moves. 3. An auxiliary detecting means for detecting a seam of the sheet metal in the hole forming member, wherein the seam of the sheet metal detected by the auxiliary detecting means is set as a measurement reference position, and the hole is scanned by the coordinate detecting means for correction. The hole center detecting device according to claim 2, wherein the hole forming member is moved so as to be a start coordinate. 4. The method according to claim 2, wherein when the coordinates of the two points are not detected by the coordinate detecting means, the hole forming member is moved by a predetermined amount and the coordinates of the two points are detected again. Or the hole center detecting device according to any one of 3.