JPH06331336A - Detector for turning angle of part - Google Patents

Abstract

PURPOSE:To improve automatic working through running rate and to prevent part damage by preventing a part for mounting from being fitted between a shaft and a cylindrical part by mistake. CONSTITUTION:The title detector is used to accurately engage a shaft 10 such as a control 8 with a notch part 17 and a cylindrical part 11 such as a knob 9 with a notch corresponding to the notch part 17 while the direction of the notch part 17 matches with that of the notch part of the cylindrical part 11. A part 5 for detecting knob direction having an optical axis in parallel with one diameter line is retained so that the optical axis is in parallel with the direction of the notch part 17 of the shaft 10 in advance. The cylindrical part 11 of the knob 9 gripped by a rotary drive means 4 is inserted into the part 5 for detecting knob direction and then rotated, thus detecting that the relative turning angles of the knob 9 and the shaft 10 match at a position where the optical axis and the direction of the notch part are in parallel.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to relative rotation when assembling parts such as electric equipment parts formed by an object to be detected having a shaft and a cylindrical body having a cylindrical part into which the shaft is inserted. The present invention relates to a device rotation angle detection device for detecting an angle.

[0002]

2. Description of the Related Art In the process of assembling AV equipment, for example, a variable resistor (hereinafter
On the rotary shaft of the object to be detected), a knob for operation (hereinafter,
A device for automatically charging a cylinder) is used. This automatic loading machine is a tool to be mounted on an XY table, and one cylinder is taken out from a supply part such as a parts feeder, and the cylinder is attached to a rotary shaft of a detected object fixed at a localization value. By rotating the tubular body while pressing the tubular portion, and pushing the tubular body when the shaft provided with the notch and the tubular hole-shaped tubular portion corresponding to the shape of this shaft match in shape. I am trying to charge it.

[0003]

In the above-described conventional automatic charging machine, when the shaft of the object to be detected and the cylindrical portion of the cylindrical body match in shape, the chuck of the tool for grasping the cylindrical body is instantaneously stopped. Since it is difficult to do so, the chuck or the chuck rotates even after that, so that the shaft or the tubular portion is flawed. Further, although the shapes do not match accurately, the operation of pressing the tubular body is often performed due to incorrect timing, so that the locking claw portion of the tubular body may be damaged. Further, there is a problem that a notch provided on the inner surface of the cylindrical portion is caught in order to elastically engage the end surface portion of the shaft, causing a charging error.

An object of the present invention is to reduce the erroneous insertion between the shaft and the tubular portion in the part formed by the object to be detected having the axis and the tubular body having the tubular portion, and to improve the work efficiency of the automatic loading work. SUMMARY OF THE INVENTION It is an object of the present invention to provide a rotation angle detecting device for a component, which is capable of improving the rotation speed and preventing damage to the component.

[0005]

SUMMARY OF THE INVENTION According to the present invention, an object to be detected having a shaft having a notch at its end, and a notch corresponding to the notch at a cylinder into which the shaft is inserted are provided. A device for detecting a relative rotation angle with respect to a tubular body, wherein the tubular portion of the tubular body is parallel to a diameter line on an inner surface of the tubular portion, and is provided in a space within a cutout portion of the tubular portion. Light source with optical path
Light receiving means, rotation driving means that grips the cylindrical body and rotates to make a relative angular displacement, light receiving detection means that detects that the light emitting / receiving means transmits / receives light, and light receiving detection means And a control means for controlling the rotation driving means by receiving the detection signal of 1.

Further, according to the present invention, the cylindrical portion emits light when the control means holds the direction of the optical axis of the light emitting / receiving means and the direction of the cutout portion of the axis of the object to be detected in parallel. The rotation driving means for gripping the cylindrical body inserted into the cylindrical portion of the light receiving means is controlled to rotate.

Further, according to the present invention, there are provided an object to be detected having a shaft provided with a cutout portion at an end thereof, and a tubular body having a cutout portion corresponding to the cutout portion in a tubular portion into which the shaft is inserted. A device for detecting a relative rotation angle, which is parallel to a diameter line on an inner surface of a tubular portion into which the tubular portion of the tubular body is inserted and has an optical path in a space inside a cutout portion of the tubular portion. Emitting and receiving means,
The axis emitting / receiving means having an optical path parallel to the one diameter line on the inner surface of the cylindrical portion into which the shaft of the object to be detected is inserted and having a light path in the space of the notch of the shaft is coaxially gripped by the cylindrical body. A first rotation driving means for rotating and relatively angularly displacing and a second axis driving and light receiving means for coaxially gripping and secondly rotating and relatively angularly displacing.
A rotation driving means, a light receiving detection means for detecting that light is transmitted and received between the both light emitting and receiving means, and a control signal for controlling the both rotation driving means by inputting a detection signal of the light receiving detection means. And a rotation angle detecting device for a component.

Further, according to the present invention, the both rotary drive means are formed so as to be individually movable up and down in the respective rotation axis directions and integrally move in a two-dimensional direction perpendicular to the rotation axis, while the control means is provided. , The axis of the object to be detected is based on a state in which the optical axis of the fixed emitting and receiving means for the cylindrical body and the optical axis of the emitting and receiving means for the shaft held by the second rotation driving means are held in parallel. It is characterized in that the both rotation drive means are rotationally controlled so that the relative rotation angles of the cylinder and the cylinder coincide with each other.

[0009]

According to the present invention, an object to be detected having a shaft provided with a notch and having a cross section perpendicular to the shaft, for example, a notched circle, can be elastically fitted to this shaft and corresponds to the shaft. It is possible to detect the relative rotation angle with respect to the tubular body having the tubular portion provided with the cutout portion. That is, the light emitting portion and the light receiving portion are provided on the inner surface of the cylindrical portion so as to face each other.
The light receiving means has a direction of the notch in the axis of the object to be detected,
It is possible to accurately detect the direction of the cutout portion in the tubular portion of the tubular body.

Therefore, by combining this emitting / receiving means and the rotation driving means capable of angular displacement by rotating the cylinder or the cylindrical body and the emitting / receiving means around an axis to perform angular displacement. Since the object and the tubular body are held in a state where the rotation angles are relatively matched with each other, accurate fitting can be performed by inserting the tubular portion.

In this case, the relative rotation angle of the emitting / receiving means is matched with the axis of rotation of the axis of the object to be detected, which is fixed at the localization value, as a reference, so that It is possible to match the rotation angle to the axis by using the light emitting / receiving means, and the relative rotation angle of the axis of the object to be detected with reference to the rotation angle of the optical axis of the light emitting / receiving means, It is also possible to detect the relative rotation angle of the tubular portion of the tubular body by the light emitting / receiving means and match the rotational angles of the both, and if either detection method is adopted as necessary. Good. In this way, it is possible to detect the relative rotation angle between the object to be detected and the cylindrical body, and assemble the two in a state where the angular displacements about the axes are correctly matched.

[0012]

1 is a perspective view showing the schematic structure of a knob charging machine according to a first embodiment of the present invention. In the first embodiment shown in FIG. 1, an XY table 1 and a mount 2 supported on the table 1 and movable in two dimensions of the X axis and the Y axis,
A movable base 3 which is slidably mounted in the Z-axis direction on the mounting base 2 and is vertically reciprocated by an actuator (not shown); and a rotation driving means 4 provided on the movable base 3.
It is configured to include a light emitting / receiving unit 5 called a knob direction detecting unit and a knob supplying unit 6.

In this embodiment, an object to be detected 8 incorporated in a work 7 realized by a radio receiver or the like having a fixed localization value.
On the other hand, the cylindrical body 9 realized by the knob gripped by the rotation driving means 4 can be automatically attached by fitting.

The knob 9 held by the rotation driving means 4 is shown in FIGS. 2 to 4 in an external perspective view, a side view and a bottom view, respectively, and in FIG. 5, the tubular portion 11 of the knob 9 is enlarged and perspective. Shown in the figure. Further, in FIG. 6, the shaft 1 of the volume 8 is shown.
The correspondence between 0 and the tubular portion 11 of the knob 9 is shown in a partially sectional front view, and FIG. 7 is a perspective view showing how the volume 8 is attached to the work 7.

The rotary driving means 4 schematically shown in FIG. 1 is provided with a chuck 12 which is capable of expanding and contracting so that a pair of gripping pieces whose gripping surfaces are arcuate or V-shaped can be brought into and out of contact with each other. It is formed by a motor 13 which is connected by a rotary shaft and is mounted on the movable table 3. The rotation driving means 4 holds the knobs 9 fed one by one from the supply trough 6A of the knob supply section 6 one by one with the gripping pieces of the chuck 12 from directly above and holds the motors 13 vertically. It is possible to rotate the knob 9 about its axis and drive the knob 9 relatively angularly.

The knob 9 is shown in FIGS. 2 to 6, and a tubular portion 11 into which the shaft 10 of the volume 8 is inserted is provided in the central shaft portion with the opening facing downward. This tubular portion 11 is
The cross section perpendicular to the axis is in the shape of a cutout circle and has a cutout portion. The tubular portion 11 is formed by a partial cylindrical portion 11A, which is partially cut out vertically in a plane parallel to a plane including the central axis, and a flat plate portion 11B which closes the cut portion. The tubular portion 11 is provided with a pair of slit-shaped notches 14 and 14 formed by cutting the tubular portion 11 from the end portion on the opening side by a slight length in the axial direction. The notches 14 and 14 are provided so that the tubular portion 11 can be elastically fitted to the shaft 10 of the volume 8, and as shown in FIGS. It is provided along the point where the cylindrical portion 11A and the plane parallel to the flat plate portion 11B intersect.

A locking claw 15 is further provided on the knob 9 so as to project to the inner surface side. The locking claw 15 is provided on the inner surface of the partial cylindrical portion 11A slightly inward from the opening side end of the cylindrical portion 11,
It is provided so as to extend between the pair of notches 14 and 14 so as to form a ridge having a triangular cross section. On the other hand, the end surface of the flat plate portion 11B at the opening-side end portion of the tubular portion 11 is formed as an inclined end surface 16 as shown in FIG. 3 so that it can easily enter the end portion of the shaft 10 of the volume 8. In this way, cut 1
4, the cylindrical portion 11 having a complicated shape formed including the locking claw 15 and the inclined end surface 16 can be easily formed at the same time when the knob 9 is manufactured by integral molding using synthetic resin as a material. Is.

The volume 8 is shown in FIGS. 6 and 7, and is provided with a shaft 10 that rotates less than one revolution, and is mounted on the upper surface side of the work 7 so that the shaft 10 stands upright.
The shaft 10 is provided with a cutout portion 17 that is axially inserted from the end portion in a length corresponding to the length of the tubular portion 11, and the cutout portion 17 is parallel to a plane including the axis. It has a flat surface 18. The cross-sectional shape of the shaft 10 at the location where the cutout portion 17 is provided is the shape of a cutout circle corresponding to the cross-sectional shape of the tubular portion 11 of the knob 9, and further at a location slightly distant from the shaft end portion. A retaining groove 19 capable of elastically engaging with the locking claw 15 is provided on the circumferential surface of the shaft. The retaining groove 19 prevents the retaining claws 15 from being strongly fitted by the spring force when the shaft 10 is inserted into the tubular portion 11.

FIG. 8 shows an outline of the structure of the knob direction detecting section which is the light emitting / receiving means 5, the photoelectric amplifier 20 and the control means 23. Further, in FIG. 9, the knob direction detection unit 5
Is shown in a plane. The knob direction detecting section 5 has a cylindrical section 24 made of, for example, a hard synthetic resin, having an inner diameter large enough to allow the cylindrical section 11 of the knob 9 to be loosely inserted, and a light emitting section 25 and a light receiving section provided in the cylindrical section 24. 26 and both parts 2
The optical fibers 27 and 27 are connected to the optical fibers 5 and 26, respectively. The light emitting section 25 and the light receiving section 26 have the same basic structure, and a light guide tube having a small diameter extending in the axial direction in the tube section 24 and an end portion of the light guide tube are provided to emit light. It has a light emitting end and a light receiving end with the lens and the light receiving lens facing the inside of the tubular portion 24.

Light sent through the optical fiber 27 and the light guide tube, for example, infrared light, has its direction changed by a reflecting mirror,
Light is emitted from the light emitting lens into the cylindrical portion 24. This floodlight
The light reaches the light receiving lens along the optical axis that traverses the inside of the cylindrical portion 24, is changed in direction by the reflecting mirror, and is transmitted to the photoelectric amplifier 20 as an optical signal through the light guide tube and the optical fiber 27. At this time, the optical axis is parallel to one diameter line passing through the center of the cylinder inside the cylinder 24 as shown by the broken line in FIG.
It is necessary to make the cylindrical portion 11 of the knob 9 that is inserted concentrically inside have a positional relationship so as to have an optical path in the space inside the notch formed, and such a condition is satisfied. Thus, the light emitting end and the light receiving end are positioned.

The photoelectric amplifier 20 has, for example, a light emitting device 21 having a light emitting diode as an element, and a light receiving device having a light receiving diode (photodiode) as an element for converting an optical signal into an electric signal and detecting that light is transmitted and received. Detection means 22
With. On the other hand, the control means 23 controls the received light detection means 22.
It is formed by a power amplifier circuit which receives a photoelectric conversion signal from the motor 13 and X, Y, Z of the rotation driving means 4 and gives a control output to each actuator.

Next, the operation procedure for detecting the rotation angle and inserting the knob will be described with reference to the first embodiment shown in FIG.

FIG. 10 is a flow chart showing the control procedure of the automatic knob loading, and FIGS. 11 to 15 are operation mode diagrams for explaining the operation of the automatic knob loading in the order of steps. Prior to moving to the step m2 from the automatic charging operation start state of the step m1, the shaft 10 of the volume 8 is set to the position of the rotation end point as a prerequisite condition setting. This state is as shown in FIG. On the other hand, the knob direction detection unit 5 is positioned and fixed so that its optical axis is parallel to the flat surface 18 of the shaft 10 at the rotation end point. The state of the knob direction detector 5 is shown in plan in FIG.

At step m2, the knob supply unit 6
The grip 9 of the rotary drive means 4 is grasped by the grip 9 and moved to the X-axis and the Y-axis so that the cylinder part 24 of the knob direction detector 5 and the cylinder part 11 of the knob 9 are concentric. insert. When this insertion is completed, the process moves to step m3 to drive the motor 13 and turn the knob 9. The above operating states are as shown in FIG. When the optical axis and the surface of the flat plate portion 11B of the tubular portion 11 become parallel to each other by the rotating operation of the knob 9, the light reception detecting means 22 detects the light reception in the next step m4, so that the rotation of the knob 9 is immediately stopped. The operation state at this time is as shown in (1) of FIG. 14, and the knob 9 and the shaft 10 of the volume 8 have the same relative rotation angle.

Next, in step m5, the rotary drive means 4 lifts the knob 9 in the Z-axis direction, and the tubular portion 2
After pulling out from 4, move in the X-axis and Y-axis directions,
Is repositioned so that it is directly above the axis 10. If you move to step m6 to check that you are right above the axis 10,
Moving to the next step m7, the movement of the knob 9 is stopped and pushed down in the Z-axis direction to move the tubular portion 11 of the knob 9 to the shaft 1
Elastically charge 0. This state is as shown in FIG. By the series of operations described above, the knob 9 can be accurately inserted into the shaft 10.

FIG. 16 is a perspective view showing a schematic structure of a knob charging machine according to the second embodiment of the present invention. This Figure 1
The second embodiment shown in FIG. 6 is similar to the first embodiment shown in FIG. 1, and corresponding parts are designated by the same reference numerals. It should be noted in the second embodiment that the rotary drive means 4 is formed in a biaxial system, and the control mode of the automatic knob loading is performed corresponding to the configuration of the biaxial drive means 4. That is.

FIG. 17 is a perspective view showing the main structure of the rotary drive means 4 shown in FIG. Two movable bases 3A and 3B, which are slidable in the Z-axis direction, are provided next to each other in parallel with respect to the mounting base 2 which is movable in two dimensions of the X-axis and the Y-axis. One movable table 3A is provided with a first rotation driving means 4A having the same structure as that of the first embodiment shown in FIG.
The other movable table 3B is provided with a second rotation driving means 4B having a motor 28 as a constituent element. The motor 28 is attached to the movable table 3B with its rotation shaft extending vertically downward, and the cylindrical portion of the shaft emitting / receiving means 35 is coaxially connected to the tip of the rotation shaft.

The axis emitting / receiving means 35 has the same structure as the knob direction detecting section 5 in the first embodiment, is called a volume angle detecting section, and includes a tube section, a light emitting section, a light receiving section and an optical fiber. The light emitting portion and the light receiving portion are provided on the inner surface of the cylindrical portion so as to form an optical axis parallel to the one diameter line. By driving the motor 28, the tubular portion can rotate about its vertical vertical axis.

An operation procedure for detecting the rotation angle and inserting the knob according to the second embodiment will be described below.

FIG. 18 is a flow chart showing the procedure for controlling the automatic knob loading according to the second embodiment, and FIGS. 19 to 26 are operation mode diagrams for explaining the operation of the automatic knob loading based on the process sequence. is there.

Prior to shifting to the step n2 from the automatic charging operation start state of the step n1, as a prerequisite condition setting, the optical axis of the knob direction detecting portion 5 fixed at a predetermined position and the rotation driving means 4B are coaxial. The optical axis of the volume angle detection unit 35 supported and provided in parallel is aligned in parallel with the same direction, and the volume angle detection unit 35 defines this position (direction) as the origin.

At step n2, the mount 2 is moved to the X-axis,
It moves to the Y-axis, and brings the volume angle detector 35 to the upper axial position of the axis 10 of the volume 8. Then
In step n3, the movable table 3B is lowered in the Z-axis direction, and the shaft 10 is inserted into the tubular portion of the volume angle detection unit 35. The above sequential operation is as shown in FIGS. 19 and 20.

When the insertion of the shaft 10 is completed, the process proceeds to step n4, the rotation driving means 4B is driven, and the volume angle detecting section 35 is rotated. When the optical axis of the volume angle detection unit 35 and the flat surface 18 of the cutout portion 17 of the shaft 10 are matched by this rotation operation, the light receiving detection means connected to the volume angle detection unit 35 receives the light in step n5. To detect. In response to the detection of the received light, the process proceeds to the next step n6, and the rotational displacement angle (Δθ) at which the volume angle detection unit 35 is rotated from the origin is the photoelectric amplifier 20.
Remembered on the side. When this storage is completed, the volume angle detection unit 35 is returned to the initial state of the origin. The state at this time is shown in FIG.

Next, in step n7, the movable table 3 is moved.
After pulling B up in the Z-axis direction and pulling out the shaft 10, the mounting base 2 can be moved along the X-axis and the Y-axis, and the chuck 1 of the rotation driving means 4A is moved.
2 is moved to above the knob 9 fed from the knob supply section 6 and the knob 9 is gripped. When the grip of the knob 9 is confirmed, the process proceeds to step n8, where the knob 9 can be moved to the X-axis and the Y-axis and moved right above the knob direction detection unit 5, and the cylindrical portion 2
The tubular portion 11 of the knob 9 is inserted into the inner portion 4 in a concentric state. When this insertion is completed, the process proceeds to step n9, where the motor 13
Drive and turn knob 9. The above sequential operation is shown in FIG.
2, as shown in FIG.

When the optical axis and the surface of the flat plate portion 11B of the cylindrical portion 11 are made parallel by the rotating operation of the knob 9, the light reception detecting means 22 detects the light reception in the next step n10, and therefore the process proceeds to step n11. By further continuing the rotation of 9, the rotational displacement is rotated by an angle (Δθ) and stopped. This operation state is as shown in FIGS. 24 and 25, and by performing the above sequential operations,
The knob 9 and the axis 10 of the volume 8 relatively match in rotation angle.

Then, in step n12, the knob 9 is lifted in the Z-axis direction by the rotation driving means 4 and pulled out from the tubular portion 24, and then moved in the X-axis and Y-axis directions to move the knob 9 into the shaft 10. Reposition so that it is directly above. When it is checked in step n13 that the shaft 10 is right above, the process proceeds to the next step n14, in which the knob 9 is stopped from moving and pushed down in the Z-axis direction, and the tubular portion 11 of the knob 9 is rotated. Charge 10 elastically. This state is as shown in FIG. By the series of operations described above,
It is possible to accurately insert the knob 9 into the shaft 10.

In the second embodiment, with respect to a series of operations for angle detection, the number of operation procedures is increased as compared with the first embodiment, but the rotation angle of the shaft 10 of the knob 9 is arbitrary, There is an advantage that it is not necessary to position the rotation end point in advance and the knob can be accurately charged by the knob charging machine under fully automatic operation.

[0038]

As described above, according to the present invention, the relative rotation angle of the axis of the object to be detected such as the volume and the relative rotation angle of the tubular body such as the knob are detected to perform accurate alignment. Therefore, in the assembly by fitting the components after the angle is detected, failure such as erroneous charging does not occur, and the automatic charging process is rationalized. Further, damage to parts due to mechanically unreasonable external force such as collision and rubbing between the object to be detected and the cylinder is eliminated, which is very useful in promoting highly reliable automation.

[Brief description of drawings]

FIG. 1 is a perspective view showing a schematic structure of a first embodiment of the present invention.

FIG. 2 is an external perspective view of a knob 9 which is an object to be gripped by the rotation driving means 4 shown in FIG.

FIG. 3 is a side view of a knob 9 shown in FIG.

FIG. 4 is a bottom view of the knob 9 shown in FIG.

5 is an enlarged perspective view showing a tubular portion 11 of the knob 9 shown in FIG. 2. FIG.

6 is an axis 10 of the volume 8 shown in FIG. 1 and FIG.
FIG. 7 is a front view showing a partial cross-section of the corresponding relationship with the cylindrical portion 11 shown in FIG.

FIG. 7 is a shaft 10 of a volume 8 attached to a work 7.
FIG.

8 is a control circuit diagram including a knob direction detection unit 5, a photoelectric amplifier 20, and a control means 23 of the first embodiment shown in FIG.

9 is a plan view of a knob direction detection unit 5 shown in FIG.

FIG. 10 is a flowchart showing the sequence of control of the automatic knob loading according to the first embodiment shown in FIG.

FIG. 11 is an operation mode diagram of the first step of the operation of the knob automatic charging according to the first embodiment shown in FIG. 1;

FIG. 12 is an operation mode diagram of a second step of the operation of the automatic knob loading according to the first embodiment shown in FIG. 1;

FIG. 13 is an operation mode diagram of a third step of the operation for automatically inserting the knob according to the first embodiment shown in FIG. 1;

FIG. 14 is an operation mode diagram of a fourth step of the operation for automatically inserting the knob according to the first embodiment shown in FIG. 1;

FIG. 15 is an operation mode diagram of a fifth step of the operation for automatically inserting the knob according to the first embodiment shown in FIG. 1;

FIG. 16 is a perspective view showing a schematic structure of a second embodiment of the present invention.

17 is a perspective view of the rotation driving means 4 of the second embodiment shown in FIG.

FIG. 18 is a flowchart showing the sequence of control of the automatic knob loading according to the second embodiment shown in FIG. 16;

FIG. 19 is an operation mode diagram of the first step of the operation for automatically inserting the knob according to the second embodiment shown in FIG. 16;

FIG. 20 is an operation mode diagram of a second step of the operation of the knob automatic charging according to the second embodiment shown in FIG. 16;

FIG. 21 is an operation mode diagram of a third step of the operation for automatically inserting the knob according to the second embodiment shown in FIG. 16;

22 is an operation mode diagram of a fourth step of the operation for automatically inserting the knob according to the second embodiment shown in FIG. 16. FIG.

FIG. 23 is an operation mode diagram of a fifth step of the operation for automatically inserting the knob according to the second embodiment shown in FIG. 16;

24 is an operation mode diagram of a sixth step of the operation for automatically inserting the knob according to the second embodiment shown in FIG.

FIG. 25 is an operation mode diagram of a seventh step of the operation for automatically inserting the knob according to the second embodiment shown in FIG. 16;

FIG. 26 is an operation mode diagram of an eighth step of the operation for automatically inserting the knob according to the second embodiment shown in FIG. 16;

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 XY table 2 Mounting base 3 Movable base 4 Rotation drive means 4A First rotation drive means 4B Second rotation drive means 5 Emitting / light receiving means (cylindrical emitting / light receiving means) 6 Knob supply section 7 Workpiece 8 Detected Object (volume) 9 Cylindrical body (knob) 10 Shaft 11, 24 Tube portion 12 Chuck 13, 28 Motor 14 Notch 17 Notch portion 18 Flat surface 20 Photoelectric amplifier 21 Light emitting device 22 Light receiving / detecting means 23 Control means 25 Light emitting portion 26 Light receiving Part 27 Optical fiber 35 axis emitting / receiving means

Claims (4)

[Claims] 1. A relative relation between an object to be detected having a shaft provided with a cutout portion at an end thereof and a tubular body provided with a cutout portion corresponding to the cutout portion in a tubular portion into which the shaft is inserted. A device for detecting a rotation angle, which is parallel to a diameter line on an inner surface of a tubular portion into which the tubular portion of the tubular body is inserted and has a light path in a space inside a cutout portion of the tubular portion. A rotation driving means for gripping the cylindrical body and rotating it for relative angular displacement; a light reception detecting means for detecting that the light emitting / receiving means transmits / receives light; and a detection for the light receiving detection means. A rotation angle detecting device for a component, comprising: a control unit that receives a signal and controls the rotation driving unit. 2. The cylindrical portion emits / receives light on the basis of a state in which the control means holds the direction of the optical axis of the emitting / receiving means and the direction of the cutout portion of the axis of the object to be detected in parallel. 2. The rotation angle detecting device for a component according to claim 1, wherein the rotation drive means for holding the cylindrical body inserted into the cylindrical portion is controlled to rotate. 3. An object to be detected having a shaft having a notch at its end, and a tubular body having a notch corresponding to the notch at a tubular part into which the shaft is inserted. A device for detecting a rotation angle, which is parallel to one diameter line on the inner surface of the tubular portion into which the tubular portion of the tubular body is inserted, and has a light path for a tubular body having a light path in a space inside the cutout portion of the tubular portion. A light receiving means, an axis emitting / receiving means having an optical path parallel to a diameter line on the inner surface of the cylindrical portion into which the shaft of the object to be detected is inserted, and having a light path in a space within a cutout portion of the shaft; First rotation driving means for coaxially gripping, rotating and relatively angularly displacing, and second rotation driving means for coaxially gripping the shaft emitting / receiving means and rotating and relatively angularly displacing, The light emitting / receiving means receives the light transmitted / received, and the detection signal from the light receiving / detecting means is inputted to A rotation angle detecting device for a component, comprising: a control unit that controls both rotation drive units. 4. Both of the rotation driving means are formed so as to be individually movable up and down in each rotation axis direction and integrally move in a two-dimensional direction perpendicular to the rotation axis, while the control means is fixed. The axis of the object to be detected and the tubular body are based on the state in which the optical axis of the emitting / receiving means for the cylindrical body and the optical axis of the emitting / receiving means for the shaft held by the second rotation driving means are held in parallel. 4. The rotation angle detecting device for a component according to claim 3, wherein the rotation control means controls the rotations of both of the rotation driving means so that the rotation angles of the rotation driving means and the rotation angle of the rotation driving means coincide with each other.