JPS6029606A - Attitude discriminating method of parts - Google Patents

Abstract

PURPOSE:To discriminate with a high accuracy an attitude of parts by providing a detector for detecting a surface state of parts, on a prescribed position, and analyzing an hourly variation in case when parts pass through. CONSTITUTION:A chute 21 is inclined and provided, and parts are fed by one piece each from a parts feeder 20. A gate device 22, the first parts attitude discriminating device 23A, a vertical rotary part 24, the second attitude discriminating device 23B, a horizontal rotary part 26 and a parts passing detecting device 27 are provided successively from the upstream side. Output signals of the parts attitude discriminating devices 23A, 23B, and the parts passing detecting device 27 are supplied to a microprocessor, and in accordance with a prescribed program, a signal for driving the gate device 22, the vertical rotary part 24 and the horizontal rotary part 26 is generated from the microprocessor.

Description

[Detailed description of the invention] The present invention relates to a method for determining the orientation of a component.

The present invention is applied, for example, to a device for conveying parts on a sheet connected to a discharge port of a vibrating parts feeder in a downwardly sloping manner, in which all the parts to be transported are aligned in a constant posture and fed to the next process. In such a device, it is necessary to determine all the postures of the parts to be transferred. Conventionally, for this purpose, light passes through multiple pairs of light emitting elements and light receiving elements, making full use of the differences in shapes when viewed in plan, depending on whether the parts face up, down, forward, or backward. We try to determine the entire posture of the rainbow parts to block light, but if there is a slight difference in shape, the accuracy of the determination will deteriorate. Depending on the shape of the fc component, it may not be possible to completely determine its orientation.

The present invention has been made in view of the above-mentioned problems, and an object thereof is to provide a method for determining the posture of a component that can accurately determine the posture of a component that is damaged. This purpose, according to the invention, is to determine the surface texture of the transported part in close proximity to or in contact with it. The present invention is characterized in that all the detectors for detection are provided at fixed positions, and the entire attitude of the part is determined by analyzing the time-varying sound of the output of the detector when the part passes. This is achieved by following the method for determining the orientation of parts.

The details of the present invention will be explained below based on the illustrated embodiments.

First, the components applied to this embodiment will be explained with reference to FIGS.
．． 9 mm % Length t, μ approximately 3.4 mm % Height approximately 1.9 mm. The top surface (3) of the capacitor body (2)
), r A 7 J (4) is displayed in white paint,
One end (5) of the top surface (3) is coated with white paint in a band-like manner. This allows polarity to be discriminated. Silver electrodes (6a) (6ri) are fixed to the front and rear surfaces of the Maruko capacitor body (2).
b) extends in the form of a band on the lower surface (7) and both side surfaces of the capacitor body (2). Capacitor body (2
) is black.

The present invention is applied to feeding the above-mentioned parts (υ) in the direction of the arrow a in the attitude shown in FIG. 1st
This will be explained with reference to FIG.

Figures 3 and 4 are a schematic partial cross-sectional plan view and partial cross-sectional side view of the complete parts transfer device of this embodiment (in order to make the figures easier to understand, each part is not necessarily shown in the actual size ratio. However, in these figures, the vibrating parts feeder (E) has a spiral track that winds clockwise, although it is not completely shown, and a chute is connected to the discharge end of this track. be done. C)1211
is arranged at an angle, and individual parts (11) are supplied from the parts feeder (E).The parts (11) applied to this embodiment are
1) is a part as shown in FIGS. 1 and 2, which is supplied to the chute in one of the positions shown in column a of FIG. 10. That is, these parts (II) are supplied in four different orientations, but these parts (II) are corrected to the orientation shown in row 0 by the configuration described below, and then supplied one by one to the process from the lower end (not shown) of the sheet circle.

Although schematically illustrated in FIGS. 3 and 4, the gate device (22, the i1 part posture according to the present invention) Discrimination device L23A), vertical rotation unit CI'
4), a second orientation determination device (23B) according to the present invention is provided with a horizontal rotation unit 4 and a component passage detection device (271).Although not shown, the component orientation determination device (23A) (23
B) The output signal of the component passage detection device is supplied to the detection microprocessor, and according to a predetermined program, the gate device (2 sides, between the vertical rotation part and the horizontal rotation part G2 (il) is generated from the signal transmission microprocessor to fully drive the signal). .

Gate device (2 is the gate 6' that swings around the axis υ)
It collects parts (υ) with a tank, separates them into parts, and supplies them to the downstream side.It has the same configuration as the parts attitude determination device (23k) (23B), but As shown in detail in FIG.
) It consists of a completely built-in cable α, a light emitting element Q41°, a light receiving element (c), and a detection circuit θQ containing gold such as an amplification circuit.
One end of the cable (toward) is fixed to the hole (10a) formed in the cover 4 of the chute circle. Chute (both side walls of 2IJ (29a bar 2)
The height of 9b) is the height of part (1) 1. The width of the part (17) is slightly larger, and the distance between these side walls (29a) and (29b) is slightly larger than the width of the part (17).The optical fiber (6) led out from one end of the cable α is transferred The other end of the optical fiber (6) is branched, and one side (12b) is connected to the light emitting element II, and the other side (12b) is connected to the light receiving element (12b). connected to.

Note that the optical fiber (6) may not be completely branched, and the light emitting element QΦ and the light receiving element 00 may be arranged close to each other. In this case, it is necessary to arrange all the light receiving elements so that only the output light from the optical fiber @ is received. Output terminal Q from the detection circuit (a)? ) is connected to a microcomputer or microprocessor, although not shown.

Figures 6 and 7 show details of the vertically rotating parts, but the rotating part 4 mainly consists of a rotary actuator (built in the rotary actuator 1000 rotation drive, stop (shoe by air cylinder (47)) Oll's transfer path 3Q
It is reciprocated in the direction perpendicular to the

Chute (211Il'i: Guide member for reversing two parts (
4υ is fixed, and a pair of slit-shaped notches (41aX4xb) are formed in this guide member (4υ) in alignment with the transfer path (31) of the chute (211). It is slidably disposed in the inner hole of the guide member (4I), and has a slit-shaped groove (46) in the radial direction.
) are formed nine. This groove (the width of 40 is wide)
(Equal to the width of the 2+1 transfer path, the rotating body (goods) is a shoe) [2D transfer j! 1000 vertically for 3 times
Although it is rotationally driven, the position is always regulated by the rotating body (44) so that the transfer path (to) and the groove (461) are aligned and stopped as shown in the figure. It also constitutes a part of the transport route q of the chute area.
One part (1) with a length slightly larger than twice the length of part (1) in relation to the stopper (9)? Configured for temporary accommodation.

The rotary body (goods) is fixed to a rotary actuator (44 drive shaft (4) at its boss portion extending perpendicularly to the transfer j13 (g) of the seat (211), and is fixed to the component reversal guide member 0υ. It is rotatably supported by a bearing.

Stopper (4'll is rod-shaped, but air cylinder + 47) drive rod (48 is hollow) Ca1l
The guide member 6I guides the chute (2+1 transfer path (7)) in the vertical direction. It is assumed that the air cylinder (47) and the guide member 6I are fixed to the bracket fixed to the bracket (29b).The forward movement position of the air cylinder (47) and the guide member 6I are regulated by the contact between the air cylinder (47) and the guide member 6I. The oak) (5+) is the guide member I]), and as in the above-mentioned horizontal rotation 5 (241), the urethane rubber is completely pasted to alleviate the impact, and the rod is inserted between the rods so that the forward force can be freely adjusted. A shaped stopper (49) is inserted.

Horizontal rotating part c! As shown in FIGS. 8 and 9, the detailed light shown in FIG. 9 consists of a rotating part (261 is mainly a horizontal rotating body) 1 and a stopper (38a). Horizontal rotating body OI
) is supported by a bearing (to), and the chute I2D
A pair of spacer members (33a) and (33b) are fully valved and fixed to the seat surroundings. The sheet t211 is transferred 1000 times on the upper surface of the horizontal rotating body (3υ).
A groove (31a) of [1], which is the same as (3), is formed, and this groove (31a) is formed.
The bottom surface of the chute (31a) is necessarily on the same level as the transfer path 0I of 211, and the position of the rotating body O] is regulated so that it always stops aligned with the transfer path as shown. Also, the groove (31a) is empty) +211 transfer? ?
Part 5 (7) also constitutes part, but the parts (2) have a slightly larger length than the length of υ, and the stopper (3).
In relation to Sa), it is configured to temporarily accommodate one part (]j.

ST +, PA I'aRq) i 口+, V clam, the unused small end is loosely engaged with the hole formed in the center of the rotating body 0υ, and the air cylinder (up to ) is driven in the vertical direction. In other words, air cylinder (to) 4
The ringing rod (3η) is fixed between the stopper body and the above-mentioned stopper (3sa) is integrally formed as a rod part of this body ('1~).The air cylinder (to) is not shown. The guide member (6) that completely guides the vertical movement of the stopper (38a) is also fixed to the same bracket. . The stopper body (381) has urethane rubber (G) affixed to it, and the Niji stopper body (G) is attached to the guide part +4.
The impact when it collides with zero is completely relaxed. In addition, the guide member (40) also has the function of regulating the entire lowering position of the stopper (38a).

The component passage detection device @ is a light source Q31) and a printed circuit board (
Phototransistor fixed on 621 (starting from the 6th floor, cover 00 and shoe directly below the light source 6υ) C1l
Through holes (65a) (65b) are formed in the through holes (65a) (65b), and phototransistors are arranged so as to be located directly below these through holes (65a) (65b). Therefore, when the component (11) passes over the through hole (65b), the phototransistor is turned on and off, and this on/off signal is supplied to the microprocessor.

The device for fully aligning parts according to the embodiment of the present invention is constructed as described above. Next, the operation of this device will be explained.

Now, the part (11) in the attitude of aA in Fig. 10 is separated by the gate device and passes through the part attitude determination device (, 23A). When the part (11) passes through the entire part, a waveform as shown in Fig. 11A is output from the detection circuit (towards). is obtained from the output terminal α of .
The light beam from the light emitting element a4 passes through the optical fiber (2) and is irradiated onto the surface of the component (11), and the reflected light from the surface of the component (IJ) also passes through the optical fiber (2) and reaches the light receiving element (11).
The amount of reflected light is proportional to the reflectivity of the reflective surface of component (1). Time tllc! The tip of the II product (1) reaches the detection point, and the rear end reaches the detection point at time t? pass. Output proportional to the momentary reflectance is obtained from the detection port M (a), but the white characters (4) and white band (5)
When the part passes through, the output increases. Similarly, when the component (17) in the attitude aD in FIG. 10 passes the detection point, an output that changes as shown in FIG. In addition, when the part (1) passes through all the detection points in the attitude of aB or aC in Fig. 10, -f', that is, facing down, K is the 11th
An output varying as shown in FIG. 0 is obtained from the detection circuit (4). In this case, the silver electrodes (6a and 6b) pass all the detection points at the beginning and end of the passage of the component (11), so a large output is obtained immediately after time t1 and immediately before time t. .

According to the present invention, component (1) is the detection point? Every time you pass,
A waveform output as shown in FIG. It will be done. These results are compared to threshold values preset within the microprocessor. This allows parts (1)
It is determined whether the object is face down or face up, or whether it is face up or facing forward or backward. If this is shown in Table 7, it will look like Table 1.

Table 1 Furthermore, as is clear from the first item, even if P and 8 are completely omitted, it is possible to judge from the posture of parts (11), but it is better to find the gold for both P and 8. can be determined with certainty.

When the component (1) passes through the first component orientation determination device (23A) i in the orientation aA in Figure 10, the output waveform shown in Figure 11A is obtained, and as described above, it is determined that the orientation is correct. Ru. This decision signal is supplied to the microprocessor. In addition, the air cylinder (4'O and the rotating body (9) are not operated and the forward movement position is already shown) of the vertical rotating part (to). It passes straight through the groove +4f19t- which is also the transfer path for the rotating part (■), and then completely passes through the second component position distinguishing device (23B), but at this time also, the output waveform shown in FIG. 11A is obtained,
Based on the same judgment, the air cylinder of horizontal rotating part 4 (to)
and the rotating body 31) are not operated, and the stopper (38a) remains in the backward movement position (the forward movement position is shown in the figure). Therefore, the parts (11) directly pass through the groove (31a), which is also a transfer path for the rotating part (total), and are fed from the lower end of the chute (2D) in the desired attitude.

When the component (II) passes through the component passage detection device Qη, a multi-component passage signal is supplied to the microprocessor, which activates the gate device C2z to detect the next component (1)1.
The individual pieces are separated and supplied to the first part attitude determination device (23A). Parts at this time<IJ posture'? f: a in Figure 10
D, the output waveform shown in FIG. 11B is obtained, and it is determined that component (1) is facing forward but facing backward. This discrimination signal supplies hXFhyr to the microprocessor.
h;ko'pWFlrf1M111? , )-14+-II
H-(41 does not move forward, but the stopper (, 38a) at the horizontal rotating part (to) descends and assumes the forward moving position as shown in Figures 8 and 9. The part (13 is a stopper (3ia) as shown in the figure) supplied to the stopper (3ia).
8a) and stops. Next, the rotor C wing rotates 1000 times in the clockwise direction in FIG.
In figure 0, the component (1) in the desired orientation of cD and the orientation of shishoot (supplied from 2D. Note that aJ) passes through the vertical rotation unit G41, and the second component orientation determination device (23B) i
When passing, an output waveform similar to that of the first part attitude determination device (23A) is obtained, but this output is used to drive the stopper (38a) of the horizontal rotating section 4 and the rotating body (30). It's okay.

When all parts (11) pass, a part passage signal is supplied to the microprocessor,
This activates the gate device C2 force, and the next part (1
j is completely separated and supplied to the first component attitude determination device (23A). All postures of part (1) at this time aB in Figure 10
Then, the output waveform shown in Figure 11C is obtained, and the component (
1) is determined to be face down. In response to this, the stopper (4!ll) between the F vertical rotating parts moves forward. Parts (1)
After contacting the stopper (4 parts), the rotating body (18 parts of 4 parts)
It is rotated 0 degrees and turned face up. That is,
The posture is bB in FIG. 10. Next, after passing through the 2nd G product attitude determination device (23B), the intermediate layer is
The output waveform shown is obtained. This determines that the posture is correct, and the stopper (38a) of the horizontal rotation part Q61
and the rotary body 61) are not driven and are supplied from the chute circle by passing through the parts (11 remains in the same position at the top of the horizontal rotating part).

Parts passing detection device@all parts (when 11 passes, a part passing signal is supplied to the microprocessor.

As a result, the gate device +221 is activated, and the sidetone of the next component (1) is separated and the first component attitude determination device (23A
). If the attitude of the component (11) at this time is aC in FIG. 10, the output waveform shown in FIG. 11C is obtained,
Part (1) is determined to be face down. This allows the vertical rotation part CI! 41 stopper (the state moves forward. Part (1) comes into contact with stopper 4, and then the part 18 of the rotating body (goods)
It is reversed by 06 rotations and turned face up. That is,
The posture is bC in FIG. 10. Next, when it passes through the second component orientation determination device (23B)', an output waveform shown in FIG. 11B is obtained. As a result, it is determined that the part (1) is facing forward but facing backward. This causes the stopper (38a) of the 1000 rotation section (to) to move forward. parts(
11 is the rotating body 1) after contacting the stopper (38a).
It changes back and forth a little at 1000 rpm. That is, the first
It is set in the correct posture shown in Figure 0 CC and is supplied from the chute (211).

As described above, all the parts (11) are supplied from the chute (21J) in desired postures.

Although the embodiments of the present invention have been described above, the present invention is of course not limited thereto, and various modifications can be made based on the technical idea of the present invention.

For example, in the above embodiments, a horizontal rotation section and a mounting rotation section are provided, but either one can be omitted depending on the shape of the part to which it is applied. Further, according to this, one of the component orientation determination devices (23A) and (23B) can be omitted.

Furthermore, without providing either a horizontal rotation section or a vertical rotation section, all components that are not determined to have the correct orientation by one component orientation determination device (23A) may be removed to the outside. That is, the present invention can also be applied to a parts sorting device that is not a complete sorting device.

Further, in the above embodiments, the explanation has been made regarding parts that are entirely transferred on a chute, but the present invention is not limited to this, and can be applied to parts on various types of transfer means.

Further, in the above embodiments, the light reflectivity was detected as the surface texture of the component, but the present invention is not limited to this, and all kinds of surface textures can be used. For example, the detection may be performed using a full magnetic sensor or a coil. Or the unevenness of the surface of the part.

Changes may be detected using a displacement sensor or the like. In this case, it is also possible to detect optically as in the above embodiment.

As described above, according to the component orientation determination method of the present invention, the orientation of any component can be determined with high accuracy.

[Brief explanation of drawings]

FIG. 1 1″r is a perspective view of parts applied to the embodiment of the present invention as seen from the front, FIG. 2 is a perspective view of the parts as seen from the back of the line, and FIG. A schematic plan view of the feeding device;
4 is a side view of the same, FIG. 5 is a partially enlarged cross-sectional view along line V-■ in FIG. Partial cross-sectional side view of the vertical rotating part, Partial cross-sectional plan view showing details of the horizontal rotating part in the 8th lighting device, Partial sectional side view of the horizontal rotating part in the 9th figure, Fig. 10 h r = device 70-, which shows each posture and posture change of the parts in a plan view to fully explain the operation of the
The chart and FIG. 11 are graphs shown in relation to each posture of the parts to explain the operation of the device. In the figure, (1)・・・・・・・・・・・・・・・・・・・・・
・・Parts (b)・・・・・・・・・・・・・・・・・・
......Optical fiber 04)...
・・・・・・・・・・・・ Luminescence Yuiko (he)・・・・・・
・・・・・・・・・・・・・・・・Light receiving element t2D・・
・・・・・・・・・・・・・・・・・・・・・・・・
Shoot (231J (23B)...
・・・・・・ 1st and 2nd Part Attitude Discriminator Agent Yasuo Iisaka Figure 5 14 Figure 6 Figure 7 Figure 8 Figure 9 Figure 10 a b C

Claims (6)

[Claims] (1) A detection sensor is installed at a fixed position near or in contact with the part being transferred to detect the surface properties of the part, and the temporal change in the output of the detector is analyzed as the part passes. Particularly, a method for determining the posture of a component is characterized in that the entire posture of the component is determined. (2) The first method is configured to obtain one or more of the average value, effective value, centroid, and standard deviation of the temporal change in the output by analyzing all the temporal changes in the output of the detector. Method for determining the orientation of parts described in Section 1. (3) The method for determining the posture of a component according to item 1 above, wherein the surface texture is light reflecting ability. (4) The method for determining the attitude of a component according to item 3, wherein the detector includes an optical fiber, a light emitting element, and a light receiving element. (5) The method for determining the posture of a component according to item 1 above, wherein the surface texture is roughness. (6) The method for determining the posture of a component according to item 1, wherein the surface texture is magnetic.