JP2980974B2 - Rotating body positioning device in balance testing machine - Google Patents

Description

Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an apparatus for positioning and holding a rotating body, at which an imbalance is detected by a balancing tester, at a predetermined angle.

<Prior Art> Conventionally, when an unbalanced angular position of a rotating body is detected by a balance tester, a mark or the like is attached to the detected angular position. Then, the rotating body with the mark or the like is sent to the unbalance correcting device, and the angular position where the mark or the like is added is aligned on the unbalance correcting device, and milling or the like is performed. As described above, conventionally, even if the unbalanced angle position of the rotating body is detected and positioned for the mark or the like in the balancing test machine, the positioning of the rotating body is performed again in the unbalance correcting device completely independently of the positioning. It had been.

Therefore, in the conventional device, it takes time to position the rotating body. In particular, for example, in an unbalance detection and correction system in which a balance testing machine and an unbalance correction device are combined as described in JP-A-57-74633,
There is a disadvantage that the cycle time for processing the rotating body by the system is long.

Therefore, when unbalance is detected by the balance testing machine,
A device for positioning and holding a rotating body at its angular position has been proposed (Japanese Patent Publication No. 75-8408, especially FIG. 3).

<Problem to be Solved by the Invention> The conventional device described in this publication has a configuration in which the motor is stopped by the output of the inductive detector 5 and the claw 39 is engaged with the tooth gap. Therefore, in order to engage the pawl 39 with the tooth gap,
It is necessary to wait until the rotating body completely stops, which is disadvantageous in that the waiting time is long. In order to shorten the waiting time, it is difficult to engage the pawl 39 with the tooth gap while the rotating body is rotating, and an engagement error is likely to occur.

Accordingly, the present invention, when viewed from a certain aspect, solves the above-described drawbacks of the conventional apparatus, and can position and hold a rotating body in which an unbalance is detected by a balancing test machine at an angle corresponding to the unbalance position. It is intended to provide a device.

Another object of the present invention is to provide a rotary body positioning and holding device suitable for an unbalance detection and correction system including a balance testing machine and an unbalance correction device.

<Means for Solving the Problems> The present invention relates to an apparatus for positioning a rotating body in a balancing test machine, and relates to a rotating body in which unbalance is detected by the balancing test machine and rotation is stopped at an angle corresponding to the unbalanced position. The rotating body has a plurality of recesses regularly formed in a circumferential direction on a peripheral surface thereof, and holds the rotating body after stopping and transports the rotating body to a predetermined position. And a holding means for moving the rotating body toward the peripheral surface of the rotating body, and engaging the concave portion formed on the circumferential surface of the rotating body, and completely stopping the rotating body. An engagement projection drive control means for bringing the engagement projection into contact with the corresponding recess when the engagement projection comes into contact with the peripheral surface of the rotating body before the rotation body reaches a stop angle. It is assumed that.

<Operation> The engaging projection is brought into contact with the peripheral surface of the rotating body before the rotating body is completely stopped by the engaging projection driving means. Then, when the rotating body further rotates and reaches the stop position, the concave portion faces the engaging protrusion, and the engaging protrusion is engaged with the concave portion. Therefore, the rotating body is positioned at the angular position.

An embodiment of the present invention will be described below in detail with reference to the drawings.

FIG. 7 is a schematic plan view of an unbalance detection and correction system provided with an embodiment of the present invention.

In FIG. 7, the unbalance detection and correction system includes a base 1, six arms 2a, 2b, 2c, 2d, 2e, 2f projecting radially from the base 1 at intervals of 60 degrees, and each of the arms 2a to 2f. Rotating body gripping devices 3a, 3b, 3c, 3d, 3e, 3f provided at the tip of each
And are included. And six rotating body gripping devices 3a ~
3f, the first station 4, the second station 5, the third station 6, the fourth station 7, the fifth station 8 and the sixth station 9 are arranged on the arc in a counterclockwise direction in FIG. Are arranged at equal intervals.

A rotator supply mechanism 10 and a rotator transport mechanism 11 are connected to the first station 4. The rotating body supply mechanism 10
This is for supplying a rotating body R as a test object, for example, a wire-wound motor armature R to the first station 4 at regular intervals as shown by an arrow A1. Rotary body transport mechanism 11
Is for transporting the rotating body R, for which unbalance detection and unbalance correction described below have been completed, from the first station 4 to a predetermined location as indicated by an arrow A2. The rotating body supply mechanism 10 and the rotating body transport mechanism 11 are configured using a known mechanism such as a belt transport mechanism, a chain-type transport mechanism, or the like.

Next, the operation of this system will be described focusing on the movement of the rotating body holding device.

The rotating body R supplied to the first station 4 by the rotating body supply mechanism 10 is gripped by, for example, the rotating body gripping device 3a located thereon. Then, the base 1 rotates counterclockwise one-sixth around the center, that is, 60 degrees. Thereby, the rotating body R of the first station 4
Is carried to the second station 5. This gripping device 3a
Rotate 60 degrees clockwise to return to the original position.

The second station 5 is provided with a balance testing machine 12, which detects an unbalanced position of the rotating body R, and an angular position (specifically, a second position) corresponding to the detected unbalanced position. The rotating body R is stopped when the unbalanced angular position of one surface is, for example, an angular position facing directly below. The rotating body gripping device 3b grips the rotating body R stopped at a predetermined angular position so as to maintain the angular position. Then, the base 1 rotates 60 degrees counterclockwise again, and the rotating body R is carried to the third station 6.

In the third station 6, an imbalance correcting device 13 is arranged. The rotating body R provided to the unbalance correcting device 13
Are directed to an angular position corresponding to the unbalanced position (specifically, an angle position at which the unbalanced angular position of the first surface is directed downward, for example). Therefore, the imbalance correction is immediately performed on the rotating body R. That is, the unbalanced angular position of the rotating body R is slot milled.

The unbalance correction in the third station 6 is an unbalance correction of the first surface of the rotating body R. After the unbalance correction of the first surface has been completed, the rotating body R is gripped again by the rotating body gripping device 3c, and the base 1 is rotated counterclockwise by 60 degrees and transported to the fourth station 7. Also at this time, the rotating body R is carried at a predetermined angular position.

In the fourth station 7, an angle position changing device 14 is arranged. The rotating body R is rotated by the changing device 14 so that the unbalanced angular position of the second surface is directed to a predetermined position for correcting the second surface.

Then, the rotating body R rotated to the angular position is gripped again by the rotating body gripping device 3d so as to maintain the angular position, and is carried to the fifth station 8. In the fifth station 8, a second imbalance correcting device 15 is arranged. Since the rotating body provided to the unbalance correcting device 15 has the correction angle position of the second surface immediately below, the unbalance correction is immediately performed by the correcting device 15.

Thereafter, the rotating body R is gripped by the rotating body gripping device 3e, and is carried to the sixth station 9. In the sixth station 9, a balancing tester 16 for correction confirmation is arranged.
Therefore, at the sixth station 9, a balance test is performed on the rotating body R having the unbalance corrected, and an inspection is performed to determine whether the unbalance has become equal to or less than a predetermined value. The inspected rotator R is gripped again by the rotator gripping device 3f and returned to the first station 4.

The returned rotating body R is moved by an arrow by the rotating body transport mechanism 11.
It is transported in the A2 direction. At this time, the rotating body R whose unbalance is not less than the predetermined value is sorted as a defective product by a sorting mechanism (not shown) while being transported by the rotating body transport mechanism 11.

In the system shown in FIG. 7, after the base 1 starts moving,
It turns 60 degrees, turns again 60 degrees in the reverse direction, returns to the original position, and the time immediately before the next rotation starts is the cycle time required for unbalance detection and correction of the rotating body R. is there. The rotator supply device 10 and the rotator transport device 11 are operated so as to synchronize with the cycle time.

FIG. 1 is an illustrative view showing a mechanical configuration example of the rotating body gripping devices 3b, 3c, 3d as viewed from the front side (tips of the arms 2b, 2c, 2d). In FIG. 1, the rotating body holding device 3b is
The state immediately before holding the rotating body R on the balancing tester 12 provided in the station 5 is shown. Since the other rotating body gripping devices 3c and 3d have exactly the same configuration, the gripping device 3b will be described below as an example.

Referring to FIG. 1, the rotating body gripping device 3b is provided with a support frame 21, and a pair of gripping claws 22, 23 facing downwardly extending from the support frame 21.
As shown by an arrow A3, the pair of gripping pawls 22 and 23 are centered in the direction in which the distance between the opposing sides is reduced or in the direction where the distance between the opposing sides is widened, as indicated by an arrow A3 by a driving device (not shown) built in the support frame 21. It slides symmetrically with respect to the part. The figure shows a state in which the distance between the pair of gripping claws 22 and 23 is the widest.
22 and 23 move from this state in a direction in which the opposing interval becomes narrower, and contact the left and right peripheral surfaces of the rotating body R to grip the rotating body R.

The support frame 21 is further provided with a positioning notch 24 extending straight downward from the center thereof.
The positioning notch 24 is inserted through the guide shaft 25, and is slidable up and down along the guide shaft 25. An operating member 27 is provided at the upper end of the positioning notch 24.
The upper end of the coil spring 26 is attached to the support frame 21. An air cylinder 28 is fixed to the support frame 21, and the actuator of the air cylinder 28 faces the operating member 27 from below.

Further, when the operating member 27 is lowered to the lowermost position as shown in FIG.
A positioning confirmation sensor 29 is attached to 21. This positioning confirmation sensor 29 is for detecting that the operating member 27 has reached the position shown in the drawing, that is, that the tip of the positioning notch 24 has engaged with the rotating body R.

In the system according to this embodiment, the rotating body R for which unbalance is to be detected and corrected is, for example, a wound-type motor armature whose cross-sectional shape is equiangularly spaced from the rotating shaft 30 as shown in FIG. And has a large number (10 in the figure) of cores (teeth) 31 projecting radially to the periphery. When the rotating body R is set on the balancing tester 12, both ends of the rotating shaft 30 are received by bearings (not shown), and a drive belt 32 is pressed against the lower peripheral surface of the rotating body R, and is rotated by the drive belt 32. Is done. Then, the unbalanced angle position of the first surface and the second surface is detected, and the operation is stopped, for example, so that the unbalanced angle position of the first surface is directed downward. In this state, a certain gap, for example, the core 31a, is necessarily provided just above the rotating body R.
And a gap 33 between the core 31b.

In this embodiment, the leading end (the lower end in the figure) of the positioning notch 24 is engaged with the gap 33, and the stop angle position is determined so that the rotating body R does not rotate. The rotating body R is grasped by 22, 23 and is carried to the next station. This is one of the features of this embodiment.

Another feature of this embodiment is that the tip of the positioning notch 24 is engaged with the core gap 33 by the following method.

That is, as shown in FIGS. 2 (a), (b) and (c),
When the rotation speed of the rotating body R decreases and the rotating body R comes to just before the stop position, the actuator of the air cylinder 28 is lowered, the notch 24 for positioning is lowered, and the gap 33 to be engaged with the tip thereof is to be engaged. 31 (downstream in the rotation direction)
b (see FIG. 2 (a)). In this state, the positioning notch 24 is urged downward by the coil spring 26 connected to the upper end thereof, and presses the surface of the core 31b with a constant pressure.

The rotating body R is further rotated (see FIG. 2 (b)), and the tip of the positioning notch 24 eventually comes off the surface of the core 31b and faces the gap 33. Then the positioning notch 24
Fig. 2 (c) shows the biasing force of the coil spring 26
As shown by, it is pushed down and its tip is
Engage with. Therefore, the rotating body R is reliably stopped at the angular position where the gap 33 faces directly above.

In this manner, the positioning notch 24 is not engaged after the rotating body R is completely stopped at the predetermined angular position by the balancing tester, but when the rotating body R rotates at a low speed, the rotating body R The stop angle is detected, and the positioning notch 24 is first brought into contact with the surface of the rotating body R, and then the positioning notch 24 is engaged with the gap of the rotating body R. Therefore, the positioning of the rotating body R can be reliably stopped at the predetermined angular position. Further, there is an advantage that the time required for the positioning stop can be shortened.

A pressure reducing cylinder may be used instead of the coil spring 26 in this embodiment.

In this embodiment, the air cylinder 28 is used to move the positioning notch 24 upward, but a solenoid or a hydraulic cylinder may be used instead of the air cylinder 28. Alternatively, the positioning notch 25 may be slid upward by a cam driven by a motor.

Next, the rotation angle position of the rotating body R and the positioning notch 24
A more specific configuration and operation will be described with respect to the relationship with the drive control.

FIG. 3 is a block diagram showing a configuration of an electric control circuit of the imbalance detecting and correcting system according to the embodiment of the present invention. This control circuit is constituted by a microcomputer 40. The microcomputer 40 is supplied with a pulse from the encoder 41, an output of the positioning confirmation sensor 29, and an unbalance detection signal. The microcomputer 40 performs a predetermined operation or the like based on these given signals, gives a control signal to the balance tester 12, and controls the air cylinder drive circuit 42 to drive and control the air cylinder 28.

The above-described encoder 41 outputs a pulse in conjunction with the drive of the drive belt 32 of the balance tester 12 (see FIG. 1).
Is mounted on the rotating shaft.

FIG. 4 is a flowchart for explaining the control operation of the microcomputer 40 in FIG. 3, and FIG. 5 is a timing chart for explaining the control operation of the microcomputer 40.

Next, a description will be given along the flow of FIG. 4 while mainly referring to FIG. 1, FIG. 3, and FIG.

When the control is started, the microcomputer 40 supplies a control signal to the balance tester 12 (see FIG. 1) to start the motor 36 (step S1). Next, based on the number of pulses given from the encoder 41, it is determined whether or not the moving speed of the driving belt 32, in other words, the rotating speed of the rotating body R rotated by the driving belt 32 has reached the unbalanced measured rotating speed. If it is determined (step S2) that the rotational speed of the rotating body R has reached the measured rotational speed, the unbalance signal given from the balance testing machine 12 is read to calculate the unbalance and calculate the timing of positioning the rotating body R. Is performed (step S3).

For example, a pulse given from the encoder 41 when the unbalanced position of the rotating body R has just reached an angular position just below based on the unbalance signal is detected as a mark pulse. Since the number of pulses X given from the encoder 41 during one rotation of the rotating body R is predetermined, the nX (n = 1, 2, 3,...) -Th encoder pulse from the detected mark pulse is calculated. If the drive belt 32 is stopped at a given time, the rotating body R can be stopped at an angular position where the unbalanced position is directly below. Further, if the drive belt 32 is stopped when the number of pulses is obtained by adding x / 2 to the number of such pulses, the rotating body R can be stopped in a state where the unbalanced angular position is directly above. it can.

In step S3, the positioning timing is calculated based on the principle described above, and the positioning pulse is calculated.

Next, a deceleration signal is given from the microcomputer 40 to the motor 36 (step S4). And the encoder
Based on the pulse interval given from 41, it is determined whether or not the rotation speed of the rotating body R has reached a low speed at which positioning is possible (step S5). And if you get low speed,
Wait for the positioning pulse calculated in step S3 to be detected (step S6). When the positioning pulse is detected, the air cylinder drive circuit 42 is driven, the air cylinder 28 is operated, the actuator is lowered, and the coil spring The positioning notch 24 is slid downward by the force of 26 (step S7).

When the positioning pulse is detected in step S6, the rotating body R is at a position where the core 31b on the side opposite to the unbalanced angular position is almost directly above as shown in FIG. 2 (a). I have. Therefore, when the positioning notch 24 is slid downward in step S7, the tip of the positioning notch 24 comes into contact with the surface of the core 31b.

Then, the rotating body R continues to rotate, and the tip of the positioning notch 24 engages with the gap by the urging force of the coil spring 26 as shown in FIG.

If a predetermined time is required for the driving operation of the positioning notch in step S7, the positioning pulse detected in step S6 may be changed in consideration of the time delay.

When the positioning notch 24 engages with the gap, the positioning confirmation sensor 29 derives a detection output. Therefore, this is detected by the microcomputer 40, and it is determined that the positioning is completed (step S8).

Next, the motor 36 is stopped (step S9),
22 and 23 are closed (step S10). And gripping claw 2
When the completion of the closing operation of 2, 23 is confirmed (step S11),
The base 1 (see FIG. 7) is rotated to perform the transport operation (step S12). When the completion of the transport operation is confirmed (step S13), the gripping claws 22, 23 are opened (step S14), and the positioning notch 24 is slid upward (step S15).

The operation of step S14 and the operation of step S15 may be performed simultaneously, or the order may be reversed.

Then, when it is confirmed that the operations in steps S14 and S15 are completed (step S16), the control operation in the next station is performed.

The control operation in the flowchart of FIG. 4 calculates the angular position of the rotating body R based on the number of pulses given from the encoder 41, but directly detects the core 31 provided on the rotating body R (this detection is performed, for example, A reference core is determined based on the unbalance detection signal and the core detection signal. When a number of cores are detected from the reference core, the rotating body is detected. It may be calculated whether or not the positioning notch 24 should be engaged with R.

FIG. 6 is a view showing various examples of the shape of the tip of the positioning notch 24. FIG. The tip of the positioning notch 24 may have a rod shape as shown in FIG. 6A, or a sharp rod shape as shown in FIG. 6B. Alternatively, as shown in FIG. 6 (c), a long protrusion having a round bar-shaped cross section may be used, or as shown in FIG. 6 (d), a long protrusion having a sharp cross section may be used. It may be a projection. Alternatively, a rotating disk may be provided as shown in FIG. 6 (e), a rotating ball may be provided as shown in FIG. 6 (f), or FIG. A rotating roller may be provided as shown in (g), or a configuration in which a plurality of rotating disks are arranged in the axial direction as shown in FIG. 6 (h).

Further, the entire material of the positioning notch 24 or the material of the tip portion may be a metal such as iron, copper, or an alloy, or may be a synthetic resin such as Teflon or nylon.

Further, in the system of this embodiment, the rotating body gripping device 3a
3f is attached to the base 1 through the arms 2a to 2f, and the base 1 is rotated by 60 degrees, and the configuration used in the rotary type system which returns to the original position is shown. Of course, it can be used for such a system.

<Effect of the Invention> In the present invention, as described above, the engaging projection is provided on the holding means, and the rotating body is positioned at a predetermined angular position by the engaging projection. Therefore, the rotating body can be held in a state where it is accurately positioned. For example, the rotating body can be set at a predetermined angle in the unbalance correcting device.

Further, the operation time for positioning and holding in this device can be shortened as compared with the conventional device, and positioning errors can be almost eliminated.

Further, by mounting the positioning and holding device according to the present invention on the transfer device, the transfer can be performed as it is in the positioned state, so that the cycle time of the entire process of the unbalance detection and correction system can be shortened, and the device can be simplified. Become.

Further, in the system, when the rotating body is held and transported, there is no possibility that the angular position of the rotating body is shifted.

[Brief description of the drawings]

FIG. 1 is a front view showing a schematic configuration of a positioning and holding device according to an embodiment of the present invention. FIG. 2 is a view for explaining an operation when the positioning notch is engaged with the core gap of the rotating body R in one embodiment of the present invention. FIG. 3 is a block diagram showing a configuration of an electric control circuit according to one embodiment of the present invention. FIG. 4 is a flowchart for explaining the operation of the block diagram shown in FIG. FIG. 5 is a timing chart for explaining the operation of the block diagram shown in FIG. FIG. 6 is a view showing various modifications of the tip shape of the positioning notch. FIG. 7 is a schematic plan view showing a schematic configuration of an unbalance detection and correction system provided with an embodiment of the present invention. 3a-3b …… Rotating body gripping device, 2a ～ 2b …… Arm, 4,5,6,
7,8,9 …… Processing station, 12,16 …… Balance testing machine,
13,15 …… Unbalance correction device, 22,23 …… Grip claw, 24…
... Positioning notches, 33... Core gap, R...

Claims (1)

(57) [Claims] 1. A positioning device for a rotating body whose unbalance is detected by a balancing test machine and whose rotation is stopped at an angle corresponding to the unbalanced position, wherein the rotating body has a circumferential surface. Holding means for holding the rotating body after stopping and transporting it to a predetermined position, provided in the holding means, and facing the peripheral surface of the rotating body. Move and
An engagement protrusion engageable with a concave portion formed on the peripheral surface of the rotating body,
And an engaging projection drive for bringing the engaging projection into contact with the peripheral surface of the rotating body before the rotating body completely stops, and engaging the engaging projection with the corresponding recess when the rotating body reaches the stop angle. A positioning device for a rotating body in a balancing tester, comprising: a control unit.