JPH05104067A - Sorting apparatus - Google Patents

Abstract

PURPOSE:To provide a sorting apparatus performing positioning at a high speed with high accuracy even when the sorting ranks of a part increases to certainly sort and take out the part. CONSTITUTION:A sorting apparatus is equipped with a rotary body 1 sorting a part by ranks to take out the same, the pulse motor 7 driving the rotary body 1, the encoder 10 detecting the angle-of-rotation position of the pulse motor 7 and a control part 13, and the quantity of rotation of the rotary body 1 is calculated from an designated position and the pulse motor 7 is operated until the output value of a counter generating a clock pulse coincides with the quantity of rotation of the rotary body 1 to sort the part by ranks to take out the same. The stop position of the pulse motor 7 is detected by the encoder 10 and, when shift is generated from a predetermined position, the stop position of the rotary body 1 is corrected.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a sorting apparatus for use in a step of sorting parts by rank according to their shape, electrical characteristics, etc., and taking them out in a manufacturing process.

[0002]

2. Description of the Related Art FIG. 4 shows the structure of a conventional sorting apparatus. In FIG. 4, reference numeral 101 is a determination unit that measures the output characteristics of the component, determines which rank the output value is in, and issues a signal to the control unit 102 that specifies the extraction position corresponding to the selected rank. A pulse motor 103 is driven by the control unit 102 and is fixed to the apparatus main body 104. Reference numeral 105 denotes a ball screw attached to the output shaft of the pulse motor 103, and a moving body 106 supported so as to be horizontally movable is fitted in the screw portion, and one end thereof is fixed to the apparatus main body 104. Reference numeral 107 denotes an actuator fixed to the moving body 106, which is a chuck 1 for holding a component.
08 is operated. Reference numeral 109 is a conveyor that conveys the components (in the front-back direction in the figure), and is supported by the apparatus main body 104. A sensor 110 detects that the moving body 106 is at the origin position.

Next, the operation of the above conventional example will be described.
In FIG. 4, when the moving body 106 is not at the origin position, the pulse motor 103 is driven and the moving body 106 is positioned at the origin position until the sensor 110 is turned on.
After that, the components are transported by the transport conveyor 109 (from the front side in the drawing) and gripped by the chuck 108. Next, the pulse motor 103 is driven by a signal from the control unit 102, the moving body 106 moves in the direction of arrow A by a predetermined amount corresponding to the selection rank determined by the determination unit 101, and the chuck 108 is released. And the parts are conveyed to a specified take-out position by the conveyer 109. afterwards,
The moving body 106 moves in the direction of arrow B and moves to the origin position (sensor 1
Return to the position (10 turns on).

As described above, even in the above-mentioned conventional sorting apparatus, the moving body 106 can be moved to a predetermined position to sort out the parts by rank.

[0005]

However, in the above-mentioned conventional sorting apparatus, the moving body 10 is located at the sorting and taking-out position.
Since the stop position of No. 6 is not directly detected, there is a problem that the parts may not be able to be taken out to a predetermined position if the stop position is displaced due to some reason such as overload. Further, when the number of selection ranks increases, the moving distance of the moving body 106 becomes long, and the time to return to the origin position also becomes long, so that there is a problem that it is not possible to perform selection at high speed.

The present invention solves the above-mentioned problems of the prior art. By constantly monitoring the stop position of the pulse motor, it is possible to perform high-speed and high-precision positioning to reliably select and take out parts. It is an object of the present invention to provide an excellent sorting device that can be used.

[0007]

SUMMARY OF THE INVENTION In order to achieve the above object, the present invention is directed to a rotating body for picking up parts by rank, a pulse motor for driving the rotating body, and a rotation angle position of the pulse motor. An encoder for detecting the rotation speed, a means for calculating the rotation amount of the rotating body up to a designated take-out position and determining the rotation direction of the rotating body, a pulse oscillator for generating a clock pulse, and a counter for counting the number of pulses. And a comparison circuit for comparing the output value of the counter with the rotation amount of the rotating body.

[0008]

Therefore, according to the present invention, the rotation amount of the rotating body is calculated from the specified take-out position, the rotating direction of the rotating body which minimizes the rotation amount is determined, and the counter output value for generating the clock pulse is set. Operate the pulse motor until the amount of rotation of the rotating body matches, detect the stop position of the pulse motor with the encoder after stopping the pulse motor, and rotate the pulse motor again if there is a deviation from the predetermined position. The position can be corrected.

[0009]

Embodiments of the present invention will be described below with reference to the drawings.

1 and 2 show the configuration of an embodiment of the present invention. In FIG. 1 and FIG. 2, reference numeral 1 denotes a cylindrical rotating body rotatably supported by a bearing 3 fixed to a plate 2, and parts for sorting and taking out are put in from above. Denoted at 4 is an outlet fixed to the plate 5, and is provided circumferentially in the number corresponding to the selection ranks so that the parts passing through the rotating body 1 are put therein. 6 is the rotating body 1
Is a gear fixed to the output shaft of the pulse motor 7, and meshes with the gear 8. 9 is a pulse motor 7
Is a gear fixed to the output shaft of the gear, and meshes with a gear 11 fixed to the encoder 10. Reference numeral 12 is a pulse motor driver for driving the pulse motor 7, and 13 is sequence control of the entire device such as a device (not shown) for transporting parts to the upper side of the rotating body 1 and putting them in the rotating body 1 and the pulse motor 7. Is a control unit that controls the rotation of the. A determination unit 14 measures the output characteristics of the component, determines which rank the output value is in, and sends a signal to the control unit 13 to specify the take-out position corresponding to the selection rank.

Next, the structure of the control unit 13 will be described.
In FIG. 2, reference numeral 21 is a rotation amount calculation circuit that calculates the rotation amount of the pulse motor 7 based on the determination signal of the determination unit 14.
Reference numeral 22 is a rotation direction calculation circuit that determines the rotation direction of the pulse motor 7. A pulse oscillator 23 generates a clock pulse, and this pulse is counted by a counter 24. Reference numeral 25 is a comparison circuit, which outputs the coincidence signal when the output of the rotation amount calculation circuit 21 and the count value of the counter 24 are compared and coincide with each other. Reference numeral 26 is a sequence control unit that controls the determination unit 14 and the components to be conveyed to the upper side of the rotary pair and input.

Next, the operation of the above embodiment will be described. A signal designating the take-out position is output to the rotation amount calculation circuit 21 based on the determination result of the determination unit 14. In the rotation amount calculation circuit 21, the signal of the determination unit 14 and the encoder 10
The number of pulses required to drive the pulse motor 7 from the current stop position of the rotating body 1 to the designated take-out position is calculated from the output of. Here, since the number of pulses required for the rotating body 1 to make one rotation is 256, the rotation direction calculating circuit 2
2, the number of pulses output from the rotation amount calculation circuit 21 is 2
The rotation direction of the pulse motor 7 is determined in the direction in which the rotation amount decreases in comparison with 128 pulses (half rotation) which is half of 56 pulses. Further, by inputting the pulse generated from the pulse oscillator 23 to the pulse motor driver 12 to drive the pulse motor 7, the rotating body 1 rotates to the designated outlet 4 via the shortest path.

In the meantime, the comparison circuit 25 compares the number of pulses counted by the counter 24 with the number of pulses output from the rotation amount calculation circuit 21. And
When these pulse numbers match, a match signal is output,
The supply of pulses to the pulse motor driver 12 is stopped. Further, at this time, the rotation amount calculation circuit 21 determines whether or not the rotating body 1 is positioned at the position designated by the output of the encoder 10 when the coincidence signal is received. If the displacement is caused by some reason such as overload, the direction and amount of the displacement between the output value of the encoder and the predetermined take-out position are detected, and the rotating body 1 is rotated in the same manner as described above. Correct the position.

When the positioning of the rotor 1 is completed, a coincidence signal is sent to the sequence controller 26, and the sequence controller 26 controls the parts to be inserted from above the rotor 1 and taken out to the predetermined outlet 4. To be done.

FIG. 3 is a flow chart showing the operation procedure. That is, the determination signal is converted into a position signal indicating the position of the outlet 4 in step 31, the rotation amount of the rotating body 1 from the current position to the designated outlet 4 is calculated in step 32, and the rotation amount is calculated in step 33. The rotation direction is determined so as to minimize, and in step 34, the pulse motor 7 is operated to rotate the rotor 1.
To rotate. Here, in step 35, it is determined whether or not the stop position of the rotating body 1 is accurately stopped at the designated outlet 4, and if a deviation occurs, the process returns to step 32 to perform the same operation. To do.

As described above, according to the above-described embodiment, the encoder 10 detects the current stop position of the rotating body 1, and the determining unit 14 calculates the rotation amount of the rotating body 1 up to the outlet 4. By rotating the rotating body 1 to the designated outlet 4 by the rotation direction calculation circuit 22 in the shortest path, the components put into the rotating body 1 are sorted by rank and taken out to the outlet 4 at high speed. You can Further, when the displacement is caused due to some reason such as overload, the direction and amount of the displacement can be detected and the position can be corrected, so that highly accurate positioning control can be performed.

[0017]

As is apparent from the above embodiment, the present invention detects the current stop position of the rotating body by the encoder,
By calculating the amount of rotation of the rotating body up to the specified take-out position and determining the rotation direction so that it can rotate on the shortest path, by rotating the rotating body to the specified take-out position, Even if the number of selection ranks is increased, it is possible to select and take out at high speed. Furthermore, by detecting the stop position of the rotating body with the encoder, even if an error occurs in the stop position due to overload, etc., the position can be corrected according to the output of the encoder, so positioning can be performed at high speed and with high accuracy. Thus, there is an effect that parts can be reliably selected and taken out.

[Brief description of drawings]

FIG. 1 is a side view of a sorting device according to an embodiment of the present invention.

FIG. 2 is a block diagram of a control unit in the embodiment.

FIG. 3 is a flowchart for explaining the operation in the same embodiment.

FIG. 4 is a side view of a conventional sorting device.

[Explanation of symbols]

 1 Rotating Body 4 Outlet 7 Pulse Motor 10 Encoder 12 Pulse Motor Driver 13 Control Unit 14 Judgment Unit 21 Rotation Amount Calculation Circuit 22 Rotation Direction Calculation Circuit 23 Pulse Oscillator 24 Counter 25 Comparison Circuit 26 Sequence Control Unit

Claims (1)

[Claims] 1. A rotary body for picking out parts by rank, a pulse motor for driving the rotary body, an encoder for detecting a rotational angle position of the pulse motor, and the rotary body up to a designated take-out position. Means for calculating the amount of rotation of the rotating body to determine the rotating direction of the rotating body, a pulse oscillator for generating a clock pulse, a counter for counting the number of pulses, and a counter output value for comparing the rotating amount of the rotating body. And a comparison circuit, rotating the rotating body in a direction in which the amount of rotation of the rotating body is minimized, and after stopping, confirm the stop position of the rotating body with an encoder, and if it is deviated from a predetermined position, move the position. A sorting device which corrects and takes out a component put into the rotating body to a predetermined position.