JPH0546250A - Positioning device - Google Patents

Abstract

PURPOSE:To provide a positioning device which can accurately decide the parallel position to a camera for detecting the inner layer material of a laminated wood, the position to the center of the detecting area of the camera for detection and further, the position of the center of the inner layer material. CONSTITUTION:The device is equipped with a three axis controllable pedestal 2 to mount a work 1, two plate thickness deviation detectors 31 and 32 to detect and measure the change of the plate thickness of the side edge part in the X direction of the work 1, and one plate thickness deviation detector 33 to detect and measure the change of the plate thickness of the side edge part in the Y direction. Respective plate thickness deviation detectors 31-33 move a detecting body 8 on the work 1 and detect the change of the plate thickness of the work 1. By the detecting signal of the plate thickness deviation detectors 31-33, the position of the side edge end of the inner layer material of the work 1 can be detected, and by the detection, the control signal to sequence-control the three axes of a pedestal 3 is generated.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a positioning device.

[0002]

2. Description of the Related Art When a guide mark written on an inner layer material of a laminated material is captured by a detection camera such as an X-ray camera and a hole is made in the laminated material on the basis of the captured guide mark, the guide mark of the inner layer material is It is necessary to position the laminate so that it is within the narrow field of view of the detection camera.

[0003]

By the way, in the conventional positioning of the laminated material, when the workpiece 1 which is the laminated material is conveyed by the conveyor as shown in FIG. 9, the peripheral edge of the work 1 is stopped as shown by an arrow. Although it was mainly performed and positioned, since the outer shape of the work 1 as a laminated material is uneven, the inner layer material 1a is parallel to the detection camera, the position of the detection camera with respect to the center of the detection area, The positioning of the center of the inner layer material 1a was rough.

The present invention has been made in view of the above points, and its object is to make the inner layer material of the laminated material parallel to the detection camera, the position of the detection camera to the center of the detection area, and It is an object of the present invention to provide a positioning device capable of accurately determining the position of the center of a work.

[0005]

In order to achieve the above-mentioned object, the present invention provides a pedestal capable of triaxial positioning on which a work made of a laminated material having an inner layer material is placed, and a work on the pedestal. A plate thickness deviation detector provided so as to detect a change in the plate thickness of the side end portion in the X direction and the Y direction in at least one place in one direction and at least two places in the other direction,
The control means controls the three axes of the pedestal so that the position of the inner layer material in the work becomes a constant position based on the detection data from each plate thickness deviation detector.

[0006]

According to the present invention, the position of the inner layer material can be detected based on the plate thickness detection data of the plate thickness deviation detector, and the cradle 3 can be detected based on the position detection of the inner layer material. By controlling the axis, the center position of the inner layer material, the parallel position with respect to the detection camera, and the position with respect to the center of the detection area of the detection camera can be accurately positioned.

[0007]

EXAMPLES The present invention will be described below with reference to examples. FIG. 2 shows a schematic process of a guide mark detection system using the device of the present invention. In the illustrated process, a work 1 made of laminated materials is placed on a pedestal 2 which can be controlled by three axes and is used in the positioning device of the present invention. Then, the changes in the plate thickness of the side edges of the work 1 in the X direction and the Y direction are detected by the plate thickness deviation detectors 3 ₁ , 3 ₂ , 3 ₃ , and the pedestal 2 is triaxially moved based on the detected data. A step of controlling and positioning the inner layer material 1a of the work 1 and two X's mounted on the second receiving table 4 in this positioned state
A step of moving to the detection area of the line cameras 5 ₁ and 5 ₂ ;
And the step of detecting the guide mark of the inner layer material 1a with the X-ray cameras 5 ₁ , 5 ₂ . In addition, a in the figure indicates the moving range of the cradle 4.

The embodiment of the positioning apparatus of the present invention is, as shown in FIG. 1 and FIG. 3, a pedestal 2 on which a work 1 is placed and which can be controlled by three axes, and a plate of a side end portion of the work 1 in the X direction. Two plate thickness deviation detectors 3 ₁ and 3 ₂ for detecting and measuring the change in thickness, and 1 for detecting and measuring the change in plate thickness at the side end portion in the Y direction of the work 1.
Plate thickness deviation detector 3 ₃ and each plate thickness deviation detector 3 _{1 to} 3
An A / D converter 6 for A / D converting the detection signal from ₃ .
As well as create a control signal for controlling the simple servomechanism (not shown) for moving the thickness deviation detector 3 ₁ to 3 _3,
And a control arithmetic unit 7 for arithmetically generating a control signal for sequence-controlling a three-axis servo mechanism (not shown) of the pedestal 3 based on the detection data digitally converted by the A / D converter 6. It

The pedestal 2 has the work 1 in the X direction shown in FIG.
Along with the movement in the Y direction, it is possible to perform three-axis control capable of rotating by an arbitrary angle θ in the horizontal plane direction. In the figure, O ₀ indicates the center position of the work 1 when it is arranged at the regular position. The thickness deviation detector 3 ₁ to 3 _3, for example, 0.
It has a detection capability of about 1 mm, and detects the change in the plate thickness value while moving the tip of the detection body 8 in contact with the upper surface of the work 1 as shown in FIG. There is a slight deviation Δt between the thickness of the portion where the inner layer material 1a exists and the thickness of the portion where there is no inner layer material 1a, and the position of the inner layer material 1a can be detected by detecting this deviation Δt. The starting point of the detection is a constant distance value L ₀ from the side edge of the work 1 as shown in FIG. 6, and the plate thickness deviation detector 3 is provided from the position of the constant distance value L ₀ to the side edge by the simple servo mechanism. Is moved to output the change in the detection value by the detection body 8 as a detection signal. Therefore, since the distance b from the origin position O of the plate thickness deviation detector 3 to the detection start point changes depending on the size of the work 1, the work 1 is started when the detection is started.
The plate thickness deviation detector 3 is controlled to move to a predetermined position by a simple servo mechanism in accordance with the size.

[0010] When the workpiece 1 on Thus to cradle 3 is mounted, the control calculation unit 7 KakuitaAtsu deviation detector 3 ₁ to 3 ₃ to respectively move the plate thickness deviation detector 3 ₁ - The detection bodies 8 of 3 ₃ are positioned at the detection start points of the corresponding works 1, and the plate thickness detection is started. The control calculation unit 7 detects the deviation Δt based on the detection data of the plate thickness, and this detection detects the deviation Δt.
The position of the side edge of the pedestal is detected, and the amount of movement of the pedestal 2 in the X and Y directions and the amount of rotational movement are calculated from the detected position to create a control signal.

Here, how to obtain each movement amount will be described with reference to FIGS. 7 and 8. First, the work 1 is the regular cradle 1
The distance data of the center lines of the inner layer material 1a of the work 1 in the X direction and the Y direction and the origin positions O _{1 to} O ₃ of the plate thickness deviation detectors 3 _{1 to} 3 ₃ when the workpiece 1 is placed at the position PY, The control calculation unit 7 is previously stored as PX. And arithmetic control unit 7
When it detects the side edge of the inner layer material 1a by the detection data KakuitaAtsu deviation detector 3 ₁ to 3 _3, the detection point, thickness deviation detector 3 ₁ to 3 ₃ of the origin position O ₁ ~ O obtaining the distance Y _1, Y _2, X ₁ between the _two.

Further, the inner layer material 1 by the plate thickness detectors 3 ₁ and 3 ₂
The length c between the detection positions of the side edges in the X direction of a is defined by the difference value a between the distances Y ₁ and Y ₂ and the origin position O ₁ and O _{2 of} the plate thickness deviation detectors 3 ₁ and 3 _2. From the distance b of c = (a ² + b
² ) ^{Calculate using} the formula ^1/2 . Furthermore, tan θ and cos θ corresponding to the inclination of the side edge are tan θ = a / b and c, respectively.
osθ = b / c.

Next, the difference α between the position of the side edge of the inner layer material 1a in the Y direction and the origin position O ₂ of the plate thickness deviation detector 3 ₂ when the inclination θ is set to 0 is , X-ray camera 5 ₁ ,
From the camera center line passing so as to divide the line connecting 5 ₂ into 5 and the distance K to the detection position and the above tan θ, α = K ×
Calculate as tan θ. Further, from the distance X ₁ from the origin position O ₃ to the detection position of the plate thickness deviation detector 3 ₂ and the above PX,
The distance SX between the position of the side edge of the inner layer material 1a in the Y direction when the inclination θ is 0 and the center line of the inner layer material 1a in the Y direction at the time of positioning is calculated by the formula SX = PX-X ₁ .

Further, the distance X between the center line in the Y direction and the side edge in the Y direction when the inner layer material 1a is positioned by these means.
Is calculated from the equation X = (SX−α) × cos θ. Further, the position SY of the side edge of the inner layer material 1a in the Y direction when the inclination θ is 0 and the distance SY to the center line in the X direction when the inner layer material 1a is positioned are PY and the distance Y. ₁ , Y ₂
Then, SY = PY− (Y1 + Y2) / 2 is obtained.

From this distance SY and the above cos θ, the distance Y to the center line in the X direction and the side edge in the X direction when the inner layer member 1a is positioned is obtained from the equation Y = SY × cos θ. From the distances X and Y thus obtained, the length XL of the side edge in the X direction of the inner layer material 1a shown in FIG. 7, and the length YL of the side edge in the Y direction, the X-axis movement amount is calculated as X-. XL / 2, Y
The axial movement amount is calculated as Y-YL / 2. In addition, the rotational movement amount is t
Calculated from an ^-1 (a / b).

The arithmetic and control unit 7 further prepares a control signal for each axis of the pedestal 2 based on the obtained movement amounts. When the pulse motor is used as a drive means for each axis of the pedestal 2, the number of drive pulses is calculated and a predetermined number of drive pulses are output.

[0017]

Industrial Applicability According to the present invention, there is provided a pedestal on which a work made of a laminated material having an inner layer material can be placed, and a plate thickness of side edges of the work on the pedestal in the X and Y directions. Based on the plate thickness deviation detector provided so as to detect the change in at least one place in one direction and at least two places in the other direction, and the detection data from each plate thickness deviation detector,
Since there is provided control means for controlling the three axes of the pedestal so that the position of the inner layer material in the work becomes a constant position, the position of the inner layer material based on the sheet thickness detection data of the sheet thickness deviation detector is provided. By detecting the position of the inner layer material and controlling the pedestal on three axes, the center position of the inner layer material, the position parallel to the detection camera, and the position of the detection camera relative to the center of the detection area can be detected. The effect is that the positioning can be performed with high precision.

[Brief description of drawings]

FIG. 1 is a process explanatory diagram of a timing mark detection system using an apparatus according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of an apparatus according to an embodiment of the present invention.

FIG. 3 is a configuration diagram of a control system of an apparatus according to an embodiment of the present invention.

FIG. 4 is an explanatory diagram of a cradle used in the apparatus according to the embodiment of the present invention.

FIG. 5 is an explanatory diagram of sheet thickness deviation detection of the sheet thickness deviation detector used in the apparatus according to the embodiment of the present invention.

FIG. 6 is a position explanatory view of a plate thickness deviation detector used in the apparatus according to the embodiment of the present invention.

FIG. 7 is a dimensional explanatory view of the inner layer material for explaining the movement amount calculation of the device of one embodiment of the present invention.

FIG. 8 is a diagram for explaining a movement amount calculation of the apparatus according to the embodiment of the present invention.

FIG. 9 is an explanatory diagram of a conventional example.

[Explanation of symbols]

1 Work 2 cradle 3 ₁ thickness deviation detector 3 ₂ thickness deviation detector 3 ₃ thickness deviation detector 8 detects body

Claims (1)

[Claims] 1. A pedestal on which a work made of a laminated material having an inner layer material is placed and which can be positioned on three axes, and a change in the plate thickness of a side end portion of the work on the pedestal in the X and Y directions. In the direction of, and in at least two places in the other directions, the plate thickness deviation detectors provided so as to detect each, and based on the detection data from each plate thickness deviation detector, A positioning device comprising: control means for controlling the three axes of the pedestal so that the position of the inner layer material is constant.