JPS6431010A - Detecting apparatus of center of cylindrical body - Google Patents

Abstract

PURPOSE:To detect accurately the center of a cylindrical body having no mark on its center, by moving a touch sensor in the directions wherein it contacts with four points in total, i.e. one arbitrary point on the outer periphery of the cylindrical body, two arbitrary points on the inner periphery thereof and one prescribed point determined from these points. CONSTITUTION:An arbitrary point A on the outer periphery of a cylindrical body 1a, arbitrary points B and C on the inner periphery thereof and an intersecting point D of a vertical line intersecting perpendicularly the middle point M of these two points on the inner periphery, and of the inner periphery, totaling four points, are detected by a touch sensor 21 outputting a detection signal by contacting with the fixed cylindrical body 1a while moving. On the basis of the detection signal of the sensor 21 and the amount of movement thereof, the center X of the cylindrical body 1a is indexed by a sensor computation means 50. According to this constitution, the center of the cylindrical body can be indexed on the basis of sure and accurate data obtained from the contact of the sensor 21 with the outer and inner peripheries of the cylindrical body. By mounting this apparatus on a robot 10 or the like therefore, the precision in positioning the center of the cylindrical body at the time of operation of the robot or the like can be improved remarkably.