JP2000025664A - Work follow-up mechanism - Google Patents

Abstract

PROBLEM TO BE SOLVED: To perform an accurate work while following up a work by detecting the carrying speed of a carried work and following up the work in response to the carrying speed and detecting the relative position to the work and installing so as to follow up the work. SOLUTION: A chain conveyer is driven by a motor and the carrying speed of a car body 10 is detected by using an encoder installed on the motor. A glass installation device 20 is constituted of rails 21, 22, a follow-up mechanism 23 and a glass installation part 25. A distance measuring sensor A for detecting the relative position to the car body 10 or speed sensor B are installed to the follow-up mechanism 23. The follow up device 23 runs on the rail 21 based on the signal from the encoder of a chain conveyer and follows up the car body 10. Thereby, a moving table is moved reciprocatingly by controlling the motion of the servomotor and the installation work of the glass can be performed while following up the car body 10 accurately.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a work follower that can perform work while following a work, and more particularly to a work follower that can perform highly accurate work.

[0002]

2. Description of the Related Art In an automobile production plant, in order to perform an efficient operation, a follow-up device is used which enables the operation while following a conveyed vehicle body. A production machine such as a robot that works on a vehicle body is mounted on the tracking device.

[0003]

In such a conventional follow-up device, the follow-up device follows the vehicle body, and the work on the vehicle body is performed by a production machine such as a robot. Therefore, the accuracy of the tracking depends on the performance of the tracking device.

[0004] In recent years, however, it has become necessary to use a follow-up device to attach parts having extremely high working accuracy, and to make a mounted production machine follow the vehicle body with very high accuracy. This has become very difficult even in view of the improvement in the performance of the tracking device.

[0005] The causes are as follows. First of all, heavy objects such as the car body are often conveyed by a chain conveyor or the like, and the conveying distance is long. Therefore, the slackness of the chain causes the conveying speed of the car body to be periodic when viewed microscopically. To fluctuate. Next, the worker repeats getting on and off the vehicle body in order to mount parts on the vehicle body, and this causes load fluctuation, and the transport speed of the vehicle body fluctuates irregularly. Many production machines, such as robots, mounted on the follower are very heavy.

It is very difficult to accurately follow a vehicle body whose transport speed fluctuates periodically or irregularly while placing a heavy object, even if the responsiveness of control is improved. .

In the prior art, where high precision work was not required, the average speed of the vehicle body and the follow-up device could be reduced even if the transport speed of the vehicle body and the follow-up speed of the follow-up device slightly differed microscopically. If they were the same, they could work without any problem.However, when working with high precision, the fluctuation in the relative speed between the transport speed of the vehicle body and the following speed of the following device was microscopically observed. Has a significant effect.

In order to always keep the relative speed at zero, it is necessary to use a motor having a large power for the tracking device, or to perform special control in which fluctuations in the relative speed are predicted in advance. The problem of cost increase occurs. Not only that, if the tracking device itself is controlled to accurately follow the vehicle body, the mounted robots and other production machines will always vibrate, and if the robot arm or the like has insufficient rigidity, In addition, the work tip vibrates, so that work requiring accuracy can no longer be performed. To prevent the vibration, the rigidity of the robot may be further increased. However, this causes a vicious cycle in which the weight increases and the follow-up device becomes larger.

SUMMARY OF THE INVENTION The present invention has been made to solve such a conventional problem, and has as its object to provide a work follow-up apparatus which enables a high-precision work while following a work.

[0010]

The present invention for achieving the above object is constituted as follows. According to a first aspect of the present invention, there is provided a work transfer unit that transfers a work, a transfer speed detection unit that detects a transfer speed of the work transferred by the work transfer unit, and a transfer detected by the work transfer speed detection unit. A first follower for following the work in accordance with a speed, a relative position detector attached to the first follower for detecting a relative position between the first follower and the work, and a relative position detector. The first method that follows the work in accordance with the detected relative position.
A second follower attached to the follower.

According to a second aspect of the present invention, there is provided a work transfer means for transferring a work, a transfer speed detection means for detecting a transfer speed of a work transferred by the work transfer means, and a detection by the work transfer speed detection means. First follow-up means for following the workpiece according to the transport speed set;
Following speed detecting means for detecting a following speed at which the first following means follows the workpiece, and calculating a relative speed from the conveying speed detected by the conveying speed detecting means and the following speed detected by the following speed detecting means. Relative speed calculating means, and a second following means attached to the first following means for following the work at the same transfer speed as the transfer speed of the work according to the relative speed calculated by the relative speed calculating means. And a work following device.

According to a third aspect of the present invention, in the work follow-up device according to the first or second aspect, the first follow-up means is installed so as to be able to run along with the work carried by the work carrying means. And a movement control means for controlling the movement of the parallel running means in accordance with the transfer speed detected by the work transfer speed detecting means.

According to a fourth aspect of the present invention, there is provided a workpiece follower according to any one of the first to third aspects, wherein:
The first follower may follow the workpiece at an average speed of the transport speed detected by the workpiece transport speed detector.

According to a fifth aspect of the present invention, in the work follower according to the first or second aspect, the second follower can follow the work within a certain range with respect to the first follower. Alignment means mounted as
And a position control means for controlling the position of the positioning means so as to make the relative speed changing every moment calculated by the relative speed calculating means zero.

According to a sixth aspect of the present invention, in the workpiece follower according to the fourth aspect, the weight of the positioning means of the second following means is greater than the weight of the parallel running means of the first following means. It is characterized by being lightweight.

[0016]

The present invention configured as described above has the following effects. According to the first or second aspect of the present invention, the workpiece is made to follow by the two following means, the first following means and the second following means, so that the work can be more accurately followed.

According to the third or fourth aspect of the present invention, the movement of the first following means is controlled by the movement control means, and the following speed is the average conveying speed of the work. Without increasing the size of the means,
Following can be performed with simple control.

According to the fifth or sixth aspect of the present invention, the position control of the second follow-up means is performed by the position control means, and the weight of the positioning means constituting the second control means is reduced by the first follow-up means. Since the weight of the parallel running means is smaller than that of the means, the positioning means can relatively easily follow the workpiece without increasing the rigidity of the positioning means.

[0019]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below in detail with reference to the drawings. FIG. 1 is a schematic configuration diagram of a glass mounting apparatus to which a work follower of the present invention is applied. FIG. 2 is a configuration diagram of a glass attachment unit of the glass attachment device.

The vehicle body 10 as a work shown in FIG.
The workpiece is slowly transported rightward in the figure by a chain conveyor as a workpiece transport means. Since the chain conveyor is driven by a motor, the transport speed of the vehicle body 10 is detected using an encoder attached to the motor. Note that this encoder functions as a transport speed detecting unit.

A glass mounting device 20 for mounting glass on the rear and front of the vehicle body 10 is provided on the transport path of the vehicle body 10.

The glass mounting device 20 is mounted on the vehicle body 10.
A rail 21 provided along the transport path and a rail 22 for moving the rail 21 in parallel with the transport path.
Is mounted so as to be able to run freely. Further, a glass mounting portion 25 is mounted on a tip end of an arm 24 included in the following device 23. In other words, the glass mounting device 20 includes the rails 21 and 22
, The tracking device 23 and the glass mounting unit 25.

The follower 23 is suspended from the rail 21 and runs on the rail 21 by a motor (not shown).
The tracking device 23 includes a distance measuring sensor A for detecting a relative position with respect to the vehicle body 10 (detecting a relative position by detecting a distance from the vehicle body).
Alternatively, a speed sensor B (which determines the relative position from the relative speed with respect to the vehicle body) is attached. The distance measuring sensor A is a sensor for detecting a deviation from the vehicle body 10 from the distance of the vehicle body 10 from the hood, and the speed sensor B is a sensor for detecting a relative speed with respect to the vehicle body 10 based on light reflected on the vehicle body 10. Is an optical sensor for detecting. Although the figure illustrates a case where two sensors are attached, one of the sensors may be used in practice.

In this case, the distance measuring sensor A functions as relative position detecting means, and the speed sensor B functions as relative speed detecting means. Also, without using a sensor, the following speed of the following device 23 is calculated based on the encoder attached to the motor of this device, and the relative speed is calculated by the control device based on the transport speed of the chain conveyor and the following speed of the following device 23. You may make it calculate. In this case, the encoder functions as tracking speed detecting means, and the control device also functions as relative speed calculating means.

The follower 23 travels on the rail 21 based on a signal from the encoder of the chain conveyor, and
Follow 0. The following device 23 functions as a parallel running device that constitutes the first following device, and the following of the vehicle body 10 is performed at an average speed calculated based on a signal from the encoder. This control is performed by a control device, which will be described later, provided exclusively as movement control means.

In a transfer device for transferring a heavy object such as a chain conveyor, the transfer speed fluctuates at a speed such that a periodic change and an irregular change are combined when viewed microscopically. Since the tracking device 23 is very heavy, it is impossible to follow such microscopic fluctuations. For this reason, in the present invention, the following device 23 is made to follow at the average transport speed of the vehicle body 10. When such control is performed, a relative speed is generated between the vehicle body 10 and the following device 23, and the distance measuring sensor A and the speed sensor B detect the relative speed instead of the relative position. There is a glass mounting part 25 to absorb the relative speed, which will be described later.

As shown in FIG. 1 and FIG. 2, the glass mounting portion 25 is mounted on the tip of the arm 24. Can move the posture of the glass G with the handle 31 and attach the glass as shown in FIG.

The structure of the mechanism for changing the attitude of the glass in the glass mounting portion 25 is not particularly related to the present invention, and therefore will not be described in detail, but a rough configuration will be described.

The glass turning shaft 32 is a shaft for moving one end of the glass G so as to draw an arc in the height direction. The pitching adjustment axis 33 is an axis for swinging the glass G in the thickness direction about the axis. The rolling adjustment shaft 34 is made of glass G around this axis.
Is an axis for swinging in the thickness direction (swinging in a direction perpendicular to the pitching swing axis). The X-axis error absorbing mechanism 35 balances both ends of a shaft that can move left and right with a spring, and is a shaft that allows fine adjustment of the position of the glass G in the X-axis direction. The revolving shaft 36 is a shaft that can rotate the glass by ± 90 degrees about this axis.

These axes enable the operator to fit the glass G into the vehicle body 10 while keeping the glass G in the desired posture.

The shaft configuration and the arm 24 are
They are connected via a positioning unit 37. The positioning unit 37 is a part that functions as a positioning unit that constitutes the second tracking unit of the present invention.

FIG. 3 shows a detailed configuration of the positioning unit 37. FIG. 3A is a diagram illustrating the alignment unit 37 viewed from the same direction as FIG. 2, and FIG.
(A) is a figure which shows the alignment part 37 seen from the side surface of a figure.

The positioning unit 37 is provided with a servo motor 4
0, LM guide 41, ball screw 42, moving table 4
3 The moving table 43 is supported movably along the LM guide (in the direction of the front and back of the paper in FIG. 1A). The moving table 43 is provided with a nut portion 44 that engages with the ball screw 42. The rotation of the ball screw 42 causes the moving table 43 to reciprocate. The shaft configuration shown in FIG. 2 is connected to the moving table 43. Note that the operation of the positioning unit 37 is controlled by a controller described later specifically provided as a position control unit described later.

Therefore, the operation of the servomotor 40 is controlled to reciprocate the moving table 43 so that the relative speed between the following device 23 and the vehicle body 10 becomes zero and the relative position becomes constant. If this is the case, it becomes possible to perform the work of attaching the glass while accurately following the vehicle body 10. Since the weight of the positioning unit 37 is lighter than that of the follower 23, it is relatively easy to quickly respond to the ever-changing relative speed and relative position.

Next, the control of the follow-up device 23 and the positioning unit 3
The follow-up control of No. 7 will be described with reference to block diagrams and flowcharts shown in FIG.

As shown in FIG. 4, the distance measuring sensor A is input to a controller 50 functioning as movement control means or position control means via a sensor controller, and the speed sensor B is also input to the controller 50. In the present embodiment, two sensors, the distance measuring sensor A and the speed sensor B, are used, but one of the sensors is sufficient as described above.

The rotary encoder 52 is for calculating the following speed of the following device 23, and the signal from the encoder 52 is also input to the controller 50. This encoder 52 functions as a following speed detecting means. The encoder 52 is not particularly required when the speed sensor B is used.

The transport speed of the chain conveyor is detected by an encoder 54, and the detected signal is input to the controller 50.

The synchronization timing sensor 56 is a sensor for synchronizing the following of the vehicle body 10 conveyed by the chain conveyor and the following device 23. When a signal is output from the sensor 56, the following of the following device 23 is performed. Is started.

The inverter 57 controlled by the instruction of the controller 50 controls the rotation speed of the AC motor 58 of the follower 23. The controller 50 is
In addition, the operation of the servo motor 40 of the glass mounting unit 25 is controlled.

The above components constitute a basic loop circuit and a correction circuit, and the following operation is controlled by the following device 23 which follows a specific portion of the vehicle body 10 as a reference.

FIG. 5 is a block diagram showing only a control system of the following operation of the follower 23 as the first follower and the glass mounting portion 25 as the second follower in the block diagram shown in FIG.

As shown in FIG. 5A, the encoder 54
Then, a reference input signal is created from the conveyor speed detected by the above, and the speed creation circuit 60 creates a target value based on the reference input signal. Motor 58 of the tracking device 23
Rotates based on this target value, and the pulses output from the encoder 52 with this rotation are counted by the counter 62. D / A converter, inverter 57,
The follow-up of the follow-up device 23 is controlled by a closed loop including the motor 58, the encoder 52, and the counter 62.

As shown in FIG. 5B, a reference input signal is created from a signal detected by the distance sensor A or the speed sensor B, and a speed creation circuit 60 creates a target value based on the reference input signal. You. The motor 40 of the glass mounting portion 25, which is the second following means, rotates based on the target value, and the glass mounting portion 25 accurately follows the vehicle body 10.

FIG. 6A is a flowchart showing the following operation of the following device 23. The transfer speed of the chain conveyor is substantially constant as shown by the solid line A in FIG.

The vehicle body 10 conveyed to the chain conveyor is
When the synchronization timing sensor 56 of FIG. 4 detects, the following operation of the following device 23 is started (S1). When the following operation is started, the conveyor speed detected by the encoder 54 is input to the speed generating circuit 60, and the speed of the motor 58 is increased until the speed reaches this speed (S2). And
After catching up with the speed of the chain conveyor, it follows at a constant speed (S3).

The state of the speed fluctuation of the following device 23 is as shown by a dotted line B in FIG. In other words, the speed is gradually increased from the time when the vehicle body 10 is detected by the synchronous timing sensor 56, and the hunting is repeated slightly at a speed higher or lower than the speed of the chain conveyor, and follows at a constant speed.

FIG. 6B is a flowchart showing an operation of the moving table 43 of the glass mounting unit 25 following the operation.

The vehicle body 10 conveyed to the chain conveyor is
When the synchronization timing sensor 56 shown in FIG. 4 detects, the following operation of the glass mounting unit 25 is started (S11). When the following operation is started, a detection signal of the distance sensor A or the speed sensor B is input to the speed generating circuit 60, and the motor 4
0 increases the speed until it catches up to this speed. That is, the moving table 43 is moved so that the relative speed between the glass mounting portion 25 and the vehicle body 10 becomes 0, and the following device 23 is moved.
Is compensating for the speed that cannot be caught up. Since the weight of the glass mounting portion 25 is very light compared to the weight of the follower 23, the rising speed can be increased.
Such compensation is relatively easy (S12). After that, very high-precision tracking control is performed so that the relative speed between the tracking device 23 and the vehicle body 10 becomes zero (S1).
3).

The state of the speed fluctuation of the glass mounting portion 25 is shown by a dashed line C in FIG. That is, the speed is rapidly increased to compensate for the relative speed from when the vehicle body 10 is detected by the synchronous timing sensor 56,
In order to catch up with the conveyance speed of the vehicle body 10 quickly. After a short time, the speed of the follower 23 increases, and the speed of the glass mounting portion 25 is reduced with this increase. Thereafter, when the follower 23 reaches a steady speed,
The speed of the glass mounting device 25 is changed so as to cancel the periodic speed change of the chain conveyor (S13).

As described above, according to the work tracking device of the present invention, the tracking of the vehicle body 10 can be performed with very high precision by the two portions, the relatively heavy tracking device 23 and the light glass mounting portion 25. become.

In the present embodiment, the case where the present invention is applied to a glass mounting apparatus has been described as an example. However, the present invention is not limited to this. The following apparatus is divided into a heavy part and a light part, and the heavy part is If it is suitable for use to make it follow at the average speed of and to compensate for the fluctuation so that the relative speed between the following object and the heavy part becomes zero at the light part,
The present invention can be applied to any other production machines.

Next, a second embodiment of the work follower of the present invention will be described. In this embodiment, the glass mounting portion 25 is configured to be moved up and down by an elevating cylinder, and the follow-up control is slightly different from that of the first embodiment.

FIG. 8 is a diagram of the work following device according to the present embodiment as viewed from the transport direction of the vehicle. Rail 21
Are provided along the transport path of the vehicle body 10. This rail 21 is a rail 2 installed perpendicular to the transport path.
2 is movably attached to the vehicle body 1
A tracking device 23 that tracks 0 is mounted movably. The follower 23 includes a traveling unit 70 that runs on the rail 21, a slide unit 72 to which the glass attachment unit 25 is attached, and a lifting cylinder 7 that moves the slide unit 72 up and down.
4.

FIG. 9 is a diagram showing a specific configuration of the traveling section 70. The traveling unit 70 is attached to the rail 21 via a cam follower 71 so as to straddle the two rails 21, and a rack 76 for moving the traveling unit 70 is attached to one of the rails 21. This traveling unit 70
Are positioned so that the center position thereof coincides with the center position of the vehicle body 10. A motor 80 that rotates a pinion 78 that meshes with the rack 76 is attached to the traveling unit 70. The rotation of the motor 80 is controlled by a tracking control controller 82 and an inverter 84.

Therefore, when the motor 80 rotates, the traveling unit 70 moves in the transport direction of the vehicle body 10,
By controlling the rotation speed, the vehicle body 10 can be followed. This rotation speed is
It is controlled by the controller 82 according to the transport speed of 0.

FIGS. 10A and 10B are diagrams showing a specific configuration of the slide portion 72. FIG. This slide part 7
2 is a lifting cylinder 7 attached to the traveling unit 70
4 and is equivalent to the positioning unit 37 shown in the first embodiment.

The sliding portion 72 is provided with a lifting cylinder 74.
And a glass mounting part 25
And a table 100 to which the table 1 is attached.
00 is a servo motor 91 attached to the base 90
Driven by the linear motion guide 92 and the support unit 95.

The table 100 is supported so as to be movable along the linear guide 92 (in the direction of the front and back of the paper in FIG. 1B). The table 100 is provided with a nut portion 94 that engages with the ball screw 93. The table 100 reciprocates by the rotation of the ball screw 93 connected to the servomotor 91 via the coupling 96. This table 10
At 0, a hand or the like that directly works is attached, but in the present embodiment, the shaft configuration illustrated in FIG. 2 also illustrated in the first embodiment is connected. This slide part 72
Is controlled by the controller 102 and the servo unit 104 provided exclusively as position control means.

With the following configuration of the tracking device 23, the relative speed between the tracking device 23 and the vehicle body 10 becomes zero.
If the operations of the motor 80 and the servomotor 91 are controlled so that the relative position becomes constant,
The glass attaching operation can be performed while accurately following the vehicle body 10. Since the weight of the slide portion 72 is considerably lighter than the weight of the entire following device 23, it is relatively easy to quickly respond to the ever-changing relative speed and relative position.

FIG. 11 is an overall view of the work follow-up device according to the present embodiment, and is a diagram for particularly explaining a mounting state of a sensor used for follow-up. FIG.
(A), (B) is a figure which shows the specific attachment position of a sensor, FIG. 13 is a figure with which the function of a sensor is demonstrated. FIG. 14 is a block diagram illustrating a configuration of a control system of the sensor.

The sensor 110 is attached to a sensor arm 120 attached to the tracking device 23. As shown in FIG. 12, a sensor 110 is a displacement sensor 112 for detecting a relative position between the vehicle body 10 and the device.
(Also referred to as a synchronous sensor), and a reflective photoelectric sensor 114 (also referred to as a synchronous timing sensor) for detecting intrusion of the vehicle body 10.

As shown in FIG. 13A, the reflection type photoelectric sensor 114 detects a window frame portion of the vehicle body 10 from a change in reflected light, thereby detecting an intrusion of the vehicle body 10. The detection signal from the reflection type photoelectric sensor 114 is input to the input unit of the controller 116 shown in FIG.

The displacement sensor 112 is a reflection type photoelectric sensor 1
The relative position information output from the displacement sensor 112 is amplified by an amplifier 118, and the relative position information output from the displacement sensor 112 is amplified by the controller 116.
Input to the high-speed counter. The controller 11
Numeral 6 can input relative position information from the displacement sensor 112 at intervals of 10 msec and detect the relative position in mm units.

The general mechanical configuration of the workpiece follower of the present embodiment is as described above. Next, the overall configuration and operation of the control system will be described in detail. FIG.
FIG. 3 is a block diagram of a control system according to the present embodiment.

The axis controller 130 in the figure functions as movement control means or position control means.
The controller 82 for following control shown in FIG. 9 and the controller 10 functioning as the position control means shown in FIG.
2. It has the functions of the three controllers of the controller 116.

The detection signal from the reflection type photoelectric sensor 114 is directly input to the axis controller 130. The axis controller 130 starts following control in response to the input of the detection signal. The relative position information output from the displacement sensor 112 is amplified by the amplifier 118 and input to the axis controller 130 as a pulse output.

A motor 80 for driving the traveling unit 70 is connected to a shaft controller 130 via an inverter 84,
The axis controller 130 moves the traveling section 70 in synchronization with the vehicle body 10 based on the relative position information from the displacement sensor 112.

Servo motor 9 for driving slide 72
1 is an axis controller 1 via the servo unit 104
30, the axis controller 130 moves the slide portion 72 in synchronization with the vehicle body 10 based on relative position information from the displacement sensor 112.

Next, the operation of the workpiece follower according to the present embodiment will be described with reference to the flowcharts of FIGS. The flowcharts shown in FIGS. 16 and 17 show the control of the traveling unit 70.

First, the chain conveyor is driven and the vehicle 1
0 is conveyed (S21), and as shown in FIG. 13, when the reflection type photoelectric sensor 114 detects the window frame portion of the windshield of the vehicle body 10, the axis controller 130 outputs the relative position information output from the displacement sensor 112. The transport speed of the vehicle body 10 is calculated based on The specific steps of calculating the transport speed are shown in the flowchart of FIG. This flowchart will be described later (S22).

The axis controller 130 controls the motor 80 for driving the traveling unit 70 based on the calculated transport speed of the vehicle body 10.
Is calculated (S23), and the relative position detected by the displacement sensor 112 (as shown in FIG. 13B, a position X mm behind the window frame is set as a synchronization reference position,
If the difference between the reference position and the current position value is −20 mm or more, the inverter startup speed is set to double, while if the relative position is −2 mm or more, the inverter speed is set to V.

That is, when the running section 70 starts following the reference position, the rotation speed of the motor 80 is changed depending on how far the running section 70 is. When the vehicle is located 20 mm or more in front, the traveling unit 70 is started slowly, and when it is 2 mm or more in front, it is moved at the set inverter speed V (S24 to S2).
7).

Next, after the follow-up is started, the traveling unit 7
When 0 is behind the reference position by 2 mm or more, that is, when the motor 80 follows a slight delay, the motor 80 is rotated at a speed obtained by adding α to the inverter speed V so as to catch up with the reference position ( S28, S29) Also, when the traveling unit 70 is located at least 2 mm ahead of the reference position, that is, when following the tendency to run ahead, the motor 80 is rotated at a speed obtained by subtracting α from the inverter speed V. To approach the reference position. This control is repeatedly performed during the follow-up period (S30, S31).

During the following, the traveling unit 70 is moved two
When the vehicle has run ahead by 0 mm or more, the inverter speed is set to 0 and the traveling unit 70 is stopped (S32, S3).
3). As described above, the traveling unit 70 normally follows the reference position within a range of ± 2 mm.

FIG. 17 is a subroutine flowchart of the processing for calculating the transport speed of the vehicle body 10 shown in step 22 of FIG. The chain conveyor is driven and the car body 1
0 is started, and as shown in FIG. 13, when the reflection type photoelectric sensor 114 detects the window frame portion of the windshield of the vehicle body 10 (S41), the axis controller 130 is started.
The value of the high-speed counter for the displacement sensor 112 provided in is reset to 0 (S42). When the vehicle body 10 continues to be transported and reaches the reference position (S43), two measurement timers built in the axis controller 130 are reset (S44). When the measurement timer 1 measures 100 msec, the axis controller 130 stores (stores 1) the position (current value) from the reference position (S45, S46). When the measurement timer 2 measures 200 msec, the axis controller 1
Reference numeral 30 stores the position (current value) from the reference position (storage 2).
(S47, S48).

The axis controller 130 obtains a displacement amount of 100 msec from the two stored current values (S49), and obtains the transport speed of the vehicle body 10 from this displacement amount (S50).

FIG. 18 is a flowchart showing the operation of the slide section 72.

When the measurement timer built in the axis controller 130 has counted 10 msec, the displacement sensor 11
The relative position detected in step 2 is detected (S51). As a result of this detection, when the traveling unit 70 is located within 2 mm ahead of the reference position, the difference between the reference position and the current position is set as the operation amount of the slide unit 72 (S52, S5).
3) On the other hand, when the traveling unit 70 is located within 2 mm behind the reference position, the difference between the reference position and the current position is set as the operation amount of the slide unit 72 (S54, S5).
5). The above control is repeatedly performed when the relative position detected by the displacement sensor 112 is within 20 mm,
When the distance exceeds 20 mm, the process ends (S56).

As a result, the servo motor 91 moves the slide portion 72 by the amount of deviation from the reference position, and absorbs the error of the following by the traveling portion 70.

As described above, the relatively heavy running section 7
0 is controlled based on the relative position detected every 100 msec.
The control is performed based on the relative position detected each time.

Therefore, according to the work follow-up device in the present embodiment, accurate follow-up is possible based on the deviation from the reference position set in advance on the vehicle body.

[Brief description of the drawings]

FIG. 1 is a schematic configuration diagram of a glass mounting device to which a work following device of the present invention is applied.

FIG. 2 is a configuration diagram of a glass attachment unit of the glass attachment device in the work following device according to the present invention.

FIG. 3 is a diagram showing a detailed configuration of a positioning unit in the work following device according to the present invention.

FIG. 4 is a block diagram of a control system of the work following device according to the present invention.

FIG. 5 is a block diagram of a control system of a first following unit or a second following unit of the work following device according to the present invention.

FIG. 6 is a diagram for explaining the operation of the control system of the work following device according to the present invention.

FIG. 7 is a flowchart showing control of the work following device according to the present invention.

FIG. 8 is a view of a work following device according to a second embodiment as viewed from a transport direction of a vehicle.

FIG. 9 is a diagram showing a specific configuration of a traveling unit shown in FIG.

FIGS. 10A and 10B are diagrams showing a specific configuration of a slide unit shown in FIG. 8;

FIG. 11 is an overall view of a work following device according to the present embodiment.

12A and 12B are diagrams showing specific mounting positions of the sensor, wherein FIG. 12A is a top view of the sensor, and FIG. 12B is a front view of the sensor.

FIG. 13 is a diagram provided for describing a function of a sensor.

FIG. 14 is a block diagram illustrating a configuration of a sensor control system.

FIG. 15 is a block diagram of a control system of the work following device according to the present embodiment.

FIG. 16 is a flowchart illustrating control of the work following device according to the present embodiment.

FIG. 17 is a flowchart illustrating control of the work following device according to the present embodiment;

FIG. 18 is a flowchart illustrating control of the work following device according to the present embodiment.

[Explanation of symbols]

 Reference Signs List 10: vehicle body, 20: glass mounting device, 23: tracking device, 25: glass mounting portion, 37: alignment portion, 40: motor, 43: moving table, 50: controller, 70: traveling portion, 72: sliding portion, 74: lifting cylinder, 110: sensor, 112: displacement sensor, 114: reflection type photoelectric sensor, 130: axis controller.

Claims (6)

[Claims] 1. A work transfer means for transferring a work, a transfer speed detection means for detecting a transfer speed of a work transferred by the work transfer means, and a transfer speed detected by the work transfer speed detection means. A first follower for following the work, a relative position detector attached to the first follower for detecting a relative position between the first follower and the work, and a relative position detected by the relative position detector. And a second follower attached to the first follower that follows the work according to a position. 2. A work transfer means for transferring a work, a transfer speed detection means for detecting a transfer speed of the work transferred by the work transfer means, and a transfer speed detected by the work transfer speed detection means. A first following means for following the work, a following speed detecting means for detecting a following speed at which the first following means follows the work, a conveying speed detected by the conveying speed detecting means, and a following speed detecting means. A relative speed calculating unit that calculates a relative speed from the detected following speed, and a second speed that follows the workpiece at the same transport speed as the transport speed of the workpiece according to the relative speed calculated by the relative speed calculating unit. A work follower comprising: a first follower attached to a second follower. 3. The first follow-up means includes: a parallel running means installed so as to be able to run in parallel with the work conveyed by the work conveying means; 3. The work following device according to claim 1, further comprising a movement control means for controlling movement of the means. 4. The apparatus according to claim 1, wherein said first following means follows the workpiece at an average speed of the transport speed detected by said workpiece transport speed detecting means. 2. The work following device according to claim 1. 5. The apparatus according to claim 5, wherein the second follow-up means includes a positioning means attached to the first follow-up means so as to follow the work within a predetermined range, and a momentary change calculated by the relative speed calculation means. 3. The apparatus according to claim 1, further comprising: position control means for controlling the position of the positioning means so as to reduce the relative speed to zero. 6. The apparatus according to claim 5, wherein the weight of the positioning means of the second tracking means is smaller than the weight of the parallel running means of the first tracking means.