JP2003225876A - Remote control type cutting device - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a remote control type cutting device capable of eliminating a mutual interference, simplifying a control system, and shortening a cutting time. <P>SOLUTION: This remote control type cutting device is provided with a carrying machine 1, a first manipulator 2, a holding machine 3, a second manipulator 4, and a cutting machine 5. The cutting machine 3 is carried to a prescribed position by the second manipulator 4 that is rotated relative to the first manipulator 2. <P>COPYRIGHT: (C)2003,JPO

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a remote control type cutting device for cutting an object to be cut by remote control.

[0002]

2. Description of the Related Art A remote control type cutting device is a device for cutting an object to be cut, for example, by an operator who is distant from a remote place, directly operating an operating section or performing a setting operation for automatic control. . The cutting machine attached to the remote control type cutting device for performing such cutting work is, for example, gas, plasma,
It has the function of fusing the object to be cut with a laser or the like. When cutting with such a cutting machine, in general, there is often a constraint that a constant distance must be maintained between the cutting machine and the cutting target (hereinafter, gas of such a cutting machine, plasma, The distance from the laser irradiation port to the cutting target is called the reference distance).

For example, in the case of a cutting machine that performs thermal fusing with a laser, the cutting target must be located at a beam spot position where the optical power of the laser beam output from the laser irradiation port is concentrated. The reference distance between and must match the focal length. For the above reason, in the remote control type cutting device, positioning control is performed to keep the positional relationship between the cutting machine and the cutting target accurate.

Next, as an example of such a conventional remote control cutting device, a remote dismantling operation of a large structure such as a building will be described as an example. FIG. 4 is an explanatory diagram for explaining a remote dismantling work of a large structure by a remote control type cutting device of the related art. This remote control type cutting device is realized by the carrier machine 10, the manipulator 20 for gripping machine, and the gripping machine 30 regarding the gripping function, and is realized by the carrier machine 40, the manipulator 50 for cutting machine, and the cutting machine 60 regarding the cutting function. It

As shown in FIG. 4 (a), a manipulator 20 for a gripping machine, which is constituted by a robot link structure or a telescopic tube, is mounted on a carrier 10 which is a remote control type carriage. A gripping machine 30 is installed at the tip of 20. The gripping machine 30 grips a cutting target (a part of a large structure) 70 based on a preset control position plan.

Further, as shown in FIG. 4 (b), a manipulator 50 for a cutting machine having a robot link structure or a telescopic tube or the like is mounted on a carrier machine 40 which is a remotely operated carriage. A cutting machine 60 is installed at the tip of the manipulator 50. This carrier 40 is not related to the carrier 10 for the gripping machine 30 described above,
It is configured to move independently.

Next, the remote dismantling work will be described.
First, as shown in FIG. 4A, the gripping machine 30 is positioned and the cutting target 70 is gripped. The carrier 10 and the gripping machine manipulator 20 stop the gripping machine 30 after transporting based on a preset control position plan, and the gripping machine 30 grips the cutting target 70 after the stop. Subsequently, the cutting machine 60 is positioned as shown in FIG. Based on the control position plan established in advance, the carrier machine 40 uses the cutting machine manipulator 50 and the cutting machine 60.
To transport. This transfer position is the cutting plan line 80 (see FIG.
(A), (b) and (c) are the cutting start positions) and are separated by the reference distance.

Subsequently, cutting as shown in FIG. 4 (c) is performed. The cutting machine manipulator 50 conveys the cutting machine 60 along a preset cutting line 80. When the cutting target 70 has been cut along the planned cutting line 80, the gripping machine 30 holds the separated cutting target 70, so that the cutting target 70 does not drop.
After that, the cutting target 70 gripped by the gripping machine 30 is transported along with the movement of the transporting machine 10, and is placed on another place. After that, the same operation is repeated to dismantle the large structure. The remote dismantling work of a large structure by the remote control type cutting device of the prior art is like this.

[0009]

As described above, in the prior art, the gripping machine 30 is composed of the carrier machine 10 and the manipulator 20 for the gripping machine, and the cutting machine 60 is composed of the carrier machine 40 and the manipulator 50 for the cutting machine. The form in which the positioning is controlled independently has been common. In the remote dismantling work, it is necessary to perform highly accurate positioning control such that the reference distance from the irradiation port of the cutting machine 60 to the cutting target 70 is within an error range of about several millimeters, as in laser cutting. In order to satisfy such positioning accuracy, each of the carrier machine 10, the carrier machine 40, the manipulator 20 for the gripping machine, and the manipulator 50 for the cutting machine needs to be capable of highly accurate positioning control.

However, in order to cut a large structure, a robot link structure in which a plurality of long links are combined for positioning in a wide three-dimensional space, or a grip in which a long telescopic tube is combined is used. It is common to use the machine manipulator 20 and the cutting machine manipulator 50. The link of the long object attached with the drive source such as the motor as a reference, the tip of the telescopic tube has a large deflection, and more than one link and the telescopic tube are attached, so the manipulator 20 for the gripping machine and the manipulator for the cutting machine are attached. It is difficult to secure the rigidity of the gripping machine 50, and the gripping machine 30 attached to the tip of the gripping machine manipulator 20 and the cutting machine 60 attached to the tip of the cutting machine manipulator 50 are accurately positioned at predetermined positions in the three-dimensional space. It was extremely difficult to do.

Further, the carrier machine 10, the carrier machine 40, the gripping machine manipulator 20 or the cutting machine manipulator 50.
However, since the positioning errors are accumulated independently of each other, there is a problem that the positioning accuracy is synergistically deteriorated. Due to such circumstances, there is also a problem that the design of the control system becomes complicated.

Further, since the gripping machine 30 and the cutting machine 60 are separately positioned by remote control, the control is serially performed such that the operation controls the positioning of the cutting machine 60 after the positioning control of the gripping machine 30. (Sequential)
Had to do to. This is because the control of the carrier 10, the carrier 40, the manipulator 20 for the gripping machine, and the manipulator 50 for the cutting machine may cause collisions in parallel. Therefore, there is also a problem that it takes time to complete the positioning control.

Furthermore, the cutting machine manipulator 50 to which the cutting machine 60 is attached needs to move while avoiding obstacles in a space including a large structure. The carrier 10 and the gripping machine manipulator 20 that are positioned in advance
Also, the gripping machine 30 often becomes an obstacle. At the time of cutting, the carrier machine 10, the gripping machine manipulator 20, and the gripping machine 3
0, the carrier 40, the cutting manipulator 50, and the cutting machine 60 are in the middle of cutting in order to avoid mutual interference (that is, a state in which the existence of one machine hinders the movement of another machine). Also, it is necessary to temporarily stop the cutting work, move the cutting machine 60 and start cutting again so that mutual interference does not occur with the carrier machine 40 and the cutting machine manipulator 50, and there is a problem that it takes time to cut. It was Under such circumstances, if the control position plan fails, the remote control type cutting device may be damaged, and the control position plan needs to be carefully performed, which is also a problem.

The present invention has been made in order to solve these problems, and its purpose is to eliminate mutual interference, simplify the control system, and shorten the disconnection time, which is convenient and remote control type. It is to provide a cutting device.

[0015]

In order to solve the above-mentioned problems, according to a remote control type cutting apparatus as set forth in claim 1, a carrier machine moved to a predetermined position and a first machine installed in the carrier machine. A manipulator, a gripper attached to the tip of the first manipulator and conveyed to a predetermined position in a three-dimensional space, a second manipulator installed so as to move with the first manipulator as a reference, and the second manipulator.
A cutting machine attached to the tip of the manipulator and conveyed to a predetermined position in the three-dimensional space.

According to a second aspect of the remote control cutting device of the present invention, in the remote control type cutting device of the first aspect, the second manipulator is rotatably moved with the first manipulator as a reference. It is characterized in that the cutting machine is provided together with the second manipulator to move around the cutting target held by the gripping machine and cut the cutting target.

Further, according to the remote control type cutting device of the third aspect, in the remote control type cutting device of the second aspect, the central axis of rotation of the second manipulator is formed in a rotary body shape. It is characterized in that it substantially coincides with the central axis direction of the first manipulator.

[0018]

BEST MODE FOR CARRYING OUT THE INVENTION A remote control type cutting apparatus according to an embodiment of the present invention will be described below. FIG. 1 is an explanatory view of a remote control type cutting device of the present embodiment, FIG. 2 is a configuration diagram of a specific example of the remote control type cutting device of the present embodiment, and FIG. 3 is a cutting operation by the remote control type cutting device of the present embodiment. It is an explanatory view explaining.

In this embodiment, as shown in FIG. 1, at least a carrier 1, a first manipulator 2, a gripping machine 3, a second manipulator 4, and a cutting machine 5 are provided. The specific configuration is, for example, the structure shown in FIG. The carrier 1 is, for example, a cart that moves by remote control. This trolley can be moved along a rail or the like (not shown), and its positioning control is
It is performed by a remote control device (not shown).

The first manipulator 2 is a robot manipulator installed on the carrier 1, and is configured to be movable in a three-dimensional space. The gripper 3 is the first
It is attached to the tip of the manipulator 2. The first manipulator 2 and the gripping machine 3 are like a robot hand, for example, and the gripping machine 3 can grip the cutting target 6. The gripping machine 3 may be fixed at the tip of the first manipulator 2 or may be configured to be further rotated and driven at the tip of the first manipulator 2. These configurations are appropriately selected.

A second manipulator 4 is further attached to such a first manipulator 2. As shown in FIG. 2, the second manipulator 4 is configured to rotate in the direction of arrow a first. By securing this degree of freedom in the a direction, the second manipulator 4 rotates and moves around the cutting target 6 held by the gripping machine 3, and the cutting machine 5 can be conveyed to a desired position of the cutting target.

Further, the second manipulator 4 itself is a link structure capable of rotating in the directions of arrows b, c, d, e and f, and the tip of the second manipulator 4 is moved to an arbitrary position in the three-dimensional direction. It is made possible. That is,
The second manipulator 4 has 6 degrees of freedom (arrows a to f) capable of moving the cutting machine 5 along a planned cutting line on a flat surface or a curved surface. This advantage will be described later.

The cutting machine 5 is connected to the tip of the second manipulator 4. The cutting machine 5, as an example,
An apparatus for thermal fusing of gas, plasma, laser, etc. may be mentioned. For example, in the case of a device that performs thermal fusing with a laser, the cutting target 6 needs to be located at the beam spot position where the optical power of the laser beam output from the laser irradiation port is concentrated. The distance is
Strict control is performed during cutting work so as to maintain the reference distance.

Next, the remote dismantling work of a large structure using such a remote control type cutting device will be described. First, as shown in FIG. 1A, the gripping machine 3 and the cutting machine 5 are positioned and the cutting target 7 is gripped. The carrier machine 1 and the first manipulator 2 stop the gripping machine 3 after carrying based on a preset control position plan. And
After the stop, the gripping machine 3 grips the cutting target 6.

In this case, simultaneously with gripping, the carrier 1, the first manipulator 2 and the gripping machine 3 stop operating, and the motion reference of the second manipulator 4 is determined. The second manipulator 4 for performing the cutting operation only needs to operate in a limited space based on the gripping point, not in a wide motion space, and the second manipulator 4 can be downsized and has high rigidity. Can be secured. Further, compared with the conventional method of moving and positioning in a wide space like the dismantling work, since the position information is obtained by the gripping operation in the previous step, the cutting machine 5 can be positioned with high accuracy easily. As a result, the control efficiency can be improved by increasing the control speed.

Then, the cutting of the object to be cut is performed as shown in FIG. 1 (b). The preset cutting plan line 7 (Fig. 1
The second manipulator 4 conveys the cutting machine 5 along the dotted lines (a) and (b). Then, when the cutting target 6 has been cut along the planned cutting line 7, the cutting target 6 is not dropped because the gripping machine 3 holds the separated cutting target 7. After that, the cutting target 7 gripped by the gripping machine 3 is transported along with the movement of the transporting machine 1 and placed on another place. After that, the same operation is repeated to dismantle the large structure.

Next, another remote dismantling operation of a large structure using such a remote control type cutting device will be described. As shown in FIGS. 3A and 3B, when the cutting target is a rotating body, in the conventional technique, when moving the cutting machine 60 to the opposite side of the cutting target 70 as shown in FIG. The cutting machine manipulator 50 and the cutting machine 60 are
Since it interferes with the gripping machine manipulator 20 and the gripping machine 30, it is necessary to move the transfer machine 40 and then the cutting machine manipulator 50 and the cutting machine 60 to perform positioning control, which takes time. It was

However, in this embodiment, as shown in FIG.
As shown in (a), since the second manipulator 4 can be rotationally moved with the first manipulator 2 as a reference, the cutting machine 5 together with the second manipulator 4 moves around the cutting target 6 gripped by the gripping machine 3 in the circular direction. It becomes possible to cut the object 6 to be cut by moving to.

Further, the central axis of rotation of the second manipulator 4 is made to substantially coincide with the central axis direction of the first manipulator 2 formed in the shape of a rotary body, and the gripping machine 3 is further provided.
The center points of a plurality of grip points, which are contact points of the cutting target 6 and the cutting target 6, also pass through the central axis. That is, only by rotating the second manipulator 4 with the first manipulator 2 as a reference, it is possible to perform thermal spray cutting along the planned cutting line 7 with respect to the cutting target 6 which is a rotating body while maintaining the reference distance.

As described above, in this embodiment, the gripping machine 3 and the cutting machine 5 are integrated into one unit, and in particular, the turning operation is performed with the gripping machine 3 as a reference (the second manipulator 4 in the direction of arrow a in FIG. 2).
Rotates. The configuration having the degree of freedom of () has an advantage that the remote disassembling work of a large structure can be smoothly performed while avoiding the interference which has been a problem in the conventional technique.

[0031]

According to the remote control type cutting apparatus of the present invention described above, the gripping machine 3 and the cutting machine 5 are combined into one unit, and the gripping machine 3 and the cutting machine 5 are combined into one transport machine 1. Reach the large structure that is the target of dismantling. Positioning in a wide space is only required at this time. After positioning once and the gripping machine 3 completes the gripping operation, the second position is set so that the cutting planned line 7 necessary for cutting is traced with the position as the operation origin. It suffices to control the position of the manipulator 4, which eliminates the need for double-positioning operation time, and simplifies the design of the control system and improves the positioning accuracy.

Further, since the second manipulator 4 to which the cutting machine 5 is attached has only to move within the space of a predetermined area based on the gripping point by the gripping machine 3, a short arm length is sufficient up to the planned cutting line. Therefore, it becomes easy to secure sufficient rigidity for obtaining high positioning accuracy in terms of mechanical structure, and from this viewpoint, simplification of design of the control system and improvement of positioning accuracy can be realized. Furthermore, since the cutting machine can have a degree of freedom of movement around the gripped position, it is possible to avoid interference between the gripping machine and the cutting machine during the cutting operation.

In general, according to the present invention, mutual interference is eliminated, the control system is simplified, and the disconnection time is shortened.
It is possible to provide a remote control type cutting device which is easy to use.

[Brief description of drawings]

FIG. 1 is an explanatory diagram of a remote control type cutting device according to an embodiment of the present invention.

FIG. 2 is a configuration diagram of a specific example of a remote control type cutting device according to an embodiment of the present invention.

FIG. 3 is an explanatory diagram illustrating a cutting operation by the remote control cutting device according to the embodiment of the present invention.

FIG. 4 is an explanatory diagram for explaining a remote dismantling work of a large structure by a remote control type cutting device of the related art.

[Explanation of symbols]

1 carrier 2 First manipulator 3 gripping machine 4 second manipulator 5 cutting machine 6 cutting target 7 cutting plan line

Continued front page    (72) Inventor Akira Takagi             1-1 Tanabe Nitta, Kawasaki-ku, Kawasaki-shi, Kanagawa             Within Fuji Electric Co., Ltd. (72) Inventor Koji Matsumoto             1-1 Tanabe Nitta, Kawasaki-ku, Kawasaki-shi, Kanagawa             Within Fuji Electric Co., Ltd. F term (reference) 2E176 AA01 DD61 DD64                 3C007 AS11 AS12 AS21 BS09 BS28                       BT01 DS01 ES01

Claims (3)

[Claims] 1. A carrier machine which is moved to a predetermined position, a first manipulator installed on the carrier machine, and a gripping machine which is attached to a tip of the first manipulator and is carried to a predetermined position in a three-dimensional space. A second manipulator installed so as to move with the first manipulator as a reference; and a cutting machine attached to the tip of the second manipulator and conveyed to a predetermined position in the three-dimensional space. A characteristic remote control type cutting device. 2. The remote control type cutting device according to claim 1, wherein the second manipulator is provided so as to rotate and move with the first manipulator as a reference, and the second manipulator moves around a cutting target held by the gripping machine. A remote-controlled cutting device, wherein the cutting machine moves together with the second manipulator to cut an object to be cut. 3. The remote control cutting device according to claim 2, wherein a central axis of rotation of the second manipulator is substantially coincident with a central axis direction of the first manipulator formed in a rotary body shape. Remote control type cutting device.