JP2014151378A - Mechanical device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a mechanical device capable of ensuring safety by preventing an erroneous action.SOLUTION: A mechanical device 100 includes: a moving portion 10; a power source 20; a control portion 30; a sensor unit 40 which has a sensor 41 for detecting the approaching of the moving portion 10, and a transmitter 42 for transmitting information by a radio signal when the sensor 41 detects the approaching of the moving portion 10; and a receiver 50 which is connected to the control portion 30, receives the radio signal transmitted from the transmitter 42, and is equipped with a function for outputting a signal indicating the electric field strength of received frequency. The sensor units 40 is disposed at one or more places near a moving path of the moving portion 10 between a start point and an operation point. The control portion 30 controls the power source 20 on the basis of the received radio signal. The control portion 30 obtains the signal indicating the electric field strength before performing the control for operating the moving portion 10, and does not start the operation of the moving portion when the obtained signal indicating the electric field strength exceeds a regulation value.

Description

  The present invention relates to a mechanical apparatus such as an industrial assembly robot, and more particularly to a mechanical apparatus that can provide a mechanical apparatus that can prevent malfunction and ensure safety.

  Conventionally, in production lines that produce various industrial products, automatic machines and assembly robots that transport and process parts such as parts and assemble industrial products with automatic control, etc., for efficiency and uniform work. Mechanical equipment has been introduced.

  In Patent Document 1, as shown in FIG. 4, the robot sensor device 911 that measures the state of the mechanical device 902 uses a power generation module 904 that converts kinetic energy into electric power to supply power to the sensor 903 and the wireless circuit 906. . Further, the shortage of power generated by using the battery 905 in combination is compensated. By having means for switching the supply source, it is possible to cope with forgetting to turn off the power supply or power shortage, and it is possible to realize stable supply and operation.

  Since the power source is the power generation module 904 and the signal output is performed wirelessly between the wireless circuit 906 and the machine controller 901, the sensor device and the machine controller can be connected without wiring, and even when the machine device performs a multi-turn turning operation. Sensor information at the tip of a mechanical device can be measured.

  Since electric power is supplied from the power generation module 904, the entire wireless sensor device can be made compact and lightweight. Moreover, since the wiring can be eliminated, the degree of freedom of arrangement of the sensor device is improved, and even a machine such as a robot that moves around with multiple degrees of freedom can be easily attached to a necessary part and can obtain a sensor signal. Device technology is disclosed.

JP 2009-90421 A

  However, in the above-described conventional example, it is described that signal output is performed wirelessly between the wireless circuit 906 and the machine controller 901. However, in the case of wireless communication, it is caused by other wireless communication or interference waves such as electromagnetic noise. The signal may not be received. There has been a problem that malfunctions when communication is hindered by such interference waves are not taken into account, and there is a risk that the malfunctions may damage mechanical devices, parts around the mechanical devices, products, and the like.

  The present invention solves the above-described problems, and an object thereof is to provide a mechanical device that can prevent malfunction and ensure safety.

  In order to solve this problem, the mechanical device according to claim 1, a movable part that repeatedly operates between a starting point and an operating point within a movable range, a power source that operates the movable part, A control unit that controls the power source, and a sensor that detects the proximity of the movable part, and transmits information by a radio signal when the sensor detects the proximity of the movable part. A sensor unit having a transmitter; and a function of being connected to the control unit and receiving a radio signal transmitted from the transmitter of the sensor unit and outputting a signal indicating the electric field strength of the received frequency The sensor unit is disposed in the vicinity of a path along which the movable part moves from the starting point to the operating point, and the control unit receives the wireless The power source is controlled based on the number, and the control unit acquires a signal indicating the electric field strength before performing control for operating the movable unit, and the acquired signal indicating the electric field strength has a specified value. When it exceeds, the operation of the movable part is not started.

  According to a second aspect of the present invention, in the mechanical device, the control unit outputs a control signal for starting the movable unit, starts measuring time, and receives a receiver after a predetermined time has elapsed since the movable unit was started. Is controlled to acquire a signal indicating the electric field strength, and when the acquired signal indicating the electric field strength exceeds a specified value, the operation of the movable portion is stopped.

  The mechanical device according to claim 3 further includes display means connected to the control unit, and the control unit outputs a control signal for starting the movable unit and starts measuring time, When a signal indicating that the movable part has approached the sensor unit cannot be received and a predetermined time has elapsed, the movable part is stopped and a display indicating that the wireless signal from the sensor unit has not been received is displayed. It is characterized by displaying on a means.

  According to a fourth aspect of the present invention, in the mechanical device, when the control unit does not start the operation or controls to stop the movable unit, the signal indicating the time, the presence / absence of reception of the radio signal, and the electric field strength The value is recorded.

  According to a fifth aspect of the present invention, the mechanical device includes a power generation device in the sensor unit, and power is supplied from the power generation device to the sensor and the transmitter.

  According to the first aspect of the present invention, the control unit acquires a signal (hereinafter referred to as RSSI) indicating the electric field strength of the frequency received before performing control for operating the movable unit, and the acquired RSSI is a specified value. Control is performed so that the operation of the movable part is not started when the value exceeds. For this reason, when the RSSI indicating that the electric field strength of the frequency received due to electromagnetic noise or the like is obtained, it is determined that it is difficult for the receiver to correctly receive the radio signal transmitted from the transmitter, and the mechanical device is Can not be operated. Therefore, it is possible to provide a mechanical device that can prevent malfunction and ensure safety.

  According to the second aspect of the present invention, the control unit outputs a control signal for starting the movable unit and starts measuring time. Control is performed to stop the operation of the movable part when the acquired RSSI exceeds a specified value. For this reason, after starting the movable part, it is judged that it is difficult for the sensor unit to acquire the RSSI immediately before the radio signal is transmitted and to correctly receive the radio signal transmitted from the transmitter by the receiver. The operation can be stopped. Therefore, it is possible to provide a mechanical device that can prevent malfunction and ensure safety.

  According to the invention of claim 3, the control unit outputs a control signal for starting the movable unit and starts measuring time, and the receiver cannot receive a signal indicating that the movable unit is close to the sensor unit. When a predetermined time or more elapses, the movable part is controlled to stop. For this reason, malfunction can be prevented and safety can be ensured. In addition, since the fact that the wireless signal from the sensor unit could not be received is displayed on the display means, the fact that the mechanical device could not receive the wireless signal transmitted from the sensor unit is displayed and notified. Can do.

  According to the invention of claim 4, the control unit records the time, the presence / absence of reception of a radio signal, and the value of RSSI when control is performed so as not to start the operation or stop the movable unit. For this reason, by reading out the recorded information when the mechanical device does not start the operation or has an abnormal operation such as stopping the movable part, information for smoothly performing the cause analysis of the abnormal operation is provided. be able to.

  According to the invention of claim 5, the sensor unit is provided with the power generation device, and power is supplied from the power generation device to the sensor and the transmitter. For this reason, there is no need to arrange wiring for supplying power to the sensor and transmitter around the mechanical device, and there is no need to perform periodic replacement or the like as in the case of a battery. be able to.

  As described above, according to the present invention, it is possible to provide a mechanical device that can prevent malfunction and ensure safety.

It is a mimetic diagram showing appearance of a mechanical device concerning an embodiment of the present invention. It is a block diagram which shows the structure of the mechanical apparatus which concerns on embodiment of this invention. It is a flowchart which shows operation | movement of the mechanical apparatus which concerns on this embodiment. It is a figure explaining the mechanical apparatus of a prior art.

[First Embodiment]
The mechanical device 100 according to the first embodiment will be described below.

  First, the configuration of the machine device 100 according to the present embodiment will be described with reference to FIGS. 1 to 3. FIG. 1 is a schematic diagram showing an external appearance of the machine device 100. FIG. 1A is a diagram showing an example of an initial state before the machine device 100 operates, and FIG. The state which the movable part 10 of the apparatus 100 moved to the operating point is shown. FIG. 2 is a block diagram showing the configuration of the machine device 100. FIG. 3 is a flowchart showing the operation of the mechanical device 100.

  As shown in FIG. 1, the mechanical device 100 includes a base 1 fixed at an installation location and a movable part 10 attached to the base 1. The base 1 includes a pedestal 1a and a support column 1b that is fixed to the pedestal 1a.

  The movable part 10 is connected to the support part 1b of the base part 1, and the connection part with the support part 1b is connected to the first arm part 2 that is movable as a movable shaft, and the first arm part 2, and the first arm. The second arm part 3 is movable with the connecting part to the part 2 as a movable shaft, and the working part 4 is connected to the second arm part 3.

  When the mechanical device 100 is in the initial state shown in FIG. 1A, the first arm portion 2, the second arm portion 3, and the working portion 4 constituting the movable portion 10 and the movable portion 10 are at the starting positions. In the following, the description will proceed with the starting point of the working unit 4 as the starting point P.

  As shown in FIG. 1B, the working unit 4 provided in the movable unit 10 of the mechanical device 100 moves along a locus P-P ′ from the starting point P to the operating point P ′.

  That is, the working unit 4 of the movable unit 10 moves as a movable range from a starting point P that is a position before the operation is started to an operating point P ′ that is a position where the operation is performed. Accordingly, the working unit 4 alternately moves between the starting point P and the operating point P ′ and between the operating point P ′ and the starting point P, and repeatedly performs the operation. The movable part 10 is provided with a permanent magnet 11.

  Further, as shown in FIG. 2, the mechanical device 100 includes a movable unit 10, a power source 20, and a control unit 30, and includes a sensor unit 40, a receiver 50, and a display unit 60. Yes.

  The power source 20 supplies the movable unit 10 with power for moving the working unit 4 of the movable unit 10 between the starting point P and the operating point P ′ and for the working unit 4 to perform an operation at the operating point P ′. .

  The control unit 30 includes an arithmetic circuit (not shown), a timer, and a memory. The control unit 30 controls the power source 20 and controls the power supplied to the movable unit 10. Control the behavior.

  As shown in FIG. 1B, at least one sensor unit 40 is arranged near the path along which the movable unit 10 moves between the starting point P and the operating point P ′. The

  The sensor unit 40 is a proximity sensor, and includes a sensor 41 and a transmitter 42 as shown in FIG. In the sensor 41, a coil 41a and a rectifier circuit 41b constitute a power generation device, and when the movable part 10 comes close to the sensor unit 40, the permanent magnet 11 provided in the movable part 10 becomes the coil 41a of the sensor 41. By approaching, electric power is generated in the coil 41a. This power is supplied to the transmitter 42 via the rectifier circuit 41b, and the transmitter 42 transmits information as a wireless signal while the power is supplied from the rectifier circuit 41b, so that the sensor unit 40 operates as a proximity sensor. To do.

  The information transmitted by the transmitter 42 as a wireless signal indicates that the wireless signal received by the receiver 50, such as a code for identifying the sensor unit 40 (hereinafter referred to as an ID number), is a wireless signal from the sensor unit 40. Data for the controller 30 to identify is included.

  As shown in FIG. 2, the receiver 50 is connected to the control unit 30 and receives a radio signal transmitted from the transmitter 42 of the sensor unit 40. The receiver 50 has a function of outputting a signal (RSSI) indicating the electric field strength of the frequency to be received.

  As shown in FIG. 2, the display means 60 is connected to the control unit 30, and switches and displays the content to be displayed by a control signal from the control unit 30.

  Next, the operation of the mechanical device 100 will be described with reference to FIGS. 1 and 3. FIG. 3 is a flowchart for explaining the operation of the mechanical device 100, and shows the operation of the mechanical device 100 under the control of the control unit 30.

  In an initial state, which is a state before the mechanical device 100 starts operation, as shown in FIG. 1A, the working unit 4 of the movable unit 10 is located at the starting point P, and the control unit 30 20 is controlled, and no power is supplied to the movable part 10.

  First, the control unit 30 acquires RSSI output from the receiver 50 in step S1 shown in FIG.

  In step S2, the control unit 30 compares the RSSI acquired in step S1 with a predetermined value set in advance. As a result of the comparison, if the RSSI is lower than the specified value, the process proceeds to step S3, and if the RSSI is equal to or greater than the specified value, the process proceeds to step S11. At this time, since the movable unit 10 is not close to the sensor unit 40, the transmitter 42 of the sensor unit 40 does not transmit a radio signal.

  In step S <b> 3, the control unit 30 controls the power source 20 to start the movable unit 10, sets an initial value in the timer, and starts time measurement using the timer. The movable part 10 is started and starts moving from the starting point toward the operating point P ′, and is closest to the sensor unit 40 after the elapse of time t1, and is then driven to reach the operating point P ′ after the elapse of time t2. The

  In step S4, the control unit 30 controls the receiver 50 to acquire RSSI after a time t3 that is 10 msec earlier than t1 when the time measured by the timer is immediately before time t1.

  In step S5, the control unit 30 compares the RSSI acquired in step S4 with a predetermined value set in advance. As a result of the comparison, if the RSSI is lower than the specified value, the process proceeds to step S6, and if the RSSI is equal to or greater than the specified value, the process proceeds to step S11.

  In step S <b> 6, the control unit 30 controls the receiver 50 after the elapse of time t <b> 1 from the start and acquires a reception signal.

  In step S7, the control unit 30 proceeds to step S8 when the reception signal acquired from the receiver 50 is correctly received from the wireless signal transmitted from the transmitter 42 of the sensor unit 40, and is not correctly received. In this case, the process proceeds to step S11.

  In step S8, the control unit 30 controls the power source 20, and controls the movable unit 10 to stop once when the time measured by the timer reaches the time t2. By this control, the working unit 4 of the movable unit 10 reaches the operating point P ′ and stops as shown in FIG.

  In step S <b> 9, the control unit 30 controls the working unit 4 of the movable unit 10 to perform a predetermined operation at the operating point P ′, and completes the operation of the movable unit 10 at the operating point P ′. The predetermined operation here is, for example, that the working unit 4 of the movable unit 10 grasps the object at the operation point P ′, or separates the object, or tightens a screw or welds the object. It shows that a series of operations relating to movement, conveyance or processing of an object is performed.

  In step S10, the control unit 30 controls the power source 20 so that the movable unit 10 moves to the starting point and is in the initial state, and the operation ends.

  As described above, if it is determined in step S2 or step S5 that the RSSI is equal to or greater than the specified value, or if the received signal cannot be correctly received in step S7, the process proceeds to step S11.

  If it is determined in step S2 or step S5 that the RSSI is equal to or greater than the specified value, the frequency at which the radio signal is received when the transmitter 42 is not transmitting is electromagnetic noise such as jamming radio waves and the electric field strength is high. This is considered to be a state of being trapped. For this reason, there is a high possibility that the receiver 50 cannot correctly receive the radio signal transmitted by the transmitter 42 provided in the sensor unit 40.

  Moreover, when the received signal is not correctly received in step S7, the following cases can be cited. First, when the movable unit 10 does not approach the sensor unit 40 in the required time, second, when the sensor 41 of the sensor unit 40 cannot detect the proximity of the movable unit 10, and thirdly, a radio signal from the transmitter 42 Is the case where the wireless signal transmitted fourth cannot be received by the receiver 50.

  In any case, since the possibility that the movable unit 10 has approached the sensor unit 40 cannot be detected or is not likely to be high, the control unit 30 controls the power source 20 and stops the movable unit 10 in step S11. Let Therefore, when moving from step S2 to step S11, the movable part 10 does not start operation. When the process proceeds from step S <b> 5, after the movable part 10 is started, braking is applied in the vicinity of the sensor unit 40 and the operation is stopped in the state of approaching the sensor unit 40. When the process proceeds from step S7, braking is applied after approaching the sensor unit 40, and the operation is stopped before reaching the operating point P '.

  After stopping the operation in step S11, the control unit 30 controls to display on the display means 60 that the wireless signal from the sensor unit 40 could not be received in step S12, and proceeds to step S13.

  In step S13, the control unit 30 records the time, the presence / absence of reception of the radio signal, and the value of the signal indicating the electric field strength, which are controlled to stop the movable unit 10, in the memory, and ends the operation.

  Hereinafter, the effect by having set it as this embodiment is demonstrated.

  In the mechanical device 100 of the present embodiment, the movable unit 10 that repeatedly operates between the starting point P and the operating point P ′ within the movable range, the power source 20 that operates the movable unit 10, and the power source 20 are provided. A control unit 30 for controlling, a sensor 41 for detecting the proximity of the movable unit 10, and a transmitter 42 for transmitting information by a radio signal when the sensor 41 detects the proximity of the movable unit 10. , And a receiver 50 having a function of receiving a radio signal transmitted from the transmitter 42 of the sensor unit 40 and outputting RSSI of the frequency to be received. The sensor unit 40 is disposed in the vicinity of the path along which the movable unit 10 moves from the starting point P to the operating point P ′, and the control unit 30 is based on the received radio signal. The force source 20 is controlled, and the control unit 30 acquires the RSSI indicating the electric field strength before performing the control for operating the movable unit 10, and the operation of the movable unit 10 when the acquired RSSI exceeds a prescribed value. Did not start.

  For this reason, when it is judged that it is difficult for the receiver 50 to receive the radio signal transmitted from the transmitter 42 of the sensor unit 40 because the RSSI is large due to an interference wave such as electromagnetic noise, the mechanical device 100. Therefore, it is possible to provide a mechanical device that can prevent malfunction and ensure safety by not operating.

  In addition, the control unit 30 outputs a control signal for starting the movable unit 10 and starts measuring time, and controls the receiver 50 after a predetermined time has elapsed since the start of the movable unit 10 to acquire RSSI. When the acquired RSSI exceeded a prescribed value, the operation of the movable unit 10 was stopped.

  For this reason, it is possible to start the movable unit 10 and start measuring time, and to acquire the RSSI immediately before the movable unit 10 approaches the sensor unit 40 after a predetermined time has elapsed. Accordingly, when it is determined that the RSSI is large due to electromagnetic noise or the like after starting the movable unit 10 and it is difficult for the receiver 50 to receive a radio signal transmitted from the transmitter 42 of the sensor unit 40. The operation can be stopped. Therefore, it is possible to provide a mechanical device that can prevent malfunction and ensure safety.

  The display unit 60 further includes a display unit 60 connected to the control unit 30. The control unit 30 outputs a control signal for starting the movable unit 10 and starts measuring time. The movable unit 10 approaches the sensor unit 40. When a predetermined time has elapsed without receiving a signal indicating that the signal has been received, the movable unit 10 is stopped, and the display unit 60 displays that the wireless signal from the sensor unit 40 has not been received. I made it.

  For this reason, it is possible to prevent malfunctions and ensure safety, and to display and notify that the machine apparatus 100 has not received a radio signal transmitted from the sensor unit 40.

  In addition, the control unit 30 records the time, the presence / absence of reception of a radio signal, and the value of the signal indicating the electric field strength in a memory when control is performed so as not to start the operation or to stop the movable unit 10. .

  For this reason, when the mechanical device 100 does not start the operation or becomes an abnormal operation such as stopping the movable unit 10, information for smoothly analyzing the cause of the abnormal operation by reading the recorded information Can be provided.

  Further, in the sensor 41 of the sensor unit 40, a coil 41a and a rectifier circuit 41b constitute a power generation device, and power is supplied from the power generation device to the transmitter 42.

  For this reason, it is not necessary to arrange wiring for supplying power to the sensor 41 and the transmitter 42 around the mechanical device 100, and it is not necessary to perform periodic replacement or the like like a battery. You can reduce the chances of people entering.

  As described above, according to the mechanical device 100 of the present embodiment, it is possible to provide a mechanical device that can prevent malfunction and ensure safety.

  As described above, the mechanical device according to the embodiment of the present invention has been specifically described. However, the present invention is not limited to the above-described embodiment, and various modifications may be made without departing from the scope of the invention. Is possible. For example, the present invention can be modified as follows, and these embodiments also belong to the technical scope of the present invention.

  (1) The display means 60 of the mechanical device 100 of the present embodiment has not been described in detail, but a light-emitting element such as a light bulb or a light-emitting diode may be turned on or blinked, and information or the like may be displayed in text. Or a liquid crystal display device capable of displaying an image.

  (2) Although the operation of the mechanical device 100 of the present embodiment has been described using the flowchart shown in FIG. 3, the operation may be modified so that the operation is repeated at regular intervals. In addition, the time and the like exemplified in the description of the operation can be changed and applied as appropriate in accordance with conditions and the like required for the applied mechanical device.

  (3) The operation of the mechanical device 100 according to the present embodiment has been described with reference to an example in which the time, the presence / absence of reception of a radio signal, and the value of a signal indicating electric field strength are recorded in a memory during abnormal operation. You may comprise so that the recorded content may be displayed on the display means 60, such as a liquid crystal display device.

DESCRIPTION OF SYMBOLS 1 Base 1a Base 1b Support | pillar part 2 1st arm part 3 2nd arm part 4 Working part 10 Movable part 11 Permanent magnet 20 Power source 30 Control part 40 Sensor unit 41 Sensor 41a Coil 41b Rectifier circuit 42 Transmitter 50 Receiver 60 Display means 100 Mechanical device

Claims (5)

Within a movable range, a movable part that repeatedly operates between a starting point and an operating point;
A power source for operating the movable part;
A control device that controls the power source,
A sensor unit comprising: a sensor that detects that the movable part is in proximity; and a transmitter that transmits information by a radio signal when the sensor detects the proximity of the movable part;
A receiver connected to the control unit and having a function of receiving a radio signal transmitted from the transmitter of the sensor unit and outputting a signal indicating an electric field strength of a frequency to be received;
The sensor unit is disposed at least in the vicinity of a path along which the movable part moves between the starting point and the operating point.
The control unit controls the power source based on the received radio signal,
The control unit acquires a signal indicating the electric field strength before performing control to operate the movable unit, and performs an operation of the movable unit when the acquired signal indicating the electric field strength exceeds a specified value. Mechanical device characterized by not starting.   The control unit outputs a control signal for starting the movable unit and starts measuring time, and controls the receiver after a certain period of time has elapsed after starting the movable unit to obtain a signal indicating the electric field strength. The machine apparatus according to claim 1, wherein when the acquired signal indicating the electric field intensity exceeds a predetermined value, the operation of the movable portion is stopped. Further comprising display means connected to the control unit,
The control unit outputs a control signal for starting the movable unit and starts measuring time,
When the signal indicating that the movable part is close to the sensor unit cannot be received and a predetermined time or more has elapsed, the movable part is stopped,
The machine apparatus according to claim 1 or 2, wherein a display means displays that the wireless signal from the sensor unit could not be received.   The control unit records time, presence / absence of reception of a radio signal, and a signal value indicating electric field strength when control is performed so as not to start the operation or stop the movable unit. The mechanical device according to claim 3. The mechanical device according to claim 1, wherein the sensor unit includes a power generation device, and power is supplied from the power generation device to the sensor and the transmitter.