JPH02190276A - Orientation stabilizing device for self-running type robot - Google Patents

Abstract

PURPOSE:To stop a robot with high stability without controlling a drive wheel by a method wherein a securing member is mounted to the one of the surfaces, positioned facing each other, of a working table and the robot, and grasping claws to grasp the securing member are openably mounted to the other. CONSTITUTION:When a moving command is received by a robot 1, a drive motor is run, and the running force thereof is transmitted through a bevel gear to a pair of wheels. In this case, a signal from an encoder is inputted and through control of a rotation difference between the two wheels, the robot is longitudinally and laterally moved, and is moved to a commanded position. By driving an opening and closing cylinder 22 mounted to a base bed 13 of the robot and closing grasping claws 21, a boss (securing member) 24 mounted to a working table 23 of a machine tool is grasped to secure the position of the robot.

Description

DETAILED DESCRIPTION OF THE INVENTION <Industrial Application Field> The present invention relates to a posture stabilizing device for a self-propelled robot that is self-propelled by a pair of wheels arranged in parallel.

<Prior Art> Conventionally, wheels are rotatably supported at one end of a pair of support plates facing each other, a base is coupled to the other end of the support plates, and a drive motor for driving the wheels is attached. There is a self-propelled robot that is placed on a base. This robot moves while maintaining the balance of the robot on the base by controlling the driving force of a pair of wheels. Because these robots are extremely compact, they are used in places with narrow passageways and high places.

<Problem to be solved by the invention> However, since a two-wheeled vehicle, which is unstable in its natural state, is stabilized by controlling the driving force of the wheels, the robot must stop and perform tasks such as gripping objects. When the robot is moved, the wheels are moved slightly, making the robot's position unstable and preventing accurate robot work.

Means for Solving the Problems> The present invention has been made to solve the above-mentioned problems.A workbench is provided at a work position, and a fixing member is attached to one of the surfaces facing the workbench and the robot. , an opening/closing claw for gripping the fixing member is attached to the other end, and a drive device is provided for opening/closing the opening/closing claw.

In addition, a pair of cylinders is attached to the support plate so that the distance between them widens toward the floor in the forward and backward direction of the robot, and a piston rond is made to protrude toward the floor from this cylinder, and this piston rond is grounded to the floor. It is equipped with a grounding member.

Function> For those equipped with opening/closing claws that grip the fixed member,
When the robot stops at the working position, the cylinder is driven so that it will not fall even if the wheels are not driven, and the opening/closing claw grips the fixing member to connect the workbench and the robot, thereby stabilizing the robot. In a robot equipped with a grounding member that touches the floor, when the robot stops at a working position, the cylinder is driven to prevent the robot from falling over even if the wheels are not driven, and the grounding member is grounded to the floor. Support and stabilize.

<Example> Embodiments of the present invention will be described below based on the drawings.

In FIG. 1, 1 is a self-propelled robot.

This robot 1 is roughly divided into a moving mechanism 2 and an arm mechanism 3. The moving mechanism l has a pair of wheels 10 arranged in parallel,
A rotating shaft 11 is coupled to each of the wheels 10. This rotating shaft 11 is rotatably supported by one end of a pair of support plates 12. A base 13 of the arm mechanism 2 is installed on the upper surface of the support plate 12. Drive motors 14a and 14b are attached to the support plate 12. The drive shaft 15 of this drive motor 14 has an encoder 9 for detecting rotation.
A bevel gear 16 is coupled to the bevel gear 16, and this bevel gear 16 meshes with a bevel gear 17 coupled to the rotating shaft 11.

A pivotable shoulder section 25 is mounted on the base 13, and a rear end of a first arm 26 is swingably attached to the upper end of the shoulder section 25. A 27th arm 27 is rotatably attached to the tip of the first arm 26.
A rotatable wrist portion 28 is attached to the tip of the arm 7. A robot hand 3° equipped with gripping claws 29 is attached to this wrist portion 28. A fixing device 20 is provided on the side surface of the base 13 in the direction in which the robot 1 moves, as shown in FIGS. 2 and 3. This fixing device 20 is composed of an opening/closing pawl 21 and an opening/closing cylinder 22. This opening/closing pawl 21 is attached to a base 20a so as to be openable/closable in a direction parallel to the rotational axis of the wheel 1O. An opening/closing cylinder 22 is provided.

Reference numeral 23 denotes a workbench of a machine tool placed at the working position of the robot 1, and a disk-shaped boss (fixing member) 24 is provided on the front surface of the workbench 23 at the same height as the opening/closing claw 21. ing. Note that there is no problem even if the boss 24 is attached to the base 13 and the fixing device 20 is attached to the workbench 23.

The operation of the configuration as described above will be explained.

When the robot 1 receives a movement command, the drive motor 14a,
14b is driven, and this driving force is transmitted to the wheel 10 via the bevel gears 16, 17. At this time, by receiving a signal from the encoder 9 and controlling the rotation difference between the two wheels, the robot moves back and forth forward and backward to the commanded position. Then, the opening/closing cylinder 22 is driven, the boss 22 is gripped by the opening/closing claw 20, and the position of the robot 1 is fixed.

This rear shoulder portion 25 and the first. The second arms 26, 27 and the wrist portion 28 are moved to cause the robot hand 30 to perform a grasping operation.

Furthermore, as a second embodiment, as shown in FIG. 4, if a distance sensor 35 for measuring the distance between the workbench 23 and the robot 1 is attached, the position of the robot 1 can be known even more accurately. This distance sensor 35 includes an X-direction distance sensor 35a that measures the distance and inclination between the workbench 23 and the robot l;
It is composed of a Y-direction distance sensor 35b that measures the deviation of the robot 1 and the machine tool 23 in a direction parallel to the axis of rotation of the wheel 1O, that is, in a lateral direction. A pair of the X-direction distance sensors 35a are installed on both sides of the opening/closing cylinder 22, and the Y-direction sensor 35b is installed facing in a direction parallel to the rotation axis.

The X-direction distance sensor 35a and the Y-direction distance sensor 35b measure the accurate distance between the robot and the workbench, thereby correcting the arm mechanism 3 to perform accurate work.

Next, a third embodiment will be described. As shown in FIG. 5, a pair of cylinders 40 are mounted on the support plate 12 with an inclination that widens downward in the longitudinal direction of the wheel 10. One end of a piston rod 41 protrudes from the lower end of this cylinder 40, and a grounding member 42 is attached to this piston rod 41 parallel to the floor surface.

With this configuration, the cylinder 40 is operated at the position where the robot 1 is stopped, and the piston rod 41 is activated.
is driven downward to bring the grounding member 42 into contact with the floor, thereby stabilizing the posture of the robot 1 so that it will not fall over even if it stops.
Furthermore, the robot 1 can be stopped at any position.

<Effects of the Invention> As described above, in the present invention, a workbench is provided at a work position, a fixing member is provided on one of the opposing surfaces of the workbench and the robot, and the fixing member is gripped on the other side. Since the robot is equipped with a gripping claw that opens and closes this holding claw, when the robot stops, the robot stops more stably than when the robot stops by controlling the drive wheels instead of controlling the drive wheels. There is an advantage that it can be kept.

In addition, a pair of cylinders is installed in the forward and backward directions of the robot so that the gap widens toward the floor, a piston rod is protruded toward the floor in this cylinder, and a grounding member that is in contact with the floor is attached to this piston rod. If provided, the robot can be stopped at any position other than the working position, which has the advantage of stabilizing the robot's posture.

[Brief explanation of the drawing]

The drawings show embodiments of the present invention; FIG. 1 is a front view of a self-propelled robot according to the first embodiment, FIG. 2 is a side view of the same, and FIG.
The drawings are an enlarged view of FIG. 1 in the direction of arrow 2, FIG. 4 is a cross-sectional view of a main part of a positioning device according to a second embodiment, and FIG. 5 is a side view of a self-propelled robot according to a third embodiment. 10...Wheel, 12...Support plate, 13...Base,
21... Opening/closing claw, 22... Opening/closing cylinder, 24...
・Boss, 35... Distance sensor, 40... Cylinder,
41...Piston rod, 42...Grounding member.

Claims (2)

[Claims] (1) A pair of parallel wheels is rotatably supported on a support plate on which an arm mechanism is installed, a drive motor for driving the wheels is attached to this support plate, and the drive motor is driven by a movement command to move to an arbitrary work position. In the self-propelled robot that moves, a workbench is provided at the work position, a fixing member is provided on one of the opposing surfaces of the workbench and the robot, and an opening/closing claw for gripping the fixing member is attached to the other side. A posture stabilizing device for a self-propelled robot, characterized in that a drive device for opening and closing the opening/closing claw is provided. (2) A pair of parallel wheels is rotatably supported on a support plate on which an arm mechanism is installed, a drive motor for driving the wheels is attached to this support plate, and the drive motor is driven by a movement command to move to an arbitrary work position. In a self-propelled robot that moves, a pair of cylinders are mounted on the support plate so that the distance between them increases toward the floor in the forward and backward direction of the robot, and a piston rod is made to protrude toward the floor in this cylinder. A posture stabilizing device for a self-propelled robot, characterized in that a piston rod is provided with a grounding member that makes contact with a floor surface.