JPH0231219U

JPH0231219U -

Info

Publication number: JPH0231219U
Application number: JP10976688U
Authority: JP
Priority date: 1988-08-22
Filing date: 1988-08-22
Publication date: 1990-02-27

Description

[Brief explanation of drawings]

第１図ないし第６図はこの考案の一実施例を示
すもので、第１図は重量物搭載装置の全体の構成
を示す説明図、第２図は搭載動作のプログラムを
表わすフローチヤート、第３図は画像処理された
画面の状態を示す図、第４図は位置検出アルゴリ
ズムのフローチヤート、第５図は制御装置による
モータの制御を示す図、第６図は位置補正動作の
フローチヤート、第７図ないし第９図は従来例を
示すもので、第７図は重量物搭載装置の走行制御
系を示す説明図、第８図は同じく横行制御系を示
す説明図、第９図は搭載動作の制御プログラムを
表わすフローチヤートである。２１……自動車ボデー、２１ａ……フード、２
２……コンベア、２３……走行レール、２４……
走行台車、２５……横行台車、２６……ハンド装
置、２７……把持装置、２８……バツテリ、２９
……走行用サーボモータ、３０……横行用サーボ
モータ、３１……テレビカメラ、３２……照明装
置、３３……画像処理装置、３４……エンコーダ
、３５……リミツトスイツチ、３６……制御装置
、３７……シーケンス装置。 Figures 1 to 6 show an embodiment of this invention, in which Figure 1 is an explanatory diagram showing the overall configuration of the heavy object loading device, Figure 2 is a flowchart showing a loading operation program, and Figure 2 is a flowchart showing the loading operation program. 3 is a diagram showing the state of the image-processed screen, FIG. 4 is a flowchart of the position detection algorithm, FIG. 5 is a diagram showing the control of the motor by the control device, and FIG. 6 is a flowchart of the position correction operation. Figures 7 to 9 show conventional examples, with Figure 7 being an explanatory diagram showing the traveling control system of the heavy object loading device, Figure 8 being an explanatory diagram showing the traverse control system, and Figure 9 being the explanatory diagram showing the traverse control system of the heavy object loading device. 3 is a flowchart representing an operation control program. 21...Automobile body, 21a...Hood, 2
2... Conveyor, 23... Running rail, 24...
Traveling trolley, 25...Traversing trolley, 26...Hand device, 27...Gripping device, 28...Battery, 29
... Travel servo motor, 30 ... Traverse servo motor, 31 ... Television camera, 32 ... Lighting device, 33 ... Image processing device, 34 ... Encoder, 35 ... Limit switch, 36 ... Control device, 37...Sequence device.

Claims

[Scope of utility model registration request]

An automatic heavy object loading device that runs in synchronization with a conveyor and automatically loads heavy objects at a predetermined position of objects to be transported by the conveyor, which is equipped with a gripping section for grasping the heavy object and for transporting objects to be transported. A hand device movable in parallel and perpendicular directions, a detector attached to the hand device to detect the reference part of the object to be transported and determine its position, and a detector that detects the reference part of the object to be transported and determines the position of the reference part A heavy object automatic machine comprising: a control device that calculates the amount of positional deviation from the position of the part and the mounting position inputted in advance, and moves the hand device a predetermined distance in a predetermined direction based on the amount of positional deviation. Onboard equipment.