JPH0248185A - Travel positioning device - Google Patents

Abstract

PURPOSE:To quickly correct the travelling course by placing two pairs of detecting sensors which detect distorsion from the travelling course in each of direction of the X-axis and the Y-axis so that the travelling position may be confirmed during travelling and detected for the matter whether or not the position is out of the specified error range. CONSTITUTION:To determine the position in the direction X, an X-Y table 8 is slided in the direction X and stopped in the specified position. To determine the position in the direction Y, the X-Y table 8 is slided in the direction Y and stopped in the specified position. At this time two X-direction detection sensor 42 and two Y-axis direction detecting sensors 43 detects whether or not an X-axis reference detection substance 40 and a Y-axis reference detection substance 41 exist. Accordingly it is detected whether or not the distorsion from the specified travelling source exceeds the specified error range. Based on the detected information, the forwarding direction and the steering direction of a torolley 2 are corrected.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a traveling positioning device that positions members while traveling in interior finishing work of buildings, etc.

[Prior Art] For example, in a traveling positioning device that spatially positions members such as a ceiling underlayment hoard, a skeleton of a rectangular coordinate system of an xY child table is often adopted due to the ease of the system. This is because adopting a system configuration that controls positioning in the XYZ directions is superior both mechanically and in terms of controllability.

Additionally, in general, the travel path and position actually taken by the travel positioning device are not completely matched with the desired trajectory and position.
It is impossible to achieve this even with the most sophisticated control system, so even traveling positioning devices such as That's what I do.

Conventionally, when such a travel positioning device travels (or is about to travel) on a travel route that is outside its allowable error range, there is a method for correcting the travel route to keep it within the error range. The following five methods are known.

■ Method using laser and corner cube.

■Method of manually issuing commands via radio.

■Linear displacement meter (potentiometer) for information from steel beams
How to take it and correct its position.

■A method of determining travel routes by obtaining information (distance and inclination) from steel beams using non-contact technology (ultrasonic waves).

■A method that uses ultrasonic sensors to keep the steering wheel at a certain distance from the wall.

[Problems to be Solved by the Invention] However, although the above methods (■, ■, ■, ■) allow relatively accurate correction, they do not require sensors, signal converters, arithmetic control units, special drives, etc. Complex correction systems for devices (step motors, servo motors, etc.)
(using PU) is required. In addition, the above method (2) requires manpower, so there are problems such as unattended corrections.

This invention was made in view of the above circumstances, and an object of the present invention is to provide a travel positioning device that can obtain travel route correction information in a simple manner when positioning is performed while traveling on a predetermined travel route. There is.

[Means for Solving the Problems] The traveling positioning device of the present invention provides an
A traveling positioning device comprising a Y child table fixed in a horizontal state and an XY child table drive mechanism, which includes an X direction reference object extending in the X direction and a movement path of the X direction reference object. at least a pair of X-direction detection sensors that are arranged at a predetermined interval above and detect the presence or absence of the X-direction reference detected object; an X-direction reference detected object that extends in the X direction; The apparatus includes at least a pair of X-direction detection sensors that are arranged at a predetermined interval on the movement path and detect the presence or absence of the X-direction reference object.

[Function] In this traveling positioning device, when the XY child table is stopped at the reference position, one end of the X-direction reference detection object extending in the X direction is located at the center between the two Since one end of the X-direction reference detection object that extends in the X direction is located in the center between the two X-direction detection sensors, only one of the two X-direction detection sensors is The direction reference object is detected, and only one of the X direction detection sensors detects the X direction reference object.

When positioning is performed using such a traveling positioning device, first, in order to determine the position in the X direction, the XY child table is slid in the X direction and stopped at a predetermined position. Next, in order to determine the position in the X direction, the XY child table is slid in the X direction and stopped at a predetermined position.

In this way, the two X-direction detection sensors and the two X-direction detection sensors detect the X-direction reference object and the absence of the X-direction reference object, respectively, and thereby the positional deviation from the predetermined traveling route is determined by the predetermined distance. Detect whether the error range is exceeded. The information is then transmitted to the traveling device as travel route correction information, and the traveling direction and steering direction of the bogie are corrected based on the correction information.

[Example 7] Hereinafter, an example in which the travel positioning device of the present invention is applied to a board pasting device will be described with reference to FIGS. 1 to 7.

As shown in FIG. 4, the board pasting device 1 of this embodiment includes a cart 2 running on a floor F, a U-shaped work table 3 provided on the top of the cart 2 on which a worker rides, and a cart 2. One side of 2 (
A board carrier 4 that accommodates a large number of boards B attached to the U-shaped open side of the workbench 3; a pedestal 7 that is moved up and down by a lifting mechanism 5 and receives the boards B via a board holder 6; This pedestal 7 is moved to the trolley 2 together with the lifting mechanism 5.
Long horizontal direction (X direction in the figure) and width direction (X direction in the figure)
It is roughly composed of an XY child table that slides into place.

As shown in FIG. 1, the truck 2 is provided with a pair of left and right casters 32 and 32 equipped with a steering mechanism 31 at the front and rear, and a pair of collision avoidance bumpers 33.
．． 33 and two pairs of obstacle avoidance distance sensors 34...
・Of the total of four casters 32..., two casters 32.32 are each equipped with a DC motor 35 for running, and one caster 32 is equipped with a DC motor 35 for measuring travel distance. rotary encoder 3
6 is installed. The steering mechanism 31 is
A steering motor 3]a located between the pair of casters 32, 32, a worm 31b mounted on the shaft of the steering motor 31a, a worm wheel 31c engaged with the worm 31b, and a worm wheel 31c engaged with the worm 31b. The steering motor 3Ia is composed of a worm wheel 31c and a pair of link rods 31d, 31d, each of which is connected at both ends to the pair of casters 32 and 32, respectively.
Each link rod 31d is rotated in the forward and reverse directions by rotating the point wheel 31c in the forward and reverse directions.

31d, and each caster 32, 32 connected to each link rod 31d, 31d is steered in the same direction.

Further, the lifting mechanism 5 is disposed in the U-shaped opening at the center of the workbench 3, and the lifting mechanism 5 is attached to the XY child table provided on the bottom of the trolley 2. ing.

As shown in FIG. 1aSb, this XY child table has two X-direction guide rails 9.9 (only one visible in FIG. 4) mounted on the trolley 2 and extending in the X direction, and this An X-direction slide plate 10 provided on the direction guide rail 9.9, and two Y-direction guide rails If, 11 attached to the upper surface of this X-direction slide plate lO and extending in the X direction (in FIG. 3, one (Only books are visible) and an X-direction slide plate 12 provided on this X-direction guide rail 11.11, and by sliding each of the slide plates in each direction, the A drive mechanism 37, 38 that allows the slide plate 12 to slide freely in both the X and Y directions and slides each of the slide plates along each guide rail.
is provided. Each of the above drive mechanisms 37.3
8 have a similar configuration, and are respectively attached to the lower surface of the X-direction slide plate 10 (or the X-direction slide plate 12).
The rack 37a (or rack 38a) and the pinion 37b (or pinion 38b) located below this rack 37a (or rack 38a) are brought together.
b) is rotated by the motor 37c (or motor 38c) to slide each slide plate in the X direction or the X direction, and each motor 37c
(or the motor 38c) switch is built into a control panel C fixed to the trolley 2.

This XY child table is provided with a travel positioning device that provides travel route correction information to the carriage 2. This traveling positioning device uses a rectangular bar-shaped X-direction reference detection object 40.
and X-direction reference detection object 41 in the X-direction and
direction and fixed to adjacent edges of the X-direction slide plate 12, and two
A direction detection sensor 42, 42 and two X direction detection sensors 43, 43 are arranged and each of these detection sensors is fixed to the truck 2. The above X direction detection sensor 4
2.42 and the X-direction detection sensor 43.43 are all configured in the same way, and each of them presses its roller 42a (or roller 43a) against the side surface of the X-direction reference detection object 40 (or the X-direction reference detection object 41). X-direction slide plate 10 (also f'X-direction slide plate 12)
It is designed to detect the position of. And, for example,
When the tolerances in the direction and the X direction are set to α and β, respectively, when the X direction slide plate 12 is fixed at the reference position, the The X-direction detection sensor 43 is arranged at a distance of α/2 from one end of the X-direction detection sensor 43 or the X-direction reference object 41 to both sides of the X-direction detection sensor 43. By operating the drive mechanisms 37 and 38 based on information from these detection sensors, the reference position of the Y-direction slide plate 12 is always within the error range α,
The travel steering is controlled so that it falls between β.

When the XY table 8 is stopped at the reference position, the two X direction detection sensors 42.4
Only one of the two detects the X-direction reference object 40, and only one of the Y-direction detection sensors 43, 43 detects the X-direction reference object 41.

Note that although the above-described traveling positioning device shown in FIG. 1 is used here, a traveling positioning device as shown in FIGS. 2 and 3 may be used instead of this traveling positioning device.

In this travel positioning device, the X-direction slide plate lO and the Y
The direction slide plate 12 is arranged upside down compared to the traveling positioning device, and the X direction detection sensor 42.4
2 and an X-direction reference detection object 41 are fixed to the trolley 2. The Y-direction reference detection object 41 and the X-direction reference detection object 40 are formed into plate shapes, and the X-direction detection sensor 42.42 and the Y-direction detection sensor 43.4
3 is formed in an opening shape, and when the plate-shaped reference detection object is located between the opening-shaped detection sensors, the detection sensor detects the reference using electricity, magnetism, light, etc. It is designed to detect objects.

The elevating mechanism 5 is integrally fixed to the Y-direction slide plate 12 of the XY child table, so that the elevating mechanism 5 slides on a horizontal surface together with the Y-direction slide plate 12.

Next, the elevating mechanism 5 will be explained.
consists of two pillars 13 arranged at intervals in the X direction with respect to the Y-direction slide plate 12 and erected perpendicularly to the floor surface F, and pillars 13 on mutually opposing surfaces of these pillars 13.
A first arm 14 is attached to be slidable up and down along these first arms 14, and a second arm 15 is sandwiched between these first arms 14 and attached to be slidable up and down along these first arms 14. and each of these arms l4.1
5 and a drive mechanism 16 that moves the shaft 5 up and down.

Sprockets 17, 18, 19 are rotatably mounted approximately at the center of each support column 13 and at the top and bottom of each first arm 14, and these sprockets 17, 18, 19 are rotatably mounted.
A chain 20 is wound around the arm 19, and one end of the chain 20 is engaged with a drive mechanism such as a motor (not shown), and the other end is engaged with a protrusion 15a at the lower end of the second arm 15. When the drive mechanism is driven, the first and second arms 14, 15 are moved up and down via the chain 20. Here, when both arms 14 and 15 rise from the lowest position, the first arm 14 first rises until it stops at the -L limit position due to the limit switch, and then the second arm 15 rises. It is supposed to be done. When descending, the operation is the opposite. Note that a switch for controlling the drive mechanism is built into the control panel C.

The pedestal 7 is attached to the upper end of the second arm 15 via a bracket 21 shown in FIG.

The bracket 21 is attached to the second arm 15 so as to rotate within a predetermined angular range toward the board carrier 4 as shown by the arrow (A) in FIG. 4 in the plane along the X direction. The rotation is performed by a rotation mechanism operated by a switch built into the control panel C.

As shown in FIG. 5, a cylindrical slide shaft 22 is inserted into the hollow portion of the bracket 21 so as to be slidable and rotatable around the shaft. A lower spherical seat 23b of a universal joint 23 consisting of upper and lower spherical seats 23a and 23b is fixed to the upper end of this slide shaft 22, and an upper spherical seat 23a
A square-shaped fixing plate 24 is fixed to the fixing plate 24, and the above-mentioned pedestal 7 is attached to the upper part of this fixing plate 24.

The slide shaft 22 is urged outward of the device l by a push-up spring 25 attached to the outer periphery of the slide shaft 22 between the bracket 21 and the lower spherical seat 23b, and its rotation is restricted. This state is maintained by the collar 222L at the lower end of the slide shaft 22 being engaged with the bracket 21. In this state, when the slide shaft 22 receives a force above a certain level along the axis in the direction of the bracket 21, the slide shaft 22 descends against the push-up splinter 25. In addition, when the bracket 21 rotates and stands upright, this slide shaft 22 is attached to the third
It stands upright along the X direction shown in the figure.

In the above-mentioned universal joint 23, the upper ball seat 23a can be tilted in any direction within a certain angle range with respect to the lower ball seat 23b, but if the ball seat 23a is interposed between the ball seats 23a and 23b, Due to the holding spring 26, its state is normally parallel to the lower spherical seat 23b. In other words, the fixed plate 24 and the pedestal 7, which are integral with the upper spherical seat 23a, have the same posture.

Next, the pedestal 7 will be described on the premise that the bracket 21 is rotated and the slide shaft 22 is in an upright state (with the axis along the X direction).

As shown in FIG. 5, this pedestal 7 includes an X-direction slide plate 28 attached to the fixed plate 24 so as to slide in the X-direction along a guide 27, and an upper part of this X-direction slide plate 28. An X-direction slide plate 30 is provided so as to slide in the X-direction along a guide 29 with respect to the X-direction slide plate 28 arranged thereon. Each of these slide plates 28 and 30 has a square plate shape that is approximately the same size as the fixed plate 24.

As shown in FIG. 5, a circumferential groove 22b is formed on the outer circumference of the slide shaft 22 that penetrates the bracket 21, and a micro switch 39 that engages with the circumferential groove 22b is formed on the inner circumference of the bracket 21. has been taken away. This microswitch 39 turns the power device of the lifting mechanism 5 to zero.
It has a N-OFF function. In other words, the lever 39 which is normally biased to tilt toward the slide shaft 22 side
It is ON in the normal state when a is fitted into the circumferential groove 22b (Fig. 6 a), and 0FF when the slide shaft 22 descends and its circumferential surface abuts and is pushed outward (Fig. 6 b). shall be.

Next, the operation of the port pasting device I having the above-mentioned structure will be explained step by step, taking as an example the case where a rectangular board B is pasted at a predetermined position on the ceiling T shown in FIG.

First, the device 1 is moved below the ceiling T where the hoard B is to be attached and removed. At that time, in order to determine the position in the X direction, the XY child table 8 is slid in the X direction and stopped at a predetermined position, and then, in order to determine the position in the direction and stop at the specified position. In this way, the X-direction detection sensor 42.42 and the X-direction detection sensor 43.43 detect the presence or absence of the X-direction reference detected object 40 and the X-direction reference detected object 41, respectively. It is detected whether the deviation exceeds a predetermined error range.

For example, let Xl be the information detected by the second X direction detection sensor 42 on the left in Figure 1a, X2 be the information detected by the lower right X direction detection sensor 42, and Let the information detected by the sensor 43 be Yl, the information detected by the lower left X direction detection sensor 43 be Y2, and each information XI
, X2, Yl, Y2 or 1 when the reference object is detected,
If it is written as 0 when it is not detected, the state of the trolley 2 will be as shown in Tables 1 and 2 below compared to the actual travel route and the predetermined travel route. .

Table 1 Table 2 Then, by transmitting the correction information of the traveling route obtained in this way to the driving DC motor 35, 35 and the steering mechanism 31, the traveling direction of the bogie 2 and the steering distance are determined based on the correction information. will be corrected.

After doing this, the eleventh second arm 1 of the lifting mechanism 5
4. 15 is lowered, and the bracket 21 attached to the second arm 15 is rotated to move the board holder 6 fixed to the X-direction slide plate 30 of the pedestal 7 as shown in FIG. This board holder 6 should be tilted slightly.
The board B housed in the board carrier 4 is placed on the board carrier 4.

Next, the elevating mechanism 5 first extends the first arm I4, and then rotates the bracket 21 upward to stand the slide shaft 22 upright, making the pedestal 7 and board B substantially horizontal. Subsequently, the second arm 15 is raised, and the board B
Press it against the ceiling T. At this time, even if the ceiling T is not horizontal but inclined, the action of the universal joint 23 will cause the spherical seat 2 above the universal joint 23 to
The members 3a and above tilt against the force of the holding spring 26, and the board B is pressed tightly against the ceiling T.

When the board B is pressed against the ceiling T in this way, the slide shaft 22 is pushed downward and descends, and when the lever 39a is removed from the circumferential groove 22b (see Figure 6), the lifting mechanism 5 is activated to rise. stops. At this time, the board B is pushed up against the ceiling by the push-up spring 25 on the outer periphery of the slide shaft 22.
The state of being pressed against is maintained.

In this way, after positioning the board B at a predetermined position on the ceiling T and temporarily attaching it, a worker gets on the workbench 3 fixed to the trolley 2 and places the board B on the ceiling T. Fix the screws to T and complete the work of attaching one board B. After completing this screw fixing work, lower the pedestal 7 using the lifting mechanism 5, and then return the lifting mechanism 5 to its original position on the bottom of the trolley 2 using the XY child table.
I is lowered by the push-up spring 25.

This board pasting device automates the work of lifting and positioning board B to the ceiling, reducing the burden on workers and avoiding danger, thereby shortening work time and greatly improving work efficiency. do. Furthermore, the assembly and disassembly work of the work scaffold, which conventionally occupies a part of the entire board pasting work, is no longer necessary, which also shortens the work time.

Further, the positioning mechanism of this board pasting device 1 has a simple structure and can perform positioning without requiring complicated calculations or control, so it can be manufactured at low cost and downsized. Further, since the push-up spring 25 that presses the board B against the ceiling T acts on the board B with an appropriate force, the board B and the lifting mechanism 5 are not damaged.

[Effects of the Invention] According to the traveling positioning device of the present invention, when positioning a member while traveling, at least two positional deviations of the traveling path are provided along the X direction and the Y direction. Since the detection is performed using a detection sensor, it is possible to drive while checking the running position, and it is also possible to immediately detect whether the positional deviation from the predetermined running route exceeds the predetermined error range. The driving route can be quickly corrected based on the detected information. Furthermore, this travel positioning device has a simple system configuration and can provide reliable correction information, so it is possible to accurately control the travel route without using a CPU or the like.

[Brief explanation of the drawing]

FIGS. 1a and 1b are schematic diagrams of the traveling positioning device of the present invention. FIGS. 2 and 3 are views showing another positioning traveling device of the present invention, with FIG. 2 being a plan view and FIG. 3 being a front view. 4 to 7 are views showing an example in which the traveling positioning device of the present invention is applied to a board pasting device, in which FIG. 4 is a perspective view of the entire board pasting device, and FIG. 5 is a perspective view of the entire board pasting device.
The figure is a side view of the main parts, FIGS. 6a and 6b are illustrations of the operation of the microswitch on the slide shaft side, and FIGS. 7a and 7b are illustrations of the operation of the holding spring. 37. Cart, XY child table 38 drive mechanism, X-direction reference object, Y-direction reference object, X-direction detection sensor, Y-direction detection sensor.

Claims (1)

[Claims] X direction and Y direction perpendicular to each other on a trolley equipped with a traveling device
A traveling positioning device that includes an XY table that slides in the direction fixed in a horizontal state and a drive mechanism provided on the XY table, and includes an X direction reference detection object extending in the X direction, and an X direction reference detection object extending in the at least a pair of X-direction detection sensors arranged at predetermined intervals on the movement path of the object to detect the presence or absence of the X-direction reference detection object; a Y-direction reference detection object extending in the Y direction; A traveling positioning device comprising: at least a pair of Y-direction detection sensors arranged at predetermined intervals on a moving path of a reference object to detect the presence or absence of the Y-direction reference object.