JPH034349B2 - - Google Patents

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention remotely controls an arm mechanism so that the guide portion attached to the tip thereof is pressed against the object surface while moving the guide portion along the object surface. The present invention relates to a device that moves a body (this is referred to as object plane tracing in this specification).

This object surface tracing device can be used to trace an object surface, such as a wall surface of a building (in this specification, floor surfaces and ceiling surfaces are also included) by attaching an object surface processing device, welding device, painting device, inspection device, etc. to the guide body. It can be used to perform various useful operations on the surfaces of other objects (commonly referred to as such).

[Conventional technology]

An object surface tracing device using an arm mechanism is described in Japanese Patent Application Laid-Open No. 125367/1983. This device presses a guide roller against the object surface, detects the protruding position of the roller, and controls the arm mechanism based on this information. It is equipped with a calculation device and a positioning control device for controlling the arm mechanism based on the calculation results.

[Problem that the invention seeks to solve]

The above conventional technology requires a calculation device, a positioning control device, etc., and in order to perform accurate positioning control of the arm mechanism, each rotation mechanism of the arm mechanism is equipped with a position detection device for detecting the posture of the arm mechanism. This required complex control such as providing sensors and feeding back their position detection signals to a control device.

SUMMARY OF THE INVENTION An object of the present invention is to provide an object surface tracing device in which an arm mechanism can be easily controlled using a simple control device.

[Means for solving problems]

The object surface tracing device of the present invention includes a base, a first arm (hereinafter referred to as a boom) connected to the base or the arm connected to the base by a first joint mechanism;
A first drive device that generates a driving force to rotate the boom around the first joint mechanism, a second arm (hereinafter referred to as the arm) connected to the tip of the boom by a second joint mechanism, and a second arm that rotates the arm around the second joint mechanism. a second drive mechanism that generates a driving force for turning the arm, and a guide body connected directly to the tip of the arm or via a third joint mechanism, and the pivot axes of the first, second, and third joint mechanisms are They are parallel to each other, and either the driving force of the first driving device or the driving force of the second driving device presses the guide body against the object surface, and the other one sends the guide body along the object surface. In this case, the driving force that sends the guide body along the object surface is such that the boom or arm, which is receiving the driving force that pushes the guide body against the object surface, is pressed against the object surface by the reaction force from the object surface. It is characterized by being set to a value sufficient to push back in the opposite direction.

[Effect]

Depending on the posture of the boom and arm, either the boom or the arm can be used to press the guide member against the wall, and the other can be used to feed the guide member along the wall. Then move along the wall. At this time, the boom or arm draws an arc with respect to each joint, but as the feeding operation progresses, the boom or arm that is performing the pushing can be pushed back in the opposite direction to the pressing direction, so the pushing operation is stopped. while doing,
The feeding operation can be performed easily.

〔Example〕

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 shows a conceptual diagram of a basic embodiment. A first arm (referred to as a boom) 20 is connected to the base 10 via a first joint mechanism 15, and a second arm (referred to as a boom) is connected to the base 10 via a first joint mechanism 15.
An arm 30 is attached via a joint mechanism 25. The joint mechanisms 15 and 25 are provided with drive devices 60 and 70 for these joint mechanisms, respectively.
Further, a control device 50 that controls the drive devices 60 and 70 is mounted on the base 10. Arm 3
A carriage 40 equipped with a guide roller 45 is attached to the tip of the 0 via a third joint mechanism 35. first, second and third joint mechanisms 15, 25,
35 are assumed to be parallel to each other.

Using such a device, in order to move the carriage 40 along the object surface 100 while bringing the guide roller 45 into contact with the object surface 100 in the posture shown in FIG. 1 (that is, to perform object surface tracing), Perform the following actions. First, the arm 3 is moved so that the guide roller 45 hits the object surface 100.
0 and the boom 20 are placed in the postures shown in FIG. 1, and the joint mechanism 35 is left in a free state in which it can freely rotate in response to an external force. Next, the carriage 40
The feed control is performed by moving the arm 30 in the direction of the arrow a or b, and while doing so, the pushing of the guide roller 45 against the object surface 100 is controlled by moving the boom 20 in the direction a. I do. In this way, the arm 30 is moved in the direction of feeding the carriage 40, and the boom 20 is moved in the direction of pushing the guide roller 45. Basically, this control is continued until the object surface tracing is completed. .

By the way, since the arm 30 draws an arc around the joint 25, the carriage 40 by the arm 30
During the feeding operation, a situation arises in which the boom 20 must be pushed back by the arm 30 while exerting a pressing force against the object surface.

For this reason, in the embodiment shown in FIG. Even when the boom 20 is exerting a pressing force in the direction a by the driving device 60, the driving force 70 is applied to the object surface 100 by the feeding operation of the arm 30.
The reaction force is set to a value sufficient to push the boom 20 back in the direction a. This allows boom 2
0 push control does not require a detector etc.
It can be done easily.

Figure 2 shows a device with the same configuration as Figure 1 with boom 2.
A conceptual diagram is shown in which the feed of the carriage 40 at the tip of the arm 30 is controlled by 0. In this case, in order to cause the carriage 40 to perform an operation of tracing the object plane 100, the following operation is performed. First, the arm 30 and boom 20 are placed in the posture shown in FIG. 2 so that the guide roller 45 contacts the object surface 100, and the joint mechanism 35 is left in a free state. Next, the feed control of the carriage 40 at the tip end of the arm 30 is performed by moving the boom 20 in the a direction or the b direction, and while doing so, the arm 30 is moved in the a direction so that the object plane of the guide roller 45 100 is performed. in this case,
As described above, the husband's driving force is set so that the arm 20 can be pushed back while exerting a pressing force in response to the feeding operation by the boom 20.

Furthermore, in the embodiments of FIGS. 1 and 2,
A driving device may be provided in the joint mechanism 35 so that the setting operation can be easily performed until the guide roller 45 is first pressed against the wall surface 100. However, if a drive device for the joint mechanism 35 is provided, it must be capable of keeping the joint mechanism 35 in a free state during object surface tracing control.

In the embodiments shown in FIGS. 1 and 2, in order to smoothly start the object surface tracing control, the guide roller 45 is first controlled to be pressed against the object surface 100, and the guide roller 45 is pressed against the object surface 100. It is best to start feeding control of the carriage 40 after it is sufficiently pressed. Also, when ending the object plane tracing control, first stop the feed control of the carriage 40,
After that, it is preferable to stop controlling the guide roller 45 to press it against the object surface 100. Such sequence control is performed by a control device 50 mounted on the base.

FIG. 3 shows an embodiment that is basically the same in configuration as the embodiment shown in FIG. 1, but in which a guide roller 45 is provided directly at the tip of the arm 30. In this embodiment, when controlling the contouring of the object surface 100 in the state shown in FIG. That's fine. Other configurations and operations are the same as those described in the embodiment shown in FIG.
In particular, since the guide roller 45 is provided directly at the tip of the arm 30, it becomes easier to control the contour of a curved object surface. In this case, by attaching the inspection device, processing device, etc. for the object surface 100 near the rotation center of the guide roller 45, these inspection devices and processing devices can be moved along the object surface with high precision.

In the embodiments shown in FIGS. 1 and 2, in accordance with the above-mentioned points, in the case of object plane tracing in the state shown in FIG. On the other hand, in the case of object plane tracing in the state shown in FIG.
The driving force must be set to a value sufficiently larger than the driving force of the driving device 70 at zero. Therefore, the driving force of the driving device 60 and the driving device 70 can be set to two values: a large value and a small value. By doing this, even when the arm 30 is in a posture where the feed control is performed as shown in FIG. 1, or when the arm 20 is in a posture where the feed control is performed as shown in FIG.
It becomes possible to perform object plane tracing control with one device.

In addition, in the embodiment shown in FIGS. 1 and 3, since the degree of freedom of the device is 2 (joints 15 and 25),
Once the position of the object plane 100 is determined, the position of the turning mechanism 15 to ensure a sufficient range of object plane tracing operation is limited, and furthermore, the setting position of the base 10 of the device is also limited. Put it away. Therefore, in order to provide more leeway, the base 10 is further provided with an articulated arm mechanism or the like to increase the degree of freedom, so that the set position of the base 10 is not narrowly limited by the position of the object plane 100. Alternatively, the base 10 may be movable. Alternatively, at least two
The present invention may also be applied to an articulated manipulator having two or more parallel pivot axes.

FIG. 4 shows an embodiment in which hydraulic cylinders are used for the drive device 60 and the drive device 70 of the embodiment shown in FIG. This is an example of implementing the present invention by modifying a hydraulic excavator and using it as a device for scraping the surface of a wall or floor. The device can be moved by driving a crawler 12 provided on a traveling frame 11, and a revolving frame 13 is structured to be able to rotate relative to the traveling frame 11. A boom 20 is attached to the rotating frame 13 via a joint mechanism 15. Arm 3 at the tip of boom 20
0 is attached via a joint mechanism 25. Further, a carriage 40 provided with a guide roller 45 is attached to the tip of the arm 30 via a joint mechanism 35. The carriage 40 is provided with a chisel 90 for chiseling the surface of a wall or floor. A clevis-shaped hydraulic cylinder 60 is used to drive the boom 20 around the joint mechanism 15. Also arm 30
A clevis-shaped hydraulic cylinder 70 is used to drive the carriage 40 around the joint mechanism 25, and a clevis-shaped hydraulic cylinder 80 is used to drive the carriage 40 around the joint mechanism 35. The hydraulic equipment of this device is mounted on a revolving frame 13. Although a part of the control device is mounted on the rotating frame 13, it is configured so that it can be installed elsewhere via the electric cable 1. electric cable 1
consists of a power cable for the electric motor to rotate the hydraulic pump of this device, a control cable for hydraulic equipment, etc. This device can remotely control wall tracing using a control device connected to a control cable.

FIG. 5 shows a portion of the hydraulic circuit for controlling the apparatus shown in FIG. This hydraulic circuit diagram includes boom 2
A drive circuit of a hydraulic cylinder 60 that drives the arm 30, a hydraulic cylinder 70 that drives the arm 30, and a hydraulic cylinder 80 that drives the carriage 40 is shown. Each hydraulic cylinder 60, 70, 80 is connected to a 4-port, 3-position, closed center electromagnetic directional control valve 201, 202, 203, which extends or retracts each hydraulic cylinder. It is becoming possible to do this. The hydraulic cylinder 80 can be extended by the solenoid BA1 of the electromagnetic directional control valve 203, and can be contracted by the solenoid BA2. Hydraulic cylinder 7
0 can be extended using the solenoid AM1 of the electromagnetic directional control valve 202, and retracted using the solenoid AM2. The hydraulic cylinder 60 is connected to the solenoid BU1 of the electromagnetic directional control valve 201 so that it can be extended, and the solenoid BU2 can be used to contract it.

The hydraulic cylinder 80 is provided with 4-port, 2-position electromagnetic directional control valves 204 and 205.
Solenoid BA3 of these two electromagnetic directional valves
By exciting BA4, the joint mechanism 35 can be brought into a free state.

In addition, the solenoid PN of the electromagnetic directional control valve 206
When 6 is energized, pilot pressure acts on the external pilot check valve 207 provided in the system of the hydraulic cylinder 80, hydraulic cylinder 70, and hydraulic cylinder 60, and the throttle valve connected in parallel with these external pilot check valves 207 is activated. 20
By bypassing the functions of 8 and flow control valve 209, hydraulic cylinder 80, hydraulic cylinder 70, and hydraulic cylinder 60 can operate at high speed, which allows for quick setting operations before starting wall profiling control. It is considered possible to do so.

When this device is installed on the wall surface 100 in the state shown in FIG.
When using the tracing device, it operates as follows. First, the arm 30 and boom 20 are placed in a posture as shown in FIG. 4 so that the guide roller 45 hits the wall 100, and the joint mechanism 35
3 and solenoid BA4 are kept in a free state by energizing them. Next, in order to control the arm 30 to move in the a direction and press the guide roller 45 against the wall 100, the solenoid AM2 is energized and the hydraulic cylinder 70 is retracted. and boom 2
0 controls the carriage 40 in the direction a or direction b. Feed control by this boom 20 is performed by exciting the solenoid BU1 and injecting the hydraulic cylinder 6.
If you extend 0, you can control the feed in the a direction,
Also, by energizing solenoid BU2, hydraulic cylinder 6
By reducing 0, it is possible to control the feed in the b direction.

By the way, since the hydraulic circuit shown in FIG. 5 does not take into account the pressure control of the hydraulic cylinders 60 and 70, the hydraulic oil pressure of these hydraulic cylinders is the same whether it is in an extension operation or a contraction operation. In such a configuration, a method for making the driving force for the feeding operation larger than the driving force for the pressing operation as described above to smooth the cooperation between the two operations will be described below.

Now, in the attitude shown in Figure 4, the carriage 40
If the feeding direction of the boom 20 is limited to the direction a, the pressing control of the guide roller 45 against the wall 100 is performed by the retracting operation of the hydraulic cylinder 70, and the feeding control of the boom 20 is controlled by the hydraulic cylinder 60. This will be done with a stretching motion. In FIG. 6, the direction of movement of the arm 30 and boom 20 in this case is indicated by arrow a. Further, FIG. 7 shows a case in which the apparatus shown in FIG. 4 is used to chisel a floor, in which the arm 30 is used to feed the carriage 40, and the boom 20 is used to push the carriage 40 onto the floor surface 100.
In FIG. 7, the carriage 40 along the floor 100
When performing a tracing device, if the feed control by the arm 30 is limited to the b direction, the feed control of the arm 30 is performed by the extension operation of the hydraulic cylinder 70, and the pressing control of the boom 20 against the floor 100 is performed by the hydraulic cylinder 60. This will be done with a contraction motion.

Here, the diameter of the piston rod of the hydraulic cylinder 70 and the diameter of the cylinder tube are set in advance as follows. That is, in FIG. 6, the hydraulic cylinder 70 is configured to generate a retracting force sufficient to press the carriage 40 against the wall 100, and in FIG. (In other words, when solenoid BU2 in Figure 5 is energized)
Even if the floor 100 is moved by the feeding movement of the arm 20,
The safety valve 211 provided in the hydraulic system of the hydraulic cylinder 60 is actuated by the reaction force from the hydraulic cylinder 60, and an operating force sufficient to extend the hydraulic cylinder 70 is generated to push back the boom 20 (extend the hydraulic cylinder 60). The settings are made so that the following conditions are satisfied. Further, the diameter of the piston rod and the diameter of the cylinder tube of the hydraulic cylinder 60 are set in advance as follows. That is, in FIG. 7, the hydraulic cylinder 60 is configured to generate sufficient retracting force to press the carriage 40 against the floor 100, and in FIG. Even when the solenoid AM2 is energized in FIG. The condition is set to satisfy the condition that the operating force for extending the hydraulic cylinder 60 is sufficient to push back (the hydraulic cylinder 70 extends).

The operating force of a hydraulic cylinder is given by the product of the hydraulic oil pressure and the effective pressure-receiving area of the piston, so by appropriately determining the diameter of the piston rod and the diameter of the cylinder tube as described above, it is possible to match the specified operating force as described above. Is possible. By doing this, the feeding direction of the wall surface profiling control is limited to one direction, but the pressing control of the hydraulic cylinder 60 or the hydraulic cylinder 70 can be easily performed without the need to control the hydraulic pressure of the hydraulic cylinder. It will be done.

FIG. 8 shows another embodiment of a hydraulic circuit applicable to the embodiment shown in FIG. This hydraulic circuit diagram shows a drive circuit for a hydraulic cylinder 60 that drives the boom 20 and a hydraulic cylinder 70 that drives the arm 30. For each hydraulic cylinder 60, 70, 4-port 3-position closed center electromagnetic directional control valves 212 to 215 are connected to two systems: a high pressure circuit set by the pressure reducing valve 101, and a low pressure circuit set by the pressure reducing valve 102. This allows the hydraulic cylinders 60, 70 to be extended and retracted using the high pressure circuit, and also to be extended and retracted using the low pressure circuit. The hydraulic cylinder 70 uses solenoid A1H of the electromagnetic directional control valve 212 to extend the high pressure circuit.
At 2H, the retraction in the high pressure circuit is performed using the electromagnetic directional valve 21.
3 solenoid A1L stretches the low pressure circuit,
Also, it is connected to solenoid A2L so that it can be compressed in the low voltage circuit. hydraulic cylinder 60
Solenoid B1H of the electromagnetic directional control valve 214 extends the high pressure circuit, solenoid B2H reduces the high pressure circuit, solenoid B1L of the electromagnetic directional valve 215 extends the low pressure circuit, and solenoid B2L controls the low pressure. It is connected in such a way that it can be shortened in a circuit.

In FIG. 8, the pressure in the low pressure circuit caused by the pressure reducing valve 102 is used to press the guide roller 45 against the wall surface 100 by the arm 30 or the boom 20, and is set to a value that provides sufficient operating force for the pressing operation. . On the other hand, the pressure in the high pressure circuit caused by the pressure reducing valve 101 is used to feed the carriage 40, and the pressure is applied to the arm 30 or the boom 20.
When the boom 20 or arm 30 performs a feeding operation while pressing the guide roller 45 against the wall surface 100, the reaction force from the wall surface 100 causes the hydraulic cylinder 70 or the arm 30 that is performing the pressing operation to Hydraulic cylinder 60 of boom 20
The safety valve 216 is activated and the operating force for the sending operation of the boom 20 or the arm 30 is set to be sufficient to push the arm 30 or the boom 20 back in the opposite direction to the direction of the pushing operation.

When applying the hydraulic circuit shown in FIG. 8 and controlling the profile of the wall 100 in the posture shown in FIG. 4, the following operation is performed. First, the arm 30 and boom 20 are moved so that the guide roller 45 hits the wall 100.
is in the posture shown in FIG. 4, and the joint mechanism 35 is left in a free state. Next, in order to control the arm 30 to move in the direction a and press the guide roller 45 against the wall 100, the solenoid A2L is energized and the hydraulic cylinder 70 is contracted by the hydraulic oil pressure of the low pressure circuit. Then, the boom 20a performs feeding control in the a direction or the b direction. To control the feed of the boom 20, the solenoid B1H is energized and the hydraulic cylinder 60 is
If solenoid B2 is pushed by the hydraulic oil pressure of the high pressure circuit, it can be controlled to feed in the a direction.
If H is excited and the hydraulic cylinder 60 is contracted by the hydraulic pressure of the high pressure circuit, it is possible to control the feed in the b direction. By applying this hydraulic circuit, the diameters of the piston rods and cylinder tubes of the hydraulic cylinders 60 and 70 can be determined in advance, and the direction of feed control can be determined in advance, as in the case of using the hydraulic circuit shown in FIG. Wall surface profiling control can be easily performed without any restrictions.

The hydraulic circuit diagram in FIG. 8 is only one example. For example, only one 4-port, 3-position, closed-center electromagnetic directional valve is connected to each hydraulic cylinder 60, 70, and the flow is applied to the electromagnetic directional valve. The operating pressure may be changed by switching the hydraulic oil pressure with another switching valve, or the pressure of the hydraulic oil flowing in may be changed continuously.

The embodiments described above are examples of devices that use hydraulic cylinders for the drive device and are mainly used to scale the walls and floors of buildings, but they can also be used as object surface tracing devices that use pneumatic cylinders for the drive device. Not only can it be implemented, but it can also be used in automatic inspection equipment, automatic welding equipment, automatic fusing equipment, automatic painting equipment, etc. for the surfaces of products and other objects in production factories, etc. It can be implemented similarly as a device.

Furthermore, in the above-mentioned implementation example, the guide member pressed against the object surface was a guide roller that rolled into contact with the object surface, but instead of the guide roller, a sliding member may be pressed against the object surface to make sliding contact. However, a guide member such as an endless track may be used to reduce the contact surface pressure.

Note that, if necessary, a control pattern corresponding to the shape of the object surface is stored in the control device 50, and the rotation angle of the boom or arm joint mechanism, the time from the start of object surface tracing, etc. are stored as described above. Control to keep the pressing force constant by comparing control patterns, or by installing a strain gauge etc. on the bearing member of the guide roller to detect the pressing force of the guide roller. It is also possible to perform control such that

〔Effect of the invention〕

According to the present invention, there is provided a sensor that detects the position of a guide body and contact with an object surface, a calculation device that calculates the control amount of an arm or boom based on information from the sensor, and an arm or boom based on the calculation result. Compared to an object surface tracing device that requires a complicated device such as a positioning control device, it is possible to obtain an object surface tracing device with a simple configuration.

[Brief explanation of the drawing]

Figures 1 and 2 are diagrams explaining the operation of a basic embodiment of the present invention, Figure 3 is a diagram explaining the operation of a modified embodiment, and Figure 4 is an embodiment in which a hydraulic cylinder is used as the drive device. FIG. 5 is a diagram showing an example of a hydraulic circuit of a hydraulic cylinder applicable to the embodiment shown in FIG.
6 and 7 are explanatory diagrams of the operation of the embodiment of FIG. 4, and FIG. 8 is a diagram showing another example of a hydraulic circuit of a hydraulic cylinder applicable to the embodiment of FIG. 4. DESCRIPTION OF SYMBOLS 10... Base, 15... Joint mechanism, 20... Boom, 25... Joint mechanism, 30... Arm, 35... Joint mechanism, 40... Carriage, 45... Guide roller, 5
0...control device, 60...drive device, 70...drive device, 100...wall surface.

Claims (1)

[Claims] 1. A base, a first arm (hereinafter referred to as a boom) connected to the base or an arm connected to the base by a first joint mechanism, and a first drive device that generates a driving force to rotate the boom around the first joint mechanism. , a second joint connected to the tip of the boom by a second joint mechanism.
An arm (hereinafter referred to as an arm), a second drive mechanism that generates a driving force to rotate the arm around a second joint mechanism, and a guide body connected to the tip of the arm directly or via a third joint mechanism. , the pivot axes of the first, second, and third joint mechanisms are parallel to each other, and either the driving force of the first driving device or the driving force of the second driving device presses the guide body against the object surface. , the other feeds the guide body along the object surface, and the driving force that sends the guide body along the object surface causes the boom or arm receiving the driving force that presses the guide body against the object surface to
An object surface profiling device characterized in that the reaction force from the object surface is set to a value sufficient to push back the object surface in a direction opposite to the direction in which it is pressed.