JPH05337857A - Control system in phase angle changing jig - Google Patents

Abstract

PURPOSE:To dissolve various constraints on the power supply line side and enable the oscillation of a phase angle changing jig by one rotation or more by supplying power to the phase angle changing jig from the fixed support body side using a sliding element, and receiving control signals for the phase angle changing jig by radio. CONSTITUTION:In this tetrahedral rotating jig used in the case of performing the action of welding, thread fastening, and the like while oscillating a phase angle is provided with fitting parts 1a for fitting various jigs to each face of a rectangular rotating jig body 1, and a solenoid and the like are controlled through a transmitter-receiver unit 10 built in the jig body 1. The jig body 1 is also provided with a space diversity system antenna 2 of high directivity connected to the transmitter-receiver unit 10, and radio transmitting-receiving is performed between this antenna 2 and a corn antenna 20 connected to a sequencer 3. The jig body 1 is rotatably supported by a fixed support body 4 provided with a built-in driving motor, and current application to the driving motor is performed through a disk like slip ring 40.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to various operations such as welding and screw tightening while swinging the phase angle stepwise or steplessly in a predetermined angle unit like a robot hand or a four-sided rotating jig. The present invention relates to a control method of a phase angle changing jig that can perform

[0002]

2. Description of the Related Art Conventionally, for example, in an automobile manufacturing line, a plurality of vehicle types are selectively mixed on the same manufacturing line for welding / assembling to improve manufacturing efficiency. Uses a rotating jig whose jig attachment surface changes in 90 ° units, and performs welding / assembly with a corresponding jig while appropriately rotating / returning (phase changing) the jig according to the manufacturing vehicle type. It is configured to do. or,
Also in a robot hand or the like, various operations such as welding / assembly are performed while swinging about an axis to change the phase of a predetermined angle. (Hereinafter, the rotating jig and the hand are collectively referred to as a phase angle changing jig)

In this type of jig, a switching signal and a feedback signal for turning the jig together with a power source and other driving sources, and a signal line for receiving various other sensors are provided through the axis. It must be taken from the side of the fixed support that is connected to the jig, and these signal lines (lead wires) are generally made into a harness and pulled together with the power supply line from the side of the fixed support to form a signal and drive source. Is being collected.

[0004]

In the prior art as described above, in order to take a structure in which a large number of the bundled signal lines (lead wires) are drawn to the deflection jig side together with the electric wires of the drive source, Since the deflection jig has a low degree of swing freedom and the bending amount of the bundle is limited, the rotation angle of the deflection jig is also limited. For example, the deflection jig is deflected to a position of 330 °. To return to the 60 ° position after it has been performed, simply add another 90
° It may be rotated in the forward direction, but as the bundle is connected as described above, it cannot rotate more than one rotation,
The resulting 270 ° inversion must be reversed to return to the 90 ° position. Therefore, in the jig, the swing angle is unnecessarily increased, the device deterioration is accelerated, and the lead wires are easily broken due to rubbing between signal lines or unnecessary pulling.

Further, as described above, when a large number of lead wires are integrally drawn together with the power supply line, the magnetic field from the power supply line may cause noise on the lead wires to hinder normal operation. In order to eliminate such a drawback, it is considered to wirelessly receive the signal. However, when wirelessly wirelessly received, it is necessary to give directivity to its oscillation propagation in relation to other control devices, while The deflection jig and the oscillator side do not always face each other at a predetermined position. For example, as shown in FIG. The radio waves transmitted and received on the equipment side
Both direct radio waves and reflected radio waves are transmitted and received, and as a result, variations in received radio wave intensity increase.

Therefore, in order to smoothly receive the two radio waves, the direct radio wave and the reflected radio wave, it is necessary to lower the reception level (slash level) on the deflection jig side.
With such a configuration, as shown in FIG. 4B, the slash level is lowered to the portion where the frequency bands of the direct radio waves overlap, and as a result, a noise signal is likely to be generated. Further, even if the above-mentioned configuration is adopted, since the power supply line is wired, the deflection jig has a low degree of freedom in swinging, and the basic drawback that it cannot swing more than one rotation cannot be solved. ..

In view of the above technical problems, it is an object of the present invention to provide a control system for a deflection jig that can be wireless without causing noise or the like. Another object of the present invention is to eliminate various restrictions on the side of the power supply line, and particularly to provide a control method of the deflection jig capable of swinging more than one rotation of the deflection jig. ..

[0008]

The present invention is applied to a phase angle changing jig for performing various operations by changing the phase angle while swinging a predetermined angle, such as the above-mentioned four-sided rotating jig or a robot hand. According to the first aspect of the invention, power is supplied from the fixed support side to the deflection jig through the slider, while the control signal is received wirelessly by the deflection jig. We propose a control method for a phase angle changing jig.

According to a second aspect of the present invention, in particular, the wireless system is specified. The control signal is received by the deflecting jig wirelessly, and the same signal is transmitted by N wirelessly.
When the same signal is sent S times (N> S) on the receiving side and sent, the signal is adopted and predetermined control is performed.

[0010]

According to the first aspect of the invention, instead of connecting the deflection jig and the fixed support by the power source line and the signal receiving lead line, the power source line is transmitted through the slider and the signal is transmitted wirelessly. Since it is received by, no wire is connected between the two, so it is possible to freely rotate more than one rotation.
For example, even when it is turned to the position of 330 ° and then returned to the position of 60 °, it may be further rotated 90 ° forward, and the swinging motion can be minimized. Further, the fact that various electric wires are not connected does not cause disconnection of lead wires or power supply wires due to the swing of the jig.

According to the second aspect of the invention, the same signal is sent N times by the radio and the same signal is sent S times (N times) on the receiving side.
> S) When the signal is received, the signal is adopted to perform the predetermined control. Therefore, even if the strength of the radio wave is increased, there is no fear of using the noise, and the accurate operation is possible. In this case, by using a transmission radio wave having a short wavelength of 1 GHz or more, preferably about 10 GHz for the radio wave, in order to smoothly receive two radio waves, a direct radio wave and a reflected radio wave, the receiving level on the deflection jig side. Even if the (slash level) is lowered, the slash level does not decrease to the portion where the frequency bands of radio waves directly overlap, and as a result, the generation of noise signals can be reduced. Further, by transmitting and receiving the radio wave using a pair of antennas spaced at {n (integer) +1/4} wavelength of the received radio wave frequency, even if the frequency varies, it can be received by any of the above antennas. ,preferable.

[0012]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENT An embodiment of the present invention will be described in detail below as an example with reference to the drawings. However, unless otherwise specified, the dimensions, materials, shapes, relative positions, etc. of the components described in this embodiment are not intended to limit the scope of the present invention thereto, but are merely illustrative examples. Not too much. Figure 1
Shows a schematic diagram of a four-sided rotating jig according to an embodiment of the present invention,
A mounting portion 1a for mounting a jig corresponding to each vehicle type is formed on each surface of the rectangular parallelepiped rotary jig main body 1, and a transmission / reception unit 10 is incorporated in the jig main body 1 to
Input / output control of a corresponding solenoid or the like is performed via an output line 10a for operating a solenoid or the like pulled out from 0 and an input line 10b of a detection switch. Reference numeral 2 denotes an antenna connected to the unit 10, which adopts a space diversity system in which a pair of antennas 2a and 2b are arranged in parallel at intervals of {n (integer) +1/4} wavelength of a received radio frequency. There is. Reference numeral 3 is a sequencer for transmitting and receiving radio waves between the units 10 via the cone antenna 20 having high directivity. As described later in detail, 16-bit digital information is converted into analog data for the purpose of noise reduction, and the same information is supplied to each unit. Is configured to be sent 8 times each. Reference numeral 4 denotes a fixed support body that is supported at two points so as to be capable of swinging about the central axis along the longitudinal direction of the jig body 1. The one side support body 4 contains a drive motor (not shown) and On the side of the jig body 1 facing the support body 4, a power supply terminal 41 is provided so as to be able to come into contact with the feeding surface of a disk-shaped slip ring 40 that rotates integrally with the jig body 1.

FIG. 2 shows the internal structure of the transmission / reception unit 10. Reference numeral 11 in the figure denotes inputs from the input device 17, the address setting switch 12, the transmission / reception circuit 13, and the output device 14, L.
The output to the ED control circuit 15 and the transmitting / receiving circuit 13 is controlled, and the antenna 2 and the transmitting / receiving circuit 13 are controlled as described later.
The noise removing circuit 20 which incorporates the received same information every eight times and repeats the data three or more times from the information is incorporated. Reference numeral 16 is a power unit, which converts the AC power into DC3V and supplies it to the control circuit 11. The input device 17 functions as an input port for detecting the operation of various detection switches in a jig such as a limit switch, and the output device 14 functions as an output port of a solenoid valve or the like. Address setting switch 12
Consists of a rotary switch and a DIP switch,
Set the address of this unit 10. The LED control circuit 15 receives the input / output state from the control circuit 11
Turn on D. The transmitting / receiving circuit 13 is a circuit for transmitting / receiving in the 10 GHz band, and a 16-bit signal obtained by slicing the analog signal received from the antenna 2 by the converter 19 and converting it into a digital signal can be transmitted to the control circuit 11 side. I am configuring.

FIG. 3 shows a noise eliminating circuit 20 incorporated in the control circuit 11 and executed on the basis of the above signals. A shift register 21 for taking in a 16-bit signal on the basis of a clock and a shift register 31 for latching the shift register 31 are shown. The first latch circuits 22a and 22b are provided to the first latch circuit 2 before the shift register 21 fetches the next 16-bit information.
A second latch circuit for taking in the current 16-bit information latched in 2 in parallel down, and in the same manner as the third to third
Up to the eighth latch circuits 22a to 22h are arranged. Then, eight 16 circuits are repeatedly provided to all the latch circuits 22a to 22h.
When the bit information is taken in, when there is three or more pieces of the same information among the eight pieces of 16-bit information, the decision circuit 23 adopts the information as correct information.

According to such an embodiment, the analog information of 8 repetitions fetched from the sequence side is received by the antenna 2 of the space diversity system.
At this time, depending on the turning angle of the rotating jig body 1, the antenna 2 may be canceled due to the overlap with the waveform of the radio wave that is reflected directly into the surroundings together with the radio wave.
In the present embodiment, since the antenna 2 formed by arranging a pair of antennas 2a and 2b arranged at intervals of {n (integer) +1/4} wavelengths is used, either antenna 2a,
2b can be received and no cancellation occurs. Since the received analog signal has a short wavelength of 10 GHz,
Even if the slice level is set low in order to receive the reflected wave of the weak electric wave, it is possible to eliminate the possibility that the adjacent direct waves of the strong electric wave overlap each other. Further, the digital information of eight times repetition taken in from the converter 19 into the control circuit 11 is sequentially taken into the shift register 21 of the noise removing circuit 20 on the basis of the clock, and only the correct digital information is adopted in the judging circuit 23. A predetermined control operation can be performed in the control circuit 11. In addition, in response to a control signal from the control circuit 11, a solenoid valve (not shown) can perform a predetermined operation by being supplied with drive power from a power supply terminal 41 which is in contact with the power supply surface of the slip ring. At this time, since the slip ring and the power supply terminal 41 are merely in contact with each other, the rotary jig body 1 can freely rotate, and the above-described operation of the present invention can be smoothly achieved.

FIG. 5 shows another embodiment in which the above device is incorporated in the hand of the robot. The transmission / reception unit 10 is arranged in the hand 52 which swings at a predetermined angle via the shaft of the robot body 51, and the hand 52 It is composed of a first control panel 53 for sending control signals for controlling various tools such as solenoids, the cone antenna 20, and a second control panel 54 for supplying fluid pressure to various cylinders on the robot body 51 side. In this embodiment as well, by transmitting a control signal from the first control panel 53 to the transmission / reception unit 10 side via the cone antenna 20, the same operation as in the above embodiment can be performed, and this embodiment is particularly The transmission / reception unit 10 is also provided on the second control panel 54 side so that control signals can be transmitted / received from the first control panel via the cone antenna 20. Further, in the present embodiment, the slip ring 40 may be provided between the mounting shaft on the side of the hand 52 and the robot body 51 to enable power supply by the same method as described above.

[0017]

[Effect] As described above, according to the present invention, welding, screw tightening, etc. while swinging the phase angle stepwise or steplessly in a predetermined angle unit like a robot hand or a four-sided rotating jig. In the phase angle diverting jig capable of performing various operations, the lead wire and the power supply wire are divided, and each of them is configured to achieve a predetermined action by the most preferable method.
Eliminates various restrictions on the power supply line side, in particular, enables swinging of the deflection jig more than one rotation, and is not restricted by swinging of the rotating jig and noise is not generated. Enables smooth signal collection. And so on.

[Brief description of drawings]

FIG. 1 is a perspective view showing a schematic view of a four-sided rotating jig according to an embodiment of the present invention.

FIG. 2 is a block diagram showing an internal configuration of the transmission / reception unit.

FIG. 3 is a noise elimination circuit incorporated in a control circuit in the unit.

FIG. 4 shows the reception status of radio waves in the present embodiment (A) and the prior art (B).

FIG. 5 is a perspective view showing a schematic diagram of a robot according to another embodiment of the present invention.

[Explanation of symbols]

 4 Fixed support 1 Deflection jig body 40 Slider (slip ring) 20 Noise removal circuit

Continuation of the front page (51) Int.Cl. ⁵ Identification number Office reference number FI technical display location H04Q 9/00 311 N 7170-5K

Claims (4)

[Claims] 1. A phase angle diverting jig which performs various operations while oscillating a predetermined angle stepwise or steplessly, in which power is supplied to the diverting jig from a fixed support side through a slider. Control method for the phase angle changing jig, which is characterized in that the control signal is received wirelessly on the other hand. 2. A phase angle diverting jig which performs various operations while oscillating a predetermined angle stepwise or steplessly, wherein a control signal is received by the diverting jig wirelessly and at the same time. In a phase angle deflecting jig, the same signal is sent N times wirelessly, and when the same signal is received S times (N> S), the signal is adopted to perform a predetermined control. control method 3. The control method in the phase angle changing jig according to claim 2, wherein the frequency of the radio wave is 1 GHz or higher. 4. The phase angle changer according to claim 2, wherein transmission and reception of the radio wave are performed using a pair of antennas spaced at {n (integer) +1/4} wavelength of a received radio wave frequency. Jig control method