JPH0588895U - Unmanned vehicle mounted manipulator - Google Patents

Abstract

(57) [Summary] [Objective] The present invention can automatically stop the operation of an unmanned vehicle when the belt runs out, and can improve safety and reliability compared to conventional ones. It is a car-mounted manipulator. A manipulator equipped with an unmanned vehicle for transmitting torque of a position-controlled motor 16 to an arm via a belt type torque transmission mechanism 1 is provided with a belt breakage detection device 6, and a detection signal of the belt breakage detection device 6 is transmitted. It is characterized by being used as an alarm command or / and a stop signal.

Description

[Detailed description of the device]

[0001]

[Industrial applications]

 The present invention relates to an unmanned vehicle-mounted manipulator that transmits torque of a position-controlled motor to an arm via a belt-type torque transmission mechanism.

[0002]

[Prior Art]

 FIG. 5 is a perspective view of an unmanned vehicle 24 equipped with a 5-axis manipulator 9, wherein 10, 11, 12 are the first joint, the second joint, the third joint of the manipulator 9, and 13, 14 are the first joint. 1st arm, 2nd arm, and 15 are hands.

FIG. 6 is a block diagram of a device that constitutes the second joint 11 and the control device 23, for example. In the figure, 16 is a motor, 17 is a pulse encoder connected to the motor 16, and 1 is torque transmission. The device is shown.

Reference numeral 2A is a driving pulley driven by a motor 16, 2B is a driven pulley, and 3 is a belt stretched between the driving pulley 2A and the driven pulley 2B. The rotating force transmitted from 2A to the driven pulley 2B via the belt 3 is transmitted to the shaft 14A of the second arm 14 via the reduction gear 22, and the second arm 14 operates.

The control device 23 is composed of a speed control device 18, a position detection circuit 19, a position error detection device 20 and a speed detection circuit 21, and the position detection circuit 19 uses the output of the pulse encoder 17 to rotate the motor 16. The position is detected, and the speed detection circuit 21 detects the rotation speed of the motor 16 from the output of the pulse encoder 17.

The position error detection device 20 takes in the output of the position detection circuit 19 to detect the error in the detected position of the motor with respect to the target position, and inputs it to the speed control device 18. Performs feedback control on the rotation speed.

In such a configuration, when the target position of the second arm 14 is designated, the control device 23 rotates the motor 16 so that the displacement of the second arm 14 is eliminated, and the rotation of the motor 16 is performed. The force is transmitted to the driving pulley 2A → the belt 3 → the driven pulley 2B → the speed reducer 22 → the shaft 14A of the second arm 14, and the second arm 14 is rotated by an angle corresponding to the displacement.

[0008]

[Problems to be solved by the device]

 Therefore, if the belt 3 of the torque transmission device 1 is broken for some reason, the function of the second joint 11 is lost, and the belt break is not detected. For example, the work on the workbench of the work station is not detected. If the belt 3 breaks as soon as an attempt is made to pick up an item to be conveyed by the hand 15 when the item is transferred to the unmanned vehicle 24 side and is conveyed to the next work station, the wrist portion of the manipulator 9 or the hand Since the vehicle 15 runs while extending from the body of the unmanned vehicle 24 to the workbench side, hook the wrist portion or the hand 15 on a tool on the work station side, and the wrist portion, the hand 15, or the work station. There was a problem such as damage to the equipment on the side.

The present invention has been made to solve this problem, and can automatically stop the operation of the unmanned vehicle when the belt runs out, improving safety and reliability as compared with the conventional one. It is an object of the present invention to provide an unmanned vehicle-mounted manipulator that can be operated.

[0010]

[Means for Solving the Problems]

 In order to achieve the above object, the unmanned vehicle-mounted manipulator of the present invention is provided with a belt breakage detection device that detects that the belt of the torque transmission device has broken, and this belt breakage detection device detects a belt breakage. In this case, an alarm is issued and a stop command signal is sent to the control device for driving the unmanned vehicle to stop the unmanned vehicle.

[0011]

In the unmanned vehicle-mounted manipulator of the present invention described above, when the belt is cut, the belt breakage detection device detects the breakage of the belt of the torque transmission device and issues an alarm, so that an abnormality of the manipulator can be detected early. be able to.

Further, since the unmanned vehicle is stopped by issuing a stop command signal to the traveling control device of the unmanned vehicle, the wrist portion and the hand are not damaged, and the safety and reliability are high. .

[0013]

【Example】

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

FIG. 1 shows the torque transmission device 1 for the second joint 11, and 6 in the figure is a belt breakage detection device. For example, a projector 4 and a light receiver 5 as shown in an enlarged view in FIG. The belts 3 are arranged so as to face each other across the belt 3.

The light projector 4 continues to emit the light projection beam 7, and outputs a belt breakage detection signal only when the light projection light beam 7 is input to the light receiver 5. The belt breakage detection signal is an alarm device (not shown). No.) and is supplied as an emergency stop command signal to the traveling control device 25 of the unmanned vehicle 24.

In such a configuration, in a normal state where the belt 3 is not cut, the projected light beam 7 which is continuously emitted from the projector 4 is blocked by the belt 3, and thus the projected light beam 7 is received by the light receiver 5. Since the belt breakage detection signal is not issued because it does not receive light, the emergency stop command signal is not input to the traveling control device 25 of the unmanned vehicle 24, and the unmanned vehicle 24 moves normally.

However, when the belt 3 is broken, the light beam 7 that continues to be emitted from the projector 4 is received by the light receiver 5 and a belt breakage detection signal is emitted, so that the alarm device is activated and the driverless vehicle 24 is driven. A stop command signal is issued to the control device 25, the unmanned vehicle 24 on the verge of departure remains stopped, and the unmanned vehicle 24 running is stopped.

FIG. 3 shows another example of the belt breakage detecting device 6, which uses a reflection type optical switch 8.

The reflection type optical switch 8 does not issue a belt breakage detection signal when the projection light beam 7 emitted from the projection side is reflected by the belt 3 and is received by the reception side, and the projection light beam 7 is received by the reception side. When it does not illuminate, it outputs a belt breakage detection signal.

Therefore, when the belt 3 is not broken, the projected light beam 7 which continues to be emitted from the reflection type optical switch 8 is reflected by the belt 3, and therefore the belt breakage detection signal from the reflection type optical switch 8 is Instead, the unmanned vehicle 24 makes normal movements.

However, when the belt 3 is cut off, the projection light beam 7 which continues to be emitted from the reflection type optical switch 8 is emitted to the light receiving side of the reflection type optical switch 8 by the cut belt 3. Since no input is made, it is detected that the belt 3 is cut off, and a belt breakage detection signal is emitted from the reflection type optical switch 8. Therefore, the alarm device is activated and the driving control device 25 of the unmanned vehicle 24 is stopped. A command signal is issued, the unmanned vehicle 24 on the verge of departure remains stopped, and the unmanned vehicle 24 in motion stops.

FIG. 4 shows another example of the belt breakage detection device 6, which mechanically detects that the belt 3 has been cut. The rolling roller 26 is brought into contact with the peripheral surface of the belt 3. The lever 27 extending from the central axis of the rolling roller 26 is brought into contact with the engaging member 29 of the limit switch 28. When the lever 27 and the engaging member 29 are in contact, the limit switch 28 disconnects the belt. When the lever 27 and the engagement element 29 are not in contact with each other without outputting a detection signal, the limit switch 28 outputs a belt breakage detection signal.

When the belt 3 is not broken, the state as shown in FIG. 4 is maintained and the belt break detection signal is not issued from the limit switch 28, so that the unmanned vehicle 24 operates normally.

However, when the belt 3 is broken, the lever 27 rotates clockwise around the fulcrum 31 by the urging force of the spring 30, and the engaging element 29 of the limit switch 28 and the lever 27 are disengaged. The limit switch 28 issues a belt breakage detection signal, the alarm is activated, and a stop command signal is issued to the traveling control device 25 of the unmanned vehicle 24, and the unmanned vehicle 24 on the verge of departure remains stopped. The unmanned vehicle 24 stops.

Therefore, in any of the above-described embodiments, even if the belt is broken, the unmanned vehicle 24 does not run as it is, and the wrist portion, the hand 15, or the like is hooked on an instrument or the like on the work station side to There is no risk of damaging the hand 15 or the equipment on the work station side.

Although the second joint 11 is described in the present embodiment, the present invention can be applied to other joints or a portion using a belt type torque transmission mechanism to obtain the same effect.

[0027]

[Effect of the device]

 As described above in detail, according to the unmanned vehicle-mounted manipulator of the present invention, when the belt is cut and the arm cannot be controlled, the unmanned vehicle can automatically stop traveling. It is possible to improve safety and reliability compared to the ones described above.

[Brief description of drawings]

FIG. 1 is an embodiment of the present invention.

FIG. 2 is an enlarged view of the belt cutting detection device of FIG.

FIG. 3 is another enlarged view of the belt breakage detecting device of FIG.

FIG. 4 is still another enlarged view of the belt breakage detection device of FIG. 1.

FIG. 5 is a perspective view of an unmanned vehicle equipped with a conventional manipulator.

FIG. 6 is a block diagram of a device and a control device that form a joint portion of a conventional manipulator.

[Explanation of symbols]

 1 Torque Transmission Device 3 Belt 4 Emitter 5 Light Receiver 6 Belt Break Detection Device 9 Manipulator 16 Motor 23 Control Device 24 Unmanned Vehicle 25 Drive Control Device

Claims (3)

[Scope of utility model registration request] 1. An unmanned vehicle-mounted manipulator for transmitting torque of a position-controlled motor to an arm via a belt-type torque transmission mechanism, comprising a belt breakage detection device,
An unmanned vehicle-mounted manipulator, which uses a detection signal of the belt outage detection device as an alarm command and / or a stop signal. 2. The manipulator for use in an unmanned vehicle according to claim 1, wherein the belt breakage detecting device is an optical sensor. 3. The manipulator mounted on an unmanned vehicle according to claim 1, wherein the belt breakage detection device is a mechanical sensor.