JPS58149188A - Conveying robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to an industrial transport robot that transports objects.

In recent years, transport robots for transporting freight have been widely used in unmanned factories. This transport robot #'i carries out an operation of once accelerating the transported object, transporting it at a constant speed, and then decelerating and stopping it.

By the way, in the conventional transfer robot, a predetermined type of acceleration curve 1M (acceleration data) is stored in a storage element, and the movement is accelerated or decelerated based on the storage result. However, since this acceleration expansion 1iII#'i was created based on the weight of the heaviest object to be transported, the time required for transport is constant regardless of the weight of the object to be transported, and even when transporting lightweight objects. It took the same amount of time as when transporting heavy objects. As a result, conventional transfer robots have the disadvantage of poor work efficiency.

In view of the above-mentioned circumstances, the present invention provides a transport robot that can change the acceleration according to the weight of the object to be transported, thereby making the work efficiency extremely high. A storage unit is provided, the storage block is selected based on the weight of the transported object, and the transported object is accelerated or decelerated based on the acceleration data in the selected 100 million blocks. be.

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

FIG. 1 is a block diagram showing the electrical configuration of a transfer robot which is an embodiment of the present invention.

In FIG. 1, reference numeral 1 denotes an input section, which is composed of 11 numeric keys. When the author of this input section 1#im manually inputs the electric power of the object to be transported using the numeric keypad 1a, a weight signal corresponding to the weight of the object to be transported and the object to be transported is supplied to the input section 52. The control unit 2 includes an opU (central processing unit) and a memory in which programs used by the OPU are stored. This system #M2 is the input part 1
The acceleration time T1, constant velocity transport time T2, and deceleration time T1 of the transported object are calculated based on the weight signal S1 supplied from the terminals 20 to 2e. This is what is output. moreover,
Pulse trains P1, P are output from the control unit 2#i output terminals 2&, 2b.
2 to input terminals 3m and 3b of the counter 3, respectively. In addition, pulse train P, %P.

The timing of occurrence is described below. Further, it is a signal of the Fi2 leading digit to the above-mentioned acceleration selection signal, and is outputted from the output terminal 20 with the lower value, 2d as the middle value, and 2· as the higher value. These output terminals 26-2 are each read-only memory (hereinafter referred to as RO).
(referred to as M) is connected to the address 1 child of 4, ~'11. The counter 3Fi performs up counting when the pulse train P1 is supplied to the input terminal 3&, and performs down counting when the pulse train A is supplied to the input terminal 3b, and is reset in the initial state m. Output terminals 0° to O1 of this counter 3 are connected to address terminals 0 to O1 of the ROM 4, respectively. This ROM 4 stores a plurality of types of acceleration data. Here, 11
An example of the memory contents of 0M4 is shown in Figure 1.

Table 1 As shown in Table 1, the storage space of i'tOM4 is atξ
It is divided into memory blocks divided by the top three responses 9='ll, and different acceleration data is stored in each memory block. This acceleration data is, for example, Fio, l, 2,
In the memory block, it is a sequence of numbers 0.2.6.10.16. These number sequences are each 100 million block B1,
B! The addresses are stored in binary numbers in ascending order of address.

Output terminals D0 to I) of the ROM 4 and Fi are connected to input terminals 5-1 to 5-12 of a digital-to-analog converter (hereinafter referred to as D/MU conversion color) 5, respectively.

In addition, in the following explanation, output terminals are used. The binary number output from -Dl is decimated and referred to as numerical data D. The D/h converter 5 outputs a voltage v1 proportional to the numerical data output from I'10M4,
This voltage v1 is supplied to the negative input terminal of the servo amplifier 6. The servo amplifier 6 drives the servo motor 7 with an output signal proportional to the voltage 1. The servo motor 7IIi is orally transmitted with a rotational speed proportional to the output signal of the servo amplifier 6, and a tachogenerator 8 is attached to the rotating shaft of the servo motor 7. It outputs a voltage proportional to the rotational speed of the tachometer generator 7, and is supplied to the other input terminal of the paper pressure V and Fi servo amplifier 6. Then, the servo motor 6 drives the servo motor 7 so that the voltages v2 become equal.

FIG. 2 is a schematic representation of the mechanical construction of this embodiment.

In this figure, one turning force of the servo motor is gear 10.1.
1 to the ball screw 12.

This ball screw 12 is rotatably supported by a frame 13.13. 15t'i arm, one end of which is screwed into the ball screw 12, and the other end of which is connected to the hand 16. The hand 16 is for holding an object to be transported. Also, the frame 13. is inserted into the hole Ms15m of the arm 15.
A rod 14, supported by 13, extends therethrough.

Next, the operation of this embodiment with the above-mentioned configuration will be explained as follows.
This will be explained with reference to FIGS. 1 to 5.

First, when the operator inputs the weight of the object to be transported into the input section 1 by operating the numeric keypad ]a, the weight signal S1 is sent from the human power section 1.
is supplied to the control section 2. As a result, the acceleration selection signal 8□ corresponding to the control unit 2-digit 1 double signal is supplied to the ROM 4. Then, the acceleration selection signal S2 at this time is l'-oo
If it is oJ, as can be seen from Table 1, 1'10
Storage block B1 in M4 is selected. Further, when the mii signal S1 is supplied, the control section 2 calculates an acceleration time, a speed transport time T2, and a deceleration time 1. Next 11
11'lJ control section 2Fi supplies a pulse train P1 of acceleration time T to the counter 3 as shown in FIG. 3(&). As a result, the counter counts up every time 3tll pulses are supplied, and thereby the data in storage block B1 is read out in order from the lowest address (see Table 1). Figure 3 G
) indicates the change in the numerical data read from the ROM 4, but as shown in this figure, the counter 3 has a 1 value.
Every time a pulse is supplied, "l, 2, uh, 8" is written from ROM4.
” numerical data D is read out.

Then, when this numerical data D is sequentially supplied to the D/Af converter 5, the output voltage v1 of the D/Af converter @#5 changes four times (0
) as shown in 0. U, 1, uh, increases by 4v. As a result, the servo motor 7 rotates at a rotation speed proportional to the voltage v1.

By the way, if the angular acceleration of the servo motor is 6M,
From the above, it can be seen that the following equation holds true.

dV, ... (1) α""at
at Then, since the voltage v1 is proportional to the numerical data D, the following equation holds true.

α”-(lt...(2) From this formula (i), if the folded green in section T1 of Fig. 3(d) is approximated to the macroscopic city by Ik, then the slope of & on this + is the angular acceleration. It can be seen that it is proportional to αM. Also, the angular acceleration layer 2 αM
Of course, this is proportional to the conveyance acceleration of the conveyed object.

Then, during the constant speed conveyance period T2, the control section 2 does not output the nozzle sequences P1, P, and e. Therefore, the count value of the counter 3 is constant, and the numerical data read from the ROM 4 also remains r8J. During this period, the voltage V□ becomes constant, the servo motor 7 rotates once in equal rotation, and the object to be transported is transported at a constant speed.

Next, regarding the deceleration time, the control section 2 supplies the counter 3 with the pulse train. As a result, counter 3 counts down every time one pulse is supplied, and as a result, only OM4
The numerical data D read from the numeral data D decreases to "8, uh, 2.1". Therefore, as can be seen from the figure, the operation opposite to the operation during the acceleration time - described above is performed, and the conveyed object im is decelerated and then stopped.

On the other hand, if the weight of the object to be transported changes, press 1 on the numeric keypad.
1 to input a new weight value into the input section l. If the acceleration selection signal S2 corresponding to the weight signal S□ in this case is [001,l, for example,
As can be seen from Table 2, ml storage block B8 is selected.

In this case, the numerical data D\'i read out from the ROM 4 during the acceleration time T1 changes as shown by the dashed line K in FIG. 3(d).

In this manner, in this embodiment, different acceleration data (sequences of numbers) are selected corresponding to the weight signal S1.

As explained above, according to the present invention, a storage unit is provided in which different acceleration data is stored for each storage block, and the storage block is selected based on the amount of electricity of the object to be transported, and the selected storage block is Previous ISc based on the acceleration data in the storage block
Since the conveyed object is accelerated or decelerated, the acceleration is adjusted according to the heavy sound of the conveyed object. can,
Thereby, the efficiency of the conveyance work can be extremely increased.

[Brief explanation of drawings]

Figure I@1 is a block diagram showing the configuration of an embodiment of the present invention, and Figure 2 is a schematic diagram showing the structure of the embodiment.
Figure 143 (- to (0) are waveform diagrams showing the waveforms of each part of the circuit shown in Figure 1, respectively, and Figure 3 (a) is a diagram showing the deterioration of the numerical data read from t/'iRoM4. 1 ...Input section (self-memory block selection means), 1
1...0. Numeric keypad (aCC block selection means, 2
... control section (dCC diblock selection means, 4)
...ROM (memory section). Zhongyong 19-Buttocks-! door? h

Claims (1)

[Claims] I transport an object based on predetermined acceleration data
h, the sending bot is provided with a storage unit in which acceleration data is stored for each storage block, and an E memory block selection means for selecting the E memory block based on the weight of the JItI distributed object, and predistribution is performed. A transport robot whose axis is to transport the object based on mouth speed data in a storage block selected by a desired block selection means.