JPS5847309B2 - Automatic follow-up control method for robots, etc. - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot, etc., which is an automated device equipped with a horizontal positioning mechanism, in which the horizontal movement of its operating part automatically follows the operation of a horizontal position control device. Automatic tracking control system In recent years, horizontal position control devices have been installed on robots, jib cranes, etc. in order to accurately transport loads to predetermined positions and automate load transport, as well as to perform various automatic processing operations. A method has been proposed that separately controls positioning during horizontal movement.

In this separation control method, the robot, etc. is made to share the gravity for lifting a load to control the vertical position, and the position control device is made to control the horizontal movement of the operating tip of the robot, etc., to control the tip. Therefore, it is necessary for the operating tip of a robot or the like to horizontally operate following the horizontal movement of the position control device.

As a follow-up method, a direct control method that directly transmits the moving power is considered, in which the actuating part of the gravity control device is horizontally pulled by the driving body of the position control device from below via a linking device, causing it to move horizontally. .

However, the operating section of the gravity control device is subject to inertia due to its own weight and suspended load, friction from sliding sections, and various external forces that tend to move the operating section itself in one direction.

Therefore, a large amount of energy is required to horizontally move the actuating part, and if the moving power is directly transmitted to a position control device separated by a predetermined interval to horizontally move the actuating part,
The position control device itself receives a large reaction due to the inertia corresponding to the large amount of energy, and the original function of accurately performing horizontal positioning is lost, and it becomes difficult to expect highly responsive position control.

In addition, horizontal traction via the linking device causes a rotational moment proportional to the arm length of the linking device due to the friction present in the operating portion itself, resulting in a large energy loss.

Therefore, the present invention provides a direct control system in which moving power is directly transmitted between the driving body of the position control device and the gravity control device that is to follow this horizontal movement, which may cause damage to accurate positioning due to inertia as described above. Considering that there are drawbacks such as poor responsiveness of position control and energy loss due to friction, the actuating part of the gravity control device is made capable of horizontal movement by its own blade, and the actuating part and position control device are By using an indirect drive control system with a different control system that transmits only the movement signal for horizontal movement between the drive body and the drive body, smooth automatic horizontal tracking can be achieved without the above drawbacks. This paper proposes an automatic follow-up control method for robots, etc.

In order to achieve the above object, the present invention includes a gravity control device having an arbitrary actuating portion and a position control device having a driving body linked to the actuating portion, and by horizontally moving the driving body. The resulting positional deviation between the actuating parts is detected as a movement command signal, and based on this signal f, the horizontal driving part of the gravity control device is driven and controlled to horizontally move the actuating part, thereby controlling the horizontal movement of the driving body. On the other hand, it provides an automatic follow-up control system for robots, etc., in which the actuating parts automatically follow the same direction.

The present invention will be described below based on embodiments shown in the drawings.

FIGS. 1A to 1C show schematic diagrams of automation equipment using the method of the present invention.

In the figure, a horizontal position control device 20 is provided in correspondence with a gravity control device 10 to constitute an automation device.

The gravity control device 10 transports a load to a predetermined position,
It consists of a jib crane, robots, etc. that support and operate arbitrary processing tools.

Also, the actuating section 13 of the gravity control device 10 and the position control device 20
The driving body 22 is linked via a predetermined linking tool 14.

By adopting the above configuration, the gravity control device 10 is made to share the gravity load for lifting the load to control the vertical position, and the position control device 20 is made to control the horizontal position of the actuating section 13 of the gravity control device 10. The movement is controlled to horizontally align the tip of the linking tool 14 suspended from the operating section 13.

In the case of FIG. 1A, the above-described gravity control device 10 is composed of a jib crane, in which an arm 12 is rotatably attached to a support 11 consisting of a column, and an actuating section 13 consisting of a slidable slider is attached to the arm 12. A hanging tool 14 (the above-mentioned linking tool) made of a wire rope is provided on the operating section 13, and the operating section 13 slides on the arm 12 and the arm 12
A horizontal drive unit 15 is provided at the base of the arm 12 to control the rotational drive of the arm 12.

Although the arm 12 has a rotating structure, it may be configured to slide along a guide rail between a plurality of columns, or it may be fixedly attached to the columns.

In the gravity control device 10 shown in FIG. 1B, a support body 11 is constituted by a wall, an arm 12 is slidably attached to a kite rail of the wall, and an actuating section 13 consisting of a slider is attached to this arm 12. A hanging tool 14 is suspended from the actuating part 13, and the sliding movement of the arm 12 and the actuating part 13 is controlled by a horizontal drive part 15 at the base of the arm 12. be.

The gravity control device 10 shown in FIG. 1C is mainly composed of a so-called robot that automatically transports loads, and has an arm 12 that is extendable and can be raised and lowered, and is rotatably attached to a support 11. The tip part becomes an actuating part 13 that moves up and down and moves in a plane, and a hanging tool 14 that hangs from the lifting rod is installed vertically on this actuating part 13, and the arm controls the driving of the telescopic arm 12's telescopic, up-and-down, and turning movements. This is done by the horizontal drive section 15 at the base.

A horizontal position control device 20 is provided corresponding to the gravity control device 10 in each of the above figures.

This position control device 20 includes a guide device 21 configured by arbitrarily disposing guide rails on a horizontal plane, and a driving body 22 mounted thereon that moves horizontally in one or two axes along the guide rails. be done.

The linking device 14, which is a hanging device of the gravity control device 10, is linked to the seven driving bodies 22 of the position control device 20, so that the gravity control device 10 shares the vertical load and controls the position of the upper and lower blades. , the horizontal position control device 20 horizontally moves the actuating portion 13 via its driver 22 to accurately align the actuating tip portion in the horizontal direction.

Note that 23 shown in FIG. 1A is a parallel link arm, which is attached to prevent the suspended load from swinging laterally below the driver 22.

A detection device 1 for transmitting and receiving a movement command signal is installed between the gravity control device 10 and the position control device 20 described above,
The horizontal movement of the driving body 22 (the resulting positional deviation between the actuating parts 13 is replaced with a mechanical displacement amount, which is detected as an electrical signal, and based on this signal, the horizontal driving part 15 is drive-controlled to control the actuating part). 13 to automatically follow the horizontal movement of the driving body 22.

The above-mentioned detection device 1 consists of a detector 2 and an actuator 3, and by installing these between the actuating part 13 of the gravity control device 10 and the driving body 22 of the position control device 20,
The detector 2 directly detects the horizontal movement of the driver 22 via the actuator 3, and uses this movement command signal to cause the actuator 13 located directly above the driver 22 to follow the same direction as the driver 22. This is to drive and control the horizontal drive section 15 to move.

That is, one driving body 22 and the actuating part 13 by the detection device 1
By program-controlling and sending an electric signal caused by the positional deviation between the two horizontal drive units 15 (to the horizontal drive unit 15), the arm 12 and the actuating unit 13 are appropriately driven and controlled to perform automatic follow-up control of the actuating unit 13. .

2 to 5 show specific actual cases of the detection device 1. As shown in FIG.

In the detection device shown in FIG. 2, a slider 30 in the X-axis direction is housed inside an inner frame with a spring interposed therebetween, and this inner frame becomes a slider 31 in the y-axis direction by a spring inside a fixed frame 32. - By fitting the actuator 3 into the through hole in the slider 30 and horizontally moving the mounting side of the actuator 3, the sliders 30 and 31 are moved along the X-axis and the y-axis. It is composed of a detector 2 whose displacement is detected by readers 33 and 34 made of potentiometers, etc., and a rod-shaped actuator 3 linked thereto.

An X-axis displacement reader 33 is attached to the slider 31, and a Y-axis displacement reader 34 is attached to the fixed frame 32.

Each of the sliders 30, 31 is supported at a neutral point by a spring.

Gravity control device 1 including the above-described detector 2 and actuator 3
0 and the drive body 22 of the position control device 20.

In the case of FIG. 2, in principle, the detector 2 is attached to the actuator 13 and the actuator 3 is attached to the drive body 22.

Note that the wire rope serving as the hanging tool 14 of the gravity control device 10 can also be linked to the inside of the slider 30 of the detector 2 to serve as an actuator.

In that case, the wire rope slides up and down, so slider 3
It is necessary to provide a pulley inside the 0.

The detection device shown in FIG. 3 is configured to detect displacements in the X-axis and y-axis directions as angular displacements.

That is, it consists of a rotor 35 in the Y-axis direction made of a frame and a rotor 36 in the X-axis direction rotatably provided inside the rotor 35.
is swung in the X-axis or y-axis direction by the horizontal plate 37, causing the rotor 35.degree.

In the detection device 6 in FIG. 4, a slider 38 in the X-axis direction and a slider 39 in the Y-axis direction, which have a slit in the center, are crossed in a cross shape, and each is attached to a frame 40 (this slider 6, insert the actuator 3 into the center of the intersection, and then
Each slider 38, 3 caused by the horizontal movement of the actuator or the inclination of the rope when the actuator is made of a wire rope.
The readers 33 and 34 are configured to detect the axial displacement of 9.

However, the reader only detects movement in the axial direction.
It may also be a reading of an off signal.

The detection device shown in FIG. 5 includes a reader 41 in a through hole that reads movement in the X-axis and y-axis directions from a ring-shaped contact terminal using on/off signals, and forms a detector 2. Vessel 2
The actuator 3 erected on the drive body 22 in the circular reader 41 of
It is constructed by inserting the

By attaching the above-mentioned detection device 1 in conjunction with the gravity control device 10 and the position control device 20, relative positional displacement can be detected between the actuating section 13 of the gravity control device 10 and the first driving body 22 of the position control device 20. is read as an electrical signal,
By activating the gravity control device 10 based on the signal, the actuating section 13 is automatically moved in the same direction as the driving body 22 moves.

The electrical signal from the detection device 1 can be programmed as a drive signal having only directionality, or as a drive signal that takes into account directionality and speed.

In addition, as for the directionality, when controlling all the driving parts of the gravity control device 10 to perform combined control in two-axis directions on the horizontal plane, and aligning the moving direction of the driving body 22 of the position control device 20 with the self-cutting blade. Then, only the main part of the plurality of drive parts is controlled, the other drive parts are made freely movable, and the movement of the actuating part 13 is controlled with general directionality, and strict directionality is controlled. The driving body 22
There are cases where this is done via the linking tool 14 which is a hanging tool.

Note that the horizontal movement of the actuator 13 is caused by inertia (therefore, there is a slight delay in movement compared to the movement of the drive body 22, so it is recommended that the initial movement speed be programmed in advance to be slightly faster than that of the drive body 22). good.

Next, the operation of the control system of the present invention will be explained.

First, in order to make the gravity control device 10 consisting of a robot, jib crane, etc. perform work such as transporting a load, the operating section 1
L for driving and traveling the driving body 22 of the position control device 20 linked to the operating section 13 to the target position by the hanging tool 14 of No. 3;
It is done by.

That is, by starting to move the driving body 22 to the target position, the detection device 1 provided between the actuating section 13 is activated and detects the positional deviation between the two as an electrical signal, and this signal By driving and controlling the horizontal drive unit 15 of the gravity control device 10, the actuating unit 13 automatically follows the movement of the first driving body 22 and moves in the same direction, thereby moving the hanging tool 14 of the actuating unit 13 to the target position. It is used to move the cargo to the container where it is used to carry out work such as load gripping or loading layers.

As described above, the present invention directly applies one driving force between the operating section of a gravity control device that suspends and transports a load, and the drive body of a position control device that horizontally aligns this operating section. Instead of a direct control system that transmits the load, we used an indirect drive control system that simply transmits a movement command signal between the two to drive and control the actuating parts, so the control system is different from the gravity control system that directly controls the load. This allows the actuating part to smoothly and automatically follow the horizontal movement of the drive body without being adversely affected by inertia or friction in the actuating part, and provides highly responsive position control for the actuating part. It is something that can be tightened.

[Brief explanation of the drawing]

FIGS. 1A to 1C are schematic diagrams of an automation device equipped with the control mechanism of the present invention, and FIGS. 2 to 5 are illustrations of actual cases of the detection device used in the automation device of FIG. 1. 1...detection device, 2...detector, 3.
... Actuator, 10 ... Gravity control device, 1
1...Support, 12...Arm, 13
...... Actuation part, 14... Hanging tool (coupling tool), 15... Horizontal drive part, 20... Position control device, 21... ...Guidance device, 22...
...Driver, 30°31.38,39...Slider, 35,36...Rotor, 33,34,41
...reader.

Claims (1)

[Scope of Claims] 1. A gravity control device 10 that has an arm 12 and a horizontally movable operating section 13 and suspends and transports a load, and a driving body 22 that is linked to the operating section 13 via a linking device. A position control device 20 is provided correspondingly, and the positional deviation between the actuating parts 13 caused by the horizontal movement of the driving body 22 is compensated for by mechanical displacement between the driving body 22 and the actuating part 13. The amount is detected by reading it as an electrical signal, this movement command signal is amplified, and the gravity control device 1
Based on this movement command signal, the horizontal drive unit 15 of the gravity control device 10 is drive-controlled to cause the actuating unit 13 to move horizontally, thereby causing the horizontal movement of the drive body 22. On the other hand, the operating part 13
An automatic tracking control method for robots, etc., characterized in that the robots automatically follow in the same direction.