JPS61239305A - Method for correcting positional error of self-running dolly - Google Patents
Method for correcting positional error of self-running dollyInfo
- Publication number
- JPS61239305A JPS61239305A JP60080480A JP8048085A JPS61239305A JP S61239305 A JPS61239305 A JP S61239305A JP 60080480 A JP60080480 A JP 60080480A JP 8048085 A JP8048085 A JP 8048085A JP S61239305 A JPS61239305 A JP S61239305A
- Authority
- JP
- Japan
- Prior art keywords
- work station
- dolly
- error
- positional error
- corrected
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000000034 method Methods 0.000 title claims description 7
- 238000005507 spraying Methods 0.000 abstract description 9
- 239000011248 coating agent Substances 0.000 abstract description 8
- 238000000576 coating method Methods 0.000 abstract description 8
- 239000000463 material Substances 0.000 abstract description 8
- 238000010422 painting Methods 0.000 description 9
- 238000010586 diagram Methods 0.000 description 5
- 229910000831 Steel Inorganic materials 0.000 description 3
- 239000010959 steel Substances 0.000 description 3
- 230000000694 effects Effects 0.000 description 2
- 239000007921 spray Substances 0.000 description 2
- 230000009466 transformation Effects 0.000 description 2
- 239000003550 marker Substances 0.000 description 1
- 238000000844 transformation Methods 0.000 description 1
Landscapes
- Application Of Or Painting With Fluid Materials (AREA)
- Control Of Position, Course, Altitude, Or Attitude Of Moving Bodies (AREA)
- Control Of Position Or Direction (AREA)
Abstract
Description
【発明の詳細な説明】
[産業上の利用分野]
本発明は塗装ロボット等の産業用ロボットを搭載して種
々の作業を行うための自走台車の位置誤差を修正する方
法に関するものでおる。DETAILED DESCRIPTION OF THE INVENTION [Industrial Application Field] The present invention relates to a method for correcting positional errors of a self-propelled cart on which an industrial robot such as a painting robot is mounted to perform various tasks.
[従来の技術]
例えば、高層建築物の建造に当っては、その内部の鉄骨
へ耐火被覆材を吹付けている。この吹付けを行なうため
には第4図に示すように、作業現場へプレイバックロボ
ットaを運び、該プレイバックロボットaのアームbに
取り付けられたノズルCヘホースdを介して耐火被覆材
を吹付は得るようにし、作業者が作業階の床に予め墨出
しされた走行経路目印を目当てにプレイバックロボット
aを走行させ、所定箇所でこれを停止させ、この停止位
置においてノズルCにより耐火被覆材を鉄骨eに吹付け
し、終了後火の吹付は箇所に移動して吹付けするように
している。[Prior Art] For example, when constructing a high-rise building, a fireproof coating material is sprayed onto the steel frame inside the building. In order to carry out this spraying, as shown in Figure 4, a playback robot a is carried to the work site and the fireproof coating material is sprayed through a hose d to a nozzle C attached to an arm b of the playback robot a. The worker runs the playback robot a aiming at the travel route marks marked out in advance on the floor of the work floor, stops it at a predetermined place, and at this stop position fireproof coating material is removed by the nozzle C. The fire is sprayed onto the steel frame e, and after the fire is sprayed, the fire is moved to the location and sprayed.
[発明が解決しようとする問題点]
しかし、前記プレイバックロボットaが所定の停止箇所
からずれて停止してしまったような場合、或は前記走行
経路目印に誤差があったような場合は、ノズルC先端か
ら鉄骨eまでの距離が、設定された吹付条件に比較して
近すぎたり、還すぎたりするため、適正な耐火被覆材の
吹付けを行なうことができない。[Problems to be Solved by the Invention] However, if the playback robot a deviates from a predetermined stopping point and stops, or if there is an error in the travel route marker, Since the distance from the tip of the nozzle C to the steel frame e is too close or too far back compared to the set spraying conditions, it is not possible to properly spray the fireproof coating material.
この場合、前記プレイバックロボットaのアームb等に
より誤差を修正することが行なわれているが、このアー
ムb等による修正能力は小さいため、前記プレイバック
ロボットaの位置決めの誤差が大きい場合や複数の作業
ステーションを経由することにより誤差が累積した場合
゛″ は、これらの誤差を完全には吸収する
ことができず、不適正な吹付は条件で吹付は作業を続け
ざるを得なかった。In this case, the error is corrected by arm b etc. of the playback robot a, but since the correction ability of this arm b etc. is small, if the error in the positioning of the playback robot a is large or multiple If errors accumulate due to passing through several work stations, these errors cannot be completely absorbed, and the sprayer has no choice but to continue working under inappropriate spraying conditions.
[問題点を解決するための手段]
上述の問題点を解決することを目的として本発明では、
産業用ロボットを搭載した台車の一の作業ステーション
における停止位置を検出し、該台車の停止位置の誤差を
該台車が次の作業ステーションに移動する際修正するよ
うにした。[Means for solving the problems] In order to solve the above-mentioned problems, the present invention includes the following:
The stopping position of a cart carrying an industrial robot at one work station is detected, and an error in the stopping position of the cart is corrected when the cart moves to the next work station.
[作 用]
一の作業ステーションにおける台車の停止位置はタッチ
センサー等により検出され、該台車の停止位置の誤差は
産業用ロボットにより可能な範囲で修正される。[Operation] The stopping position of the cart at one work station is detected by a touch sensor or the like, and any error in the stopping position of the cart is corrected to the extent possible by the industrial robot.
台車が次の作業ステーションに移動する際、産業用ロボ
ットにより修正した誤差及び該産業用ロボットにより修
正できなかった誤差が修正されるので、多数の作業ステ
ーションを経由しても停止位置の誤差は少なく各作業ス
テーションにおいて適正な作業が行なえる。When the cart moves to the next work station, the errors corrected by the industrial robot and the errors that could not be corrected by the industrial robot are corrected, so the error in the stopping position is small even after passing through many work stations. Proper work can be done at each work station.
[実 施 例] 以下、図面を参照しつつ本発明の一実施例を説明する。[Example] An embodiment of the present invention will be described below with reference to the drawings.
第1図及び第2図は本発明の方法における台車の各状態
を示す図であり、1は曲中後輪のいずれかの車輪を左右
夫々正逆回転することにより方向変換し得る自走式の台
車、2は耐火被覆材吹付用の塗装ロボット、3は前後動
及び俯仰可能なアーム、4はノズル、5は梁を示す。該
ノズル4の上部にタッチセンサー6を設け、梁5に該タ
ッチセンサー6を接触させることにより台車1と梁5と
の距離を測定し得るようにしである。Figures 1 and 2 are diagrams showing each state of the bogie in the method of the present invention, and 1 is a self-propelled type that can change direction by rotating either of the rear wheels forward or backward during a turn. 2 is a painting robot for spraying fireproof coating material, 3 is an arm that can move forward and backward and can be lifted up and down, 4 is a nozzle, and 5 is a beam. A touch sensor 6 is provided on the upper part of the nozzle 4, and by bringing the touch sensor 6 into contact with the beam 5, the distance between the cart 1 and the beam 5 can be measured.
台車1に搭載した塗装ロボット2の吹付可能範囲内で各
作業ステーションS 1e S 2 t・・・5ITl
、5III+1.・・・Snを定め、該各作業ステーシ
ョンにおける台車1と梁5の距離を設定しておく。Each work station S1eS2t...5ITl within the spraying range of the painting robot 2 mounted on the trolley 1
, 5III+1. ...Sn is determined, and the distance between the cart 1 and the beam 5 at each work station is set.
一の作業ステーションS1.lにおいて、タッチセンサ
ー6を梁5に接触させて、台車1の位置を検出し、該作
業ステーション5IIlにおける台車1の設定位置と比
較し、位置誤差りを求める。One work station S1. At 1, the touch sensor 6 is brought into contact with the beam 5 to detect the position of the trolley 1, and compared with the set position of the trolley 1 at the work station 5IIl to determine the position error.
アーム3により該位置誤差りを修正し、且つノズル4を
所定の位置に構える。この場合、第3図に示すように、
ノズル4により吹付パターンに座標変換をかけてもよい
。The arm 3 corrects the positional error and holds the nozzle 4 at a predetermined position. In this case, as shown in Figure 3,
The spray pattern may be subjected to coordinate transformation by the nozzle 4.
該作業ステーション5I11における梁5への耐火被覆
材の吹付作業が終了した後、次の作業ステーション5I
Il、1に移動する。この時の移動経路は、前記作業ス
テーションSmにおける台車1の位置誤差りが修正され
るような経路とする。After the work of spraying the fireproof coating material on the beam 5 at the work station 5I11 is completed, the work at the next work station 5I is completed.
Move to Il, 1. The moving route at this time is such that the positional error of the trolley 1 at the work station Sm is corrected.
例えば、各作業ステーション5IIl、5IIl+1間
の距離は予めわかっているので、台車1を所定の角度に
方向変換して、所定の距離走行すればよい。For example, since the distance between each of the work stations 5IIl and 5IIl+1 is known in advance, it is sufficient to change the direction of the cart 1 at a predetermined angle and travel a predetermined distance.
これにより、台車1が次の作業ステーション5III、
1に到達する間に、作業ステーション5IIlにおける
位置誤差りが修正される。This causes the trolley 1 to move to the next work station 5III,
1, position errors at work station 5IIl are corrected.
更に、台車1を元の向きに戻し、タッチセンサー6によ
り台車1の停止位置を測定し、再び以上と同様の操作で
ノズル4を構える。Furthermore, the cart 1 is returned to its original orientation, the stop position of the cart 1 is measured by the touch sensor 6, and the nozzle 4 is set up again by the same operation as above.
従って、作業ステーション5IIl、1における台車1
上の塗装ロボット2のアーム3の修正能力が回復される
ため、各ステーションS。において最適な塗装作業を行
なうことができる。Therefore, trolley 1 at work station 5IIl,1
Since the correction ability of the arm 3 of the painting robot 2 above is restored, each station S. Optimum painting work can be carried out.
なお、本発明の自走゛台車位置誤差修正方法は上述の実
施例のみに限定されるものではなく、塗装ロボットばか
りでなく各種の産業用ロボットを搭載する台車に適用し
得ること、等本発明の要旨を逸脱しない範囲内において
種々変更を加え得ることは勿論である。It should be noted that the self-propelled cart position error correcting method of the present invention is not limited to the above-described embodiments, but can be applied not only to painting robots but also to carts carrying various industrial robots, etc. Of course, various changes can be made without departing from the spirit of the invention.
[発明の効果]
以上説明したように本発明の自走台車位置誤差修正方法
によれば、一の作業ステーションから次の作業ステーシ
ョンに移動する間に、台車の位置誤差を修正することが
でき、各作業ステーションにおいて適正な作業を行なう
ことができる等種々の優れた効果を発揮する。[Effects of the Invention] As explained above, according to the self-propelled cart position error correcting method of the present invention, the position error of the cart can be corrected while moving from one work station to the next work station, It exhibits various excellent effects such as being able to perform proper work at each work station.
第1図は本発明の詳細な説明図、第2図は本発明の方法
に使用する塗装ロボットを搭載した台車により位置検出
する状態を示す図、第3図は第2図における塗装ロボッ
トによる吹付パターンとその座標変換別を示す図、第4
図は耐火被覆材吹付は用のプレイバックロボットの一例
を示す図である。 1は台車、2は塗装ロボット、3は
アーム、4はノズル、5は梁、6はタッチセンサーを示
す。FIG. 1 is a detailed explanatory diagram of the present invention, FIG. 2 is a diagram showing a state in which the position is detected by a trolley equipped with a painting robot used in the method of the present invention, and FIG. 3 is a diagram showing the spraying by the painting robot in FIG. 2. Diagram showing patterns and their coordinate transformations, No. 4
The figure shows an example of a playback robot for spraying fireproof coating materials. 1 is a trolley, 2 is a painting robot, 3 is an arm, 4 is a nozzle, 5 is a beam, and 6 is a touch sensor.
Claims (1)
ョンにおける停止位置を検出し、該台車の停止位置の誤
差を該台車が次の作業ステーションに移動する際修正す
ることを特徴とする自走台車位置誤差修正方法。1) A self-propelled trolley characterized by detecting the stop position of a trolley equipped with an industrial robot at one work station and correcting errors in the stop position of the trolley when the trolley moves to the next work station. Position error correction method.
Priority Applications (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60080480A JPS61239305A (en) | 1985-04-16 | 1985-04-16 | Method for correcting positional error of self-running dolly |
Applications Claiming Priority (1)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP60080480A JPS61239305A (en) | 1985-04-16 | 1985-04-16 | Method for correcting positional error of self-running dolly |
Publications (1)
Publication Number | Publication Date |
---|---|
JPS61239305A true JPS61239305A (en) | 1986-10-24 |
Family
ID=13719436
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
JP60080480A Pending JPS61239305A (en) | 1985-04-16 | 1985-04-16 | Method for correcting positional error of self-running dolly |
Country Status (1)
Country | Link |
---|---|
JP (1) | JPS61239305A (en) |
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02257313A (en) * | 1989-03-30 | 1990-10-18 | Daifuku Co Ltd | Drive control facility for moving vehicle |
CN110928337A (en) * | 2019-12-03 | 2020-03-27 | 广东冠能电力科技发展有限公司 | Bare conductor insulation coating robot system and lifting control method thereof |
JP2020089828A (en) * | 2018-12-05 | 2020-06-11 | 元古鉄工株式会社 | Iron frame automatic paint device and iron frame paint method |
-
1985
- 1985-04-16 JP JP60080480A patent/JPS61239305A/en active Pending
Cited By (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH02257313A (en) * | 1989-03-30 | 1990-10-18 | Daifuku Co Ltd | Drive control facility for moving vehicle |
JP2020089828A (en) * | 2018-12-05 | 2020-06-11 | 元古鉄工株式会社 | Iron frame automatic paint device and iron frame paint method |
CN110928337A (en) * | 2019-12-03 | 2020-03-27 | 广东冠能电力科技发展有限公司 | Bare conductor insulation coating robot system and lifting control method thereof |
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