JPS61239305A - Method for correcting positional error of self-running dolly - Google Patents

Abstract

PURPOSE:To minimize the error in the stopping position of a dolly on which an industrial robot is mounted so that pertinent works can be performed at each work station, by detecting the stopping position of the dolly at one work station and correcting the error in the stopping position when the dolly moves to the next work station. CONSTITUTION:The position of a dolly 1 at one work station Sm is detected by contacting a touch sensor 6 with a crossbeam 5 and the detected position is compared with the set position of the dolly 1 at the work station Sm, and thus, a positional error D is found. Then the positional error D is corrected by means of an arm 3 and a nozzle 4 is set to a prescribed position. After the spraying work of a refractory coating material to the crossbeam 5 is completed at the work station Sm, the dolly 1 is moved to the next work station Sm+1. At the time of the movement, the dolly 1 is moved along a moving route, in which the positional error of the dolly 1 at the work station Sm is corrected. Since the distance between the work stations Sm and Sm+1 is previously known, for example, the dolly 1 is run for a prescribed distance after its running direction is changed by a prescribed angle. Therefore, the positional error D at the work station Sm is corrected before the dolly 1 is moved to the next work station Sm+1.

Description

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.

[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.

[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.

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.

[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.

[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.

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.

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

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.

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.

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.

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.

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.

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.

This causes the trolley 1 to move to the next work station 5III,
1, position errors at work station 5IIl are corrected.

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.

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.

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.

[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.

[Brief explanation of the drawing]

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)

[Claims] 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.