JPS6161951B2 - - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention is a robot of the type in which a traveling body is provided in a slidable manner on a horizontally long arm attached to an arbitrary support body, and an arbitrary lifting tool is attached to the traveling body. Regarding improvements. Hereinafter, in this specification, the term "robot" is used to include automatic machines such as loaders, manipulators, conveyors, automatic processing machines, and all kinds of cargo handling devices.

In general, a robot is configured to perform a certain task as one cycle, and perform this cycle repeatedly. If we consider a robot that transports objects as an example, its basic operation is to transport the object from one position to another and return to the first position again, and this is constituted as one cycle. It is something that In the basic operations of such robots, accurate positioning of reciprocating movable parts and quick operation are required. For this reason, robots require advanced position control and speed control to eliminate the adverse effects of inertial force, which has led to conventional robot equipment becoming larger and more complex, and the installation and installation being complicated. It had

The present invention has been made in view of the above points, and provides a link robot that can perform position control and speed control using a simple mechanism, and in particular can control the output of the drive control section of the robot in order to smoothly remove inertia force. The purpose of this paper is to propose a mechanism.

In order to achieve the above object, the present invention provides a robot in which a horizontally long arm attached to an arbitrary support body is provided with a sliding body, and a lifting rod is attached to the traveling body. An operating base is provided whose position can be adjusted at any location, two link arms connected to each other are attached to the base, a drive control unit is provided for operating one of the link arms, and the tip of the other link arm is attached to the base. A slider crank mechanism is configured by the operating base, the link arm, and the traveling body by being pivotally connected to the traveling body, and the drive control section is provided with a position detector for detecting the rotational expansion/contraction operation position of the link arm; The present invention provides a link robot mechanism that is provided with a control section that controls the output of the drive control section based on a position signal from the position detector and controls the speed at which the traveling body starts or stops.

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

1 is a perspective view showing a link robot mechanism according to the present invention, and FIG. 2 is a partial plan view of FIG. In a robot A of the type in which a traveling body 3 is provided slidably on the arm 2 and an arbitrary lifting device 4 is attached to the traveling body 3, an operating base 5 is provided at an arbitrary location on the arm 2, and the base 5 A link arm 6, that is, a link arm consisting of a drive link 7 and a driven link 8 supported thereon, is attached to the link arm 6, and a drive control section 9 for operating the link arm 6 is installed. Further, the drive control section 9 is provided with a position detector 10 for detecting the position of the rotational extension/contraction operation of the link arm 6, and the traveling body 3 is moved through a predetermined stroke X by the rotational/extension operation of the link arm 6. Arm 2
When sliding the top and starting and stopping the traveling body 3,
It is configured to control the output of the drive control section 9 in conjunction with the position detector 10.

The operation base 5 allows the traveling body 3 to slide back and forth via the link arm 6, and as shown in FIG. 3, a drive control section 9 is mounted thereon. This drive control section 9 includes a motor M and a deceleration mechanism 1.
1 and a position detector 10, and receives a signal from a programming device 20 to rotate the drive link 7 by half a rotation (180 degrees). Further, the program device 20 receives a signal from the position detector 10 that detects the rotational expansion/contraction operation position of the drive link 7, and controls the output of the motor M of the drive control unit 9 when the traveling body 3 starts or stops. It is something to be done. The position detector 10 is a rotary switch, a photoelectric type,
Consisting of a magneto-electric rotational position detector, etc., the drive shaft 9a
It is configured to read the rotation of gears and rotating discs that are interlocked with each other. Note that the operating base 5 configured as described above is connected to the arm 2 as described above.
Although it can be moved to any position on the arm 2, during operation of the present invention, it is fixed at a desired position on the arm 2 in order to achieve its purpose.

The link arm 6 is configured such that one end of the drive link 7 is linked to the drive control unit 9, and the other end is supported by the driven link 8, and the tip 8a of the driven link 8 is pivotally connected to the traveling body 3. As the link 7 rotates by 180 degrees, the driven link tip 8a reciprocates, and the traveling body 3 pivoted thereon reciprocates over a predetermined stroke X. This stroke X is the distance r between the pivot points of the drive link 7
Moreover, the distance l between the pivot points of the driven link 8 is more than twice that of the driving link 7 (FIG. 4).

In this embodiment, the link arm 6 is provided on the upper part of the operating base 5, and the drive link 7 is configured to rotate on a horizontal plane.
As shown by the dashed line in Figure 3, the link arm 6
A cover 12 is attached to the base 5. Note that the attachment position of the link arm 6 is not limited to the above-described one, and it may be attached to the side of the base 5 so that the drive link 7 rotates on a vertical plane, or it may be attached to the bottom of the base 5. good.

As shown in FIGS. 1 and 2, the elevating device 4 for the traveling body 3 uses a lifting rod that moves up and down in a rack-and-pinion manner in this example, and is also controlled based on signals from a programming device. As it moves up and down,
It is configured to hold the object W to be transported by a holder 4a provided at the lower end. In addition, the lifting device 4
In addition to a lifting rod, the system may be of a type in which the cable body is moved up and down.Also, in addition to using a lifting rod, an article gripping device or the like having a tip gripper that moves up and down while protruding approximately horizontally forward may be used as the lifting rod. It may be installed in a suitable position at the bottom of the Further, the arm 2 may be attached to the support body 1 made of a support, or may be attached to a wall surface or suspended from the lower surface of the ceiling.

Next, the operation of the link robot mechanism of the present invention will be explained.

Move the operating base 5 to the desired position on the arm 2.
Fix it. Next, by operating the drive control section 9 and rotating the drive link 7 by 180 degrees, the traveling body 3 slides a predetermined stroke X at one time. That is, sliding is performed using a reciprocating slider crank. This sliding speed V is V≒rω(sinΘ+λ/2sin2Θ) ω: (=rotational angular velocity of drive link 7) λ: (=r/) Θ: (=angle formed by link 7 with respect to arm 2), and this pattern In FIG. 5, the traveling body 3 starts from one end, gradually increases its speed, reaches a high speed in the middle, gradually decreases its speed, slows down, and stops (speed pattern 5).
(dash-dot line in the figure). Acceleration α of the traveling body 3 at this time
is α≒rω ² (cosΘ+λcos2Θ), which is illustrated in FIG. 6.
In FIG. 6, the one indicated by the dashed line does not control the output of the drive control section 9, but simply strokes
(from Θ=0° to Θ=180°). In this case, the value of acceleration α increases rapidly near Θ=0° and Θ=180°. Therefore, taking the case of stopping as an example, if the brake is applied to stop the traveling body 3 at the position of Θ = 180°, since the inertial force of the motor M is relatively large,
If the motor does not stop at the stop position, or even if it stops, the inertia of the motor M will cause problems, such as the object W falling due to sudden stops, so it is necessary to avoid such problems. Therefore, it is necessary to smoothly stop the traveling body 3 at the position of Θ = 180° while considering the motor inertia, and further protect the link arm 6 and the mechanism linked to the arm 6 that resists the inertia force (F = mα). Therefore, when starting and stopping the traveling body 3, the position detector 1
0, the output of the drive control section 9 is controlled, and an acceleration pattern as shown by the solid line in FIG. 6 is formed. The speed pattern at this time is shown by the solid line in FIG. Therefore, in the present invention, when a rotary switch is used as the position detector 10, the rotary switch detects the rotational expansion/contraction operation position of the link arm 6, and changes the secondary voltage of the transformer in stages. The rotation of the motor M is controlled to form the acceleration pattern shown by the solid line in FIG. In addition, when a photoelectric type or magneto-electric type rotational position detector is used as the position detector 10, the rotation of the motor M is controlled by the thyristor method, that is, the phase control of the thyristor, and thereby the acceleration shown by the solid line in Figure 6 It is configured in a pattern to eliminate inertial force.
However, without being limited to the above-mentioned means, for example, a rotary potentiometer may be provided on the traveling body 3 side, and the rotation of the motor M may be controlled by detecting the positional displacement of the traveling body 3. In short, It may be any device that can directly or indirectly detect the rotating/extending/contracting position of the link arm 6, send this signal, and control the rotation of the motor M as described above. In addition, at this time, the motor M may be configured to function as a generator and self-brake.

In this way, the acceleration α of the traveling body 3 is controlled, and in this example, the object W is held and conveyed by the holder 4a of the elevating tool 4.

As explained above, according to the present invention, the movement base having the drive control section is provided on the arm so that its position can be adjusted, so that the sliding position of the traveling body on the arm can be arbitrarily determined according to the working condition. Therefore, the sliding range of the traveling body required for the work can be shortened, speeding up the work, and simplifying the structure.

In addition, the operating base, the link arm, and the traveling body constitute a slider crank mechanism, and a position detector detects the rotational expansion/contraction operation position of the link arm, and the output control of the drive control unit is controlled based on the signal from the position detector. By providing a control unit for controlling the speed, accurate position control can be easily achieved despite the simple mechanism.Furthermore, due to the nature of the slider crank mechanism, the speed pattern of the traveling object can be controlled as a smooth curved system of slowing, high speed, slowing, and stopping. Control can be easily performed, and in particular, acceleration can be gradually applied or eliminated when starting and stopping a running object, and it has the effect of completely eliminating undesirable effects caused by inertial force. be.

[Brief explanation of the drawing]

Fig. 1 is a perspective view showing a link robot mechanism according to the present invention, Fig. 2 is a partial plan view of Fig. 1, and Fig. 3 is a partially longitudinal front view showing an operating base and a link arm portion linked thereto. , Figure 4 is an operational configuration diagram, Figure 5
The figure is a speed pattern diagram of the traveling body, and FIG. 6 is an acceleration pattern diagram. DESCRIPTION OF SYMBOLS 1... Support body, 2... Arm, 3... Traveling body, 4... Lifting tool, 5... Operation base, 6... Link arm, 9... Drive control part, 10... Position detector, A... Robot, W
...Object to be transported, X...Stroke, M...Motor, V
...Velocity, α...Acceleration, r, ...Distance between the pivot points of the link, Θ...Angle.

Claims (1)

[Scope of Claims] 1. In a robot in which a horizontally long arm attached to an arbitrary support body is provided with a sliding body, and an elevating rod is attached to the running body, an arbitrary point on the arm is provided. An operating base is provided whose position can be adjusted, two link arms connected to each other are attached to the base, and a drive control unit is provided to operate one of the link arms, and the other end of the link arm is attached to the traveling body. A slider crank mechanism is configured by the operating base, the link arm, and the traveling body which are pivotally connected to each other, and the drive control section is provided with a position detector for detecting the rotational expansion/contraction operation position of the link arm, and the position detector A link robot mechanism characterized in that a control section is provided for controlling the output of the drive control section based on a position signal from the drive control section to control the speed at which the traveling body starts or stops. 2. The link robot mechanism according to item 1, wherein the output control of the drive control section is performed by controlling the rotation of a motor that urges rotation of the link arm.