KR102141406B1 - Robot control device for turntable work - Google Patents

Abstract

The present invention relates to a robot control device for a turntable work. To this end, the robot control device for a turntable work comprises: a turntable rotating with a plurality of workpieces mounted thereon; a driving means transferring a driving force by a chain to rotate the turntable; a working robot fixated at any one point on the ground to input an input object into each of the workpieces mounted on the rotating turntable; a first synchronization means measuring a rotational speed of a driving shaft of the driving means driving the chain to generate pulse signals so as to detect a rotational speed of the turntable; a chain tension control means controlling a tension of the chain in the rear of the driving means for preventing separation of the chain; a second synchronization means measuring a speed of the chain in rear of the chain tension control means to generate pulse signals for compensating for a chain speed error in accordance with a tension change of the chain by the chain tension control means; and a control board comparing the pulse signals of the second synchronization means based on the pulse signals of the first synchronization means to correct a speed pulse value of the chain, and transferring a correct position value of the turntable to the working robot to perform synchronization through the corrected speed pulse value. The present invention can largely enhance workability.

Description

Robot control device for turntable work{ROBOT CONTROL DEVICE FOR TURNTABLE WORK}

The present invention relates to a robot control device for a turntable operation, and more specifically, to correct a slip phenomenon of a chain for rotating a turntable equipped with a large number of heavy objects in real time and synchronize it with a work robot, as well as a work object mounted on the turntable. It relates to a robot control device for a turntable operation that can significantly improve workability by discriminating and controlling the work robot to select and input the work to be input to the corresponding work object.

Robots perform the work of moving or assembling products at industrial sites, and cleaning and moving objects at home.

As such, in order to utilize the robot in the industrial field or at home, it is most important that the robot accurately recognizes its location and direction.

The robot's magnetic position recognition technology is a technology that recognizes the relative magnetic position of the robot using a odometer, a distance measuring device using an ultrasonic sensor, a laser, etc., and an artificial person attached to a predetermined position in the room using an image processing device. It is divided into technology that recognizes the absolute position of the robot by detecting the position of a marker or a natural object.

In particular, the absolute position recognition method recognizes the position of the robot according to the position of the work object. However, when the speed of the moving work object changes, the robot has an error in recognition of its own position.

As an industrial robot, a conveying device and a robot system (Republic of Korea Patent No. 10-1518105) are usually used, and this robot system is a multi-joint robot that rotates itself and works on a work object using joints.

Such a robot system is used for various purposes, such as moving in and out of a work object moving along a conveyor or turntable at a position fixed to the ground, or throwing an input to the work object.

However, such a robot system has to be synchronized with the speed of a work object moving along a conveyor or turntable, but there is a problem that a malfunction occurs due to a speed error due to a slip phenomenon of a chain driving a conveyor or turntable.

Republic of Korea Registered Patent No. 10-1518105

The present invention has been devised in view of the above problems, and the first object of the present invention is to correct the slip phenomenon of a chain for rotating a turntable equipped with a large number of heavy objects in real time and to synchronize with a working robot. It is to provide a robot control device for a turntable operation.

The second object of the present invention, based on the work robot synchronized with the speed of the turntable, it is possible to significantly improve the workability by determining the work object mounted on the turntable and selecting and putting the work object to be put into the work object. To provide a robot control device for turntable operation.

According to a feature for achieving the object as described above, the first invention relates to a robot control device for a turntable operation, and for this purpose, a turntable in which a plurality of work objects are mounted and rotated; and, by transmitting a driving force by a chain, the turntable Driving means for rotating; And, a working robot that is fixed at any point on the ground, and injecting the input to each work object mounted on the rotating turntable; And, driving to drive the chain to detect the rotational speed of the turntable First synchronization means for measuring a drive shaft rotational speed of the means and generating a pulse signal; and chain tension adjustment means for adjusting the tension of the chain at the rear of the drive means to prevent the chain from deviating; and, the chain tension adjustment Second synchronization means for measuring the chain speed at the rear of the chain tension adjustment means to generate a pulse signal so as to correct a chain speed error caused by a change in the tension of the chain by means; and the pulse signal of the first synchronization means. Based on, comprising a control panel for correcting the speed pulse value of the chain by comparing the pulse signal of the second synchronization means, and transmitting and synchronizing the fixed position value of the turntable to the working robot through the corrected speed pulse value However, the turntable is coupled to the first sensing bar representing the position value of each work object, and the first sensing bar is different in number along the height direction so as to select the type of inputs to be input to the respective work objects. The second sensing bar is further coupled, a first sensor that senses the first sensing bar by contact, and a second sensor that senses the number of the second sensing bars are fixed at any two points on the ground. The first sensor synchronizes with the speed of the turntable by transmitting the exact position values of the first and second synchronization means to the work robot by the signal of the first sensor, and the work robot rotates in synchronization with the turntable's rotation speed. It is characterized in that it is configured to automatically input the selected input to the work object.

In the second invention, in the first invention, an interlocking means installed between the second synchronizing means and the tension adjusting means is further installed, and the interlocking means is sprocket connected to the chain by being installed on a rotating shaft fixed to the ground, It consists of an interlocking pulley that is coaxially connected to the rotating shaft to be spaced apart from the sprocket, and the interlocking pulley is connected to the second synchronization means and a timing belt.

The third invention, in the first invention, the first and second synchronization means is a fixed base fixed to the ground, a variable base coupled to the top of the fixed base, and a fixed plate fixed upright to the variable base, and A variable plate coupled to one surface of a fixed plate, a reducer fixed to one surface of the variable plate, an encoder fixed to an upper surface of the variable plate and connected to a shaft of the reducer to generate a pulse signal, and a shaft of the reducer It is characterized in that it consists of a driven pulley coupled to the bottom and the timing belt is connected, and a cover plate coupled to the other surface of the fixed plate to protect the encoder.

In the fourth invention, in the third invention, the variable base and the variable plate are formed with long grooves so that the position can be changed, and the fixed base has a plurality of pressure bolts for finely adjusting the position of the variable base in the direction of the long groove. Is further screwed, each of the pressure bolts are screwed to a fixed block that is bonded and fixed to the side of the fixed base is characterized in that it is configured to press the variable base according to the fastening depth to finely adjust the horizontal position.

In the fifth invention, in the fourth invention, the inner width of each long groove formed in the variable base is formed to be relatively larger than the diameter of the fixing bolt that is fastened to the fixed base through the long groove so that the angle of the variable base can be varied by the gap. It is characterized by being configured to be.

In the sixth invention, in the first invention, the tension adjusting means are spaced apart from each other in a vertical direction to each other, and a pair of support plates fixed to the ground, and hinge shafts, both ends of which are hinged to the support plates, and the hinge shaft. A horizontal bar that is fixed and rotates horizontally, a fixed shaft fixed upright to the upper surface of the end of the horizontal bar, a sprocket connected to a chain by being rotatable through a bearing on the fixed shaft, and providing elasticity to the horizontal bar It characterized in that it consists of an elastic coil connected to the fixed shaft and a "c" shaped stopper plate that is partially enclosed by the side surface of the horizontal bar to maintain rotational elasticity of the horizontal bar by the elastic coil. .

According to the robot control device for a turntable work according to the present invention, the slip phenomenon of a chain for rotating a turntable equipped with a large number of heavy objects is corrected in real time and synchronized with the work robot, so that the work object can be accurately input to the work object without error. It has an effect.

In addition, based on the work robot synchronized with the speed of the turntable, it is possible to significantly improve the workability by determining the work object mounted on the turntable and selecting and putting the work object to be put into the work object.

1 is a block diagram of a robot control device for turntable operation according to the present invention;
Figure 2 is a block diagram of a robot control device for turntable operation according to the present invention,
3 is a block diagram showing the first and second sensors and the first and second sensing bars of FIG. 1;
4 is an enlarged configuration diagram of the first and second synchronizing means, tension adjusting means, and interlocking means extracted from FIG. 1;
Figure 5 is a detailed configuration diagram showing the tension control means and the interlocking means of Figure 1,
Figure 6 is a detailed configuration diagram showing the first and second synchronization means of Figure 1,
Figure 7 is an exploded view of Figure 6,
8 is a detailed configuration diagram illustrating the variable plate and the fixed plate in FIG. 6.

The following objects, other objects, features and advantages of the present invention will be readily understood through the following preferred embodiments related to the accompanying drawings. However, the present invention is not limited to the embodiments described herein and may be embodied in other forms.

Rather, the embodiments introduced herein are provided to ensure that the disclosed contents are thorough and complete and that the spirit of the present invention is sufficiently conveyed to those skilled in the art.

The embodiments described and illustrated herein also include its complementary embodiments.

In the present specification, the singular form also includes the plural form unless otherwise specified in the phrase. As used herein,'comprise' and/or'comprising' does not exclude the presence or addition of one or more other components.

Hereinafter, the present invention will be described in detail with reference to the drawings. In describing the following specific embodiments, various specific contents have been prepared to more specifically describe and understand the invention. However, a reader who has knowledge in this field to understand the present invention can recognize that it can be used without a variety of specific contents. It should be noted that, in some cases, parts that are commonly known in describing the invention and that are not significantly related to the invention are not described in order to avoid confusion in describing the invention.

Hereinafter, a robot control apparatus for turntable operation according to the present invention will be described in detail together with the accompanying drawings.

1 is a block diagram of a robot control device for a turntable operation according to the present invention, FIG. 2 is a block diagram of a robot control device for a turntable operation according to the present invention, and FIG. 3 is a first, second sensor and a first and second sensor of FIG. 1 Fig. 4 is a configuration diagram showing the sensing bar, and Fig. 4 is an enlarged view of the first and second synchronizing means, tension adjusting means, and interlocking means extracted from Fig. 1, and Fig. 5 shows the tension adjusting means and interlocking means of Fig. 1. Fig. 6 is a detailed configuration diagram showing the first and second synchronization means of Fig. 1, Fig. 7 is an exploded configuration diagram of Fig. 6, and Fig. 8 is a detailed diagram showing the variable plate and the fixed plate in Fig. 6; It is a block diagram.

1 to 8, the present invention corrects slip phenomenon of a chain for rotating a turntable equipped with a large number of heavy objects in real time and synchronizes it with a work robot, as well as determining a work object mounted on the turntable. In addition, it relates to a robot control device for a turntable operation that greatly improves workability by controlling a work robot to select and input a work to be input to the corresponding work object.

The robot control device for turntable operation of the present invention is largely composed of six parts, which include a turntable 10, a working robot 30, first and second synchronization means 40a, 40b, and tension adjustment means 50. And a control panel 60.

The turntable 10 has a plurality of work objects 11 mounted on the outer surface of the upper surface, and the driving force is transmitted and rotated by a chain C connected to the driving means 20. Here, the driving means 20 is preferably made of an electric motor.

In addition, the work robot 30 is fixed at any point on the ground, and functions to select and automatically input the input to each work object 11 mounted on the rotating turntable 10.

At this time, the turntable 10 is configured to be fixed to the first sensing bar 12 indicating the position value of each work object 11 in an upright state.

And, as shown in Figure 3, each of the first sensing bar 12 is coupled with a different number of second sensing bars 13 along the height direction, such that each of the second sensing bar 13 by the number of It is configured to select the type of input to be input to the work object (11).

In addition, the first sensor 80a and the second sensor 80b are fixed at any two points on the ground. In an embodiment, the first sensor 80a contacts the first sensing bar 12 by contacting the target object. It may be made of a limit switch for sensing, the second sensor (80b) is a non-contact sensor such as a proximity sensor or a laser sensor or a photo sensor to determine the type of input by determining the number of the second sensing bar (13) It can be made of.

In the above, the first and second sensors 80a and 80b are not limited to the exemplary embodiment, and it is of course possible to select and use various sensing sensors.

The first synchronization means 40a is for synchronizing the working robot 30 to match the rotational speed of the turntable 10, and driving the chain C to detect the rotational speed of the turntable 10. A function of generating a pulse signal by measuring the rotational speed of the drive shaft 21 of the means 20.

The chain tension adjusting means 50 functions to adjust the tension of the chain C from the rear of the driving means 20 to prevent the chain C from being separated.

And the second synchronization means (40b) is a chain speed from the rear of the chain tension adjustment means (50) to correct the chain speed error due to the tension change of the chain (C) by the chain tension adjustment means (50) Measures to generate a pulse signal.

In addition, the control panel 60 determines the position of the work object 11 by detecting the first sensor 80a, controls the initial position value of the work robot 30, and detects the second sensor 80b. By doing so, it functions to control the type of the input to the work object 11 at the corresponding position so that the work robot 30 can select the type.

In addition, the control panel 60, based on the pulse signal of the first synchronization means 40a, compares the pulse signal of the second synchronization means 40b, corrects the speed pulse value of the chain C, and corrects the speed pulse By transmitting and synchronizing the positional value of the turntable 10 to the work robot 30 through a value, the work robot 30 synchronizes with the rotation speed of the turntable 10 and inputs it to the work object 11 It is controlled so that it can be accurately input.

In the chain tension adjusting means 50, the turntable 10 has a radius of 5 m to 10 m in the range, and the length of the chain C engaged with the gear on the turntable 10 is also proportional to the chain C. ) And the deflection of the chain (C) intermittently occurs due to the engagement depth (slip phenomenon) of the gear (not shown) integrated with the turntable (10), and the deflection of the chain (C) causes the deflection of the turntable (10). It serves to prevent the chain (C) from disengaging from the gear.

5, the tension adjusting means 50 is a pair of support plates 51 spaced apart from each other in the vertical direction and fixed to the ground, and hinge shafts at which both ends are hinged to the support plates 51. 52), a horizontal bar (53) fixed to the hinge shaft (52) to rotate horizontally, a fixed shaft (54) fixed upright to an upper end surface of the horizontal bar (53), and the fixed shaft (54) ) Sprocket (S) connected to the chain (C) is rotatably built through a bearing, and an elastic coil (55) connected to the fixed shaft (54) to give elasticity to the horizontal bar (53) , It consists of a stopper plate 56 in the shape of a "c" shape that partially wraps the side surface of the horizontal bar 53 to maintain rotational elasticity of the horizontal bar 53 by the elastic coil 55.

Here, the elastic coil 55 is made to be able to elastically rotate the horizontal bar 53 together with the hinge shaft 52 according to the tension state of the chain C connected to the sprocket S.

The tension adjusting means 50 rotates the horizontal bar 53 elastically through the elastic coil 55 according to the slip phenomenon of the chain (C), and the sprocket (S) by the rotating horizontal bar 53 The position is variable so that it is possible to prevent the chain C from deviating by constantly adjusting the tension of the chain C.

On the other hand, since the position of the sprocket (S) of the tension adjusting means (50) is variable, the second synchronization means (40b) cannot measure the exact chain (C) speed, so the tension between the second synchronization means (40b) and tension is adjusted. The interlocking means 70 installed between the means 50 is spoken.

Here, as shown in FIG. 5, the interlocking means 70 is installed on the rotating shaft 71 fixed to the ground, and connected to the sprocket S coupled with the chain C, and the rotating shaft 71 spaced apart from the sprocket S. It is composed of an interlocking pulley 72 that is coaxially connected, and the interlocking pulley 72 is configured to be connected to the second synchronization means 40b through a timing belt TB.

Since the position of the sprocket (S) for adjusting the tension of the chain (C) of the tension adjusting means (50) is variable in the second synchronization means (40b), the speed error value according to the slip phenomenon of the chain (C) in real time To measure.

On the other hand, the driven pulley 443 of the first synchronizing means 40a is connected to a driving pulley 22 and a timing belt TB installed on the driving shaft 21 of the driving means 20 to speed the chain C. It is configured to convert the value to a pulse signal, and the driven pulley 443 of the second synchronizing means 40b is connected to the interlocking pulley 72 of the interlocking means 70 and a timing belt TB to adjust the tension. It is configured to convert the speed value of the chain (C) that has passed through 50) into a pulse signal.

Accordingly, the control panel 60 compares the measured value (pulse signal) of the second synchronization means 40b based on the measured value (pulse signal) of the first synchronization means 40a, and speeds of the chain C. Structure that can be synchronized with the rotational speed of the turntable 10 by correcting the value and transmitting the exact position value of the turntable 10 to the working robot 30 in real time through the corrected speed value of the chain C Is prepared.

On the other hand, the first and second synchronization means (40a, 40b) is to adjust the tension of the timing belt (TB) so as to adjust the height to level the timing belt (TB), as well as to generate an accurate pulse signal response value It is configured to be able to.

To this end, the first and second synchronizing means 40a and 40b are fixed bases 41 fixed to the ground and variable bases 42 coupled to the upper portions of the fixed bases 41, as shown in FIGS. 6 and 7. And, a fixed plate 43 fixed upright to the variable base 42, a variable plate 44 coupled to one surface of the fixed plate 43, and a reducer fixed to one surface of the variable plate 44 ( 441), an encoder 442 fixed to an upper surface of the variable plate 44 and connected to a shaft 441a of the reducer 441 to generate a pulse signal, and a shaft 441a of the reducer 441 It consists of a driven pulley (443) coupled to the lower portion and the timing belt (TB) is connected, and a cover plate (45) coupled to the other surface of the fixed plate (43) to protect the encoder (442).

In this case, the variable base 42 and the variable plate 44 are formed with long grooves H so that the position can be changed.

Here, the first and second synchronization means 40a, 40b adjusts the height of the variable plate 44 to adjust the height of the driven pulley 443 coupled to the shaft 441a of the reducer 441 to adjust the timing belt TB. It is possible to adjust the horizontal state of the, it is also configured to adjust the tension of the timing belt (TB) coupled to the driven pulley 443 by adjusting the horizontal position of the variable base (42).

In addition, a plurality of pressure bolts 412 for finely adjusting the position of the variable base 42 in the long groove (H) direction is screwed to the fixed base 41, as shown in FIG. 8, wherein each pressure bolt 412 is It is screwed to the fixing block 411, which is joined and fixed to the side of the fixing base 41, so that the horizontal position can be finely adjusted by pressing the variable base 42 according to the fastening depth.

In addition, the variable base 42 is configured to be finely adjusted not only in the position in the direction of the long groove (H), but also in the angle, so that the angle is also finely changed, so that the response of the driven pulley 443 coupled with the timing belt TB can be more precisely It is configured to be set.

To this end, as shown in FIG. 8(b), the inner width of each long groove H formed in the variable base 42 is larger than the diameter of the fixing bolt B fastened to the fixed base 41 through the long groove H. It is formed to be relatively large so that the angle of the variable base 42 can be varied around the fixed base 41 by the gap between the long groove H and the fixed bolt B.

On the other hand, the cover plate 45 may also be configured to have a long groove (H) is formed so that the height is adjusted according to the height of the encoder 442.

In addition, guide blocks 431 for linearly guiding the variable plates 44 may be coupled to both sides of the fixed plate 43.

Hereinafter, the operation of the robot control device for turntable operation according to the present invention will be briefly described.

First, the driving means 20 is operated to provide a driving force to the chain C to rotate the turntable 10.

At the same time, the first pulse signal measuring the rotational speed of the chain C is transmitted to the control panel 60 through the first synchronization means 40a connected to the driving pulley 22 of the driving means 20.

And the tension change due to the slip phenomenon of the chain (C) transferred through the tension control means 50 is kept constant.

Then, through the second synchronization means 40b, the speed of the chain C changed due to the slip phenomenon is measured in real time and the generated second pulse signal is transmitted to the control panel 60.

The control panel 60 compares the measured value (pulse signal) of the second synchronization means 40b based on the measured value (pulse signal) of the first synchronization means 40a to determine the speed value of the chain C. Correct.

When the position and input of the work object 11 are selected by the first and second sensors 80a and 80b, the control panel 60 controls the initial position value of the work robot 30.

At the same time, the control panel 60 synchronizes the corrected pulse signal to the work robot 30, so that the work robot 30 accurately inputs the input to the work object 11 in synchronization with the rotation speed of the turntable 10. It is possible to greatly improve the workability.

The configurations shown in the embodiments and drawings described in this specification are only the most preferred embodiments of the present invention and do not represent all of the technical spirit of the present invention, and various equivalents that can replace them at the time of this application It should be understood that there may be and variations.

10: turntable 11: work object 12: first detection bar
13: second detection bar
20: drive means 21: drive shaft 22: drive pulley
30: working robot
40a: first synchronization means 40b: second synchronization means
41: fixed base 411: fixed block
412: pressure bolt 42: variable base
43: Fixed plate 431: Guide block
44: variable plate 441: reducer 441a: shaft 442: encoder
443: Follower pulley 45: Cover plate
50: tension adjusting means 51: support plate 52: hinge shaft
53: horizontal bar 54: fixed shaft
55: elastic coil 56: stopper plate
60: control panel
70: interlocking means 71: rotating shaft 72: interlocking pulley
80a: first sensor 80b: second sensor
S: Sprocket C: Chain TB: Timing belt
H: Long groove B: Fixed bolt

Claims (6)

A turntable 10 in which a plurality of objects 11 are mounted and rotated;
Drive means (20) for transmitting the driving force by the chain (C) to rotate the turntable (10);
A working robot 30 fixed at a certain point on the ground, and inputting the input to each work object 11 mounted on the rotating turntable 10;
First synchronization means (40a) for generating a pulse signal by measuring the rotational speed of the drive shaft (21) of the drive means (20) for driving the chain (C) to detect the rotational speed of the turntable (10);
Chain tension adjusting means (50) for adjusting the tension of the chain (C) from the rear of the driving means (20) to prevent the chain (C) from leaving;
The second to generate a pulse signal by measuring the chain speed from the rear of the chain tension adjustment means 50 so as to correct the chain speed error caused by the tension change of the chain (C) by the chain tension adjustment means 50 Synchronization means 40b;
Based on the pulse signal of the first synchronizing means 40a, the pulse signal of the second synchronizing means 40b is compared to correct the speed pulse value of the chain C, and the turntable 10 through the corrected speed pulse value ) Is transmitted to the working robot 30, the control panel 60 to synchronize;
The turntable 10 includes a first sensing bar 12 indicating a position value of each work object 11, and each of the first sensing so as to select a type of input to be input to the work object 11 The bar 12 is further coupled with a second sensing bar 13 that is coupled in different numbers along the height direction,
The first sensor 80a for sensing the first sensing bar 12 by contact and the second sensor 80b for sensing the number of the second sensing bars 13 are fixed at any two points on the ground. ,
The control panel 60 transmits the fixed position values of the first and second synchronization means 40a and 40b to the working robot 30 by the signal of the first sensor 80a and synchronizes with the speed of the turntable 10. ,
The work robot 30 is configured to rotate and rotate in synchronization with the rotational speed of the turntable 10, so that the selected input to the work object 11 by the second sensor 80b is automatic for turntable work. Robot control.
According to claim 1,
Interlocking means 70 is further installed between the second synchronization means (40b) and the tension control means (50),
The interlocking means (70) is a sprocket (S) that is installed on a rotating shaft (71) fixed to the ground and coupled with a chain (C), and an interlocking pulley coaxially connected to the rotating shaft (71) spaced apart from the sprocket (S) 72), the interlocking pulley (72) is a robot control device for a turntable, characterized in that connected to the second synchronization means (40b) and a timing belt (TB).
According to claim 1,
The first and second synchronization means 40a and 40b are fixed bases 41 fixed to the ground, variable bases 42 coupled to the top of the fixed bases 41, and upright to the variable bases 42. The fixed plate 43 being fixed, the variable plate 44 coupled to one surface of the fixed plate 43, the reducer 441 fixed to one surface of the variable plate 44, and the variable plate 44 An encoder 442 fixed to the upper surface of the reducer 441 and connected to the shaft 441a of the reducer 441 to generate a pulse signal, and coupled to a lower portion of the shaft 441a of the reducer 441, and a timing belt TB Robot control device for a turntable, characterized in that it comprises a driven pulley (443) to be connected, and a cover plate (45) coupled to the other surface of the fixed plate (43) to protect the encoder (442).
According to claim 3,
A long groove (H) is formed on the variable base (42) and the variable plate (44) so that the position can be changed.
A plurality of pressure bolts 412 for finely adjusting the position of the variable base 42 in the direction of the long groove H is screwed to the fixed base 41,
Each of the pressing bolts 412 is screwed to a fixing block 411 that is bonded and fixed to the side surface of the fixing base 41 and is configured to press the variable base 42 according to the fastening depth to finely adjust the horizontal position. Characterized by a turntable robot control device for work.
According to claim 4,
The inner width of each long groove H formed in the variable base 42 is formed to be relatively larger than the diameter of the fixing bolt B fastened to the fixed base 41 via the long groove H, and thus the variable base by the gap. Robot control device for a turntable, characterized in that configured to be able to vary the angle of (42).
The method of claim 1
The tension adjusting means 50 is spaced apart from each other in the vertical direction, a pair of support plates 51, and both ends hinged to each support plate 51 hinge shaft 52 and the hinge The horizontal bar 53 is fixed to the shaft 52 and rotates horizontally, a fixed shaft 54 fixed upright to the upper end surface of the horizontal bar 53, and a bearing on the fixed shaft 54 The sprocket (S) connected to the chain (C), which is rotatably built, and the elastic coil (55) and the elastic coil (55) connected to the fixed shaft (54) so as to impart elasticity to the horizontal bar (53) Robot control for turntable operation, characterized in that it consists of a stopper plate (56) in the shape of a "c" that partially wraps the side of the horizontal bar (53) so that the rotational elasticity of the horizontal bar (53) is maintained. Device.

Images