KR200473588Y1 - Moving device allowing instant correction of error during movement - Google Patents

Abstract

A moving device capable of immediately correcting an error during a moving state according to the present invention is characterized in that the moving device is provided movably in the moving path of the base and is driven by the driving device to move the moving device in the moving path of the base, The means for detecting the movement of the moving object is provided with a tolerance value in advance and a plurality of sensing elements are arranged in the movement path of the base to detect that the mover moves on the movement path and generate a real time signal, By electrically connecting, the controller compares the corresponding real-time data with the contrast data and judges whether or not to correct the error.

Description

[0001] MOVING DEVICE ALLOWING INSTANT CORRECTION OF ERROR DURING MOVEMENT [0002]

The present invention relates to a moving apparatus for performing error correction, and more particularly to a moving apparatus capable of correcting an error immediately during a moving state.

Conventional mobile devices can be designed to operate in a variety of ways, including natural factors (e.g., variations in distance due to thermal expansion and cold shrinkage), artificial factors (e.g., poor control in the production process, The linear movement or the nonlinear movement causes an error every time a certain distance is moved and the longer the moving distance is, the larger the cumulative error is generated. It was not. For this reason, when the mobile device moves, the moving distance displayed on the controller and the actual distance measured by precise measurement (for example, a ruler, etc.) have reached today with error, (Robot arm) instead of the manipulation of the robot arm, there is an attempt to reduce the cost and to avoid the malfunction, thereby improving the production efficiency. However, the demand for the precision will be further increased.

As a method of reducing the error, conventionally, the mobile device is scheduled to be subjected to periodic inspection (for example, daily inspection, monthly inspection or quarterly inspection) and calibration. However, such a method can not be immediately corrected, and if it is found that the tolerance value is exceeded by the measurement after completion of product processing, it is necessary to modify or modify (rework) the production cost, If you have to dispose of it because it can not be remodeled, you will not have to mention the loss. On the other hand, if the machine is stopped and calibrated during the production process, the process will increase and affect the production operation.

Therefore, in order to avoid the accumulation of errors, it is necessary to immediately correct the error during the moving state, and to design a design which can control the error within the permissible range even if the moving distance becomes long, It is an assignment.

In the present invention, a plurality of sensing elements are provided in the movement path of the mobile device, and these sensing elements and driving means for moving the mover are electrically connected together (including electrical connection or electromagnetic do). The controller compares each corresponding real-time data with each contrast data. If it is determined that the real-time data exceeds the contrast data, the controller corrects the real-time data so as not to exceed the contrast data, The error can be corrected immediately during the moving state so as to avoid the error. As described above, the present invention provides a mobile device capable of freely designing the length of the mobile device and capable of correcting the error immediately during the moving state, since the error can be controlled within an allowable range even when the moving distance increases The purpose.

Further, in the present invention, the driving means sets the tolerance value in advance, and the controller has a plurality of actual positions in the movement path of these sensing elements, calculates from this position data and the tolerance value, Real-time data is generated by receiving a real-time signal, and comparison is made between the corresponding real-time data and the contrast data, and it is determined whether or not to correct the error, so that a large error momentarily occurs and exceeds the allowable range It is another object of the present invention to provide a mobile device which can be avoided and which can correct the error immediately during the moving state.

In order to achieve the above object, a mobile device capable of immediately correcting an error in a moving state according to the present invention includes a base, a driving means, a mover, a plurality of sensing elements, and a controller. Wherein the base is provided with a movement path, the mover is movably provided in the movement path of the base, and the driving means moves the mover by the movement path of the base, and the drive means sets the tolerance value in advance And the sensing element is arranged in a movement path of the base to detect a movement of the mover along the movement path along with the movement path and generate a real time signal. Wherein the controller electrically connects the driving means and the sensing element and has a plurality of actual positions in the movement path of the sensing elements and calculates from the position data and the tolerance value, And also receives the real-time signal to generate real-time data, compares the corresponding real-time data with the contrast data, and determines whether to correct the error.

According to the present invention, it is possible to immediately correct the error in the moving state so that the error can be prevented from accumulating and exceeding the allowable range, and the error can be controlled within the allowable range even when the moving distance increases, Can be freely designed.

For a better understanding of the features and technical details of the present invention, reference is made to the following detailed description and the accompanying drawings, which are to be taken in conjunction with the accompanying drawings, in which: It is not necessary to say or not.

1 is a plan view showing a mobile device according to the present invention.
2 is a partially enlarged view of Fig.
3 is a graph showing a movement position of a conventional mobile device.
4 is a graph showing a moving position of the mobile device according to the present invention.

1 and 2 are plan views showing a moving device of the present invention, and FIG. 3 is a graph showing a moving position of a conventional moving device , And FIG. 4 is a graph showing a moving position of the mobile device of the present invention.

1 and 2, a mobile device capable of immediately correcting an error according to the present invention comprises a base 1, a driving means 2, a mover 3, a plurality of sensing elements 4 And a controller 5. The controller 5 includes a controller 5,

The base 1 (which can reduce the error due to thermal expansion and cold shrinkage by selecting a material having a very low expansion coefficient) has the movement path 11 and the mover 3 is moved in the movement path 11 of the base And the drive means 2 moves the mover 3 to the movement path 11 of the base and sets the tolerance value in advance.

In this embodiment, the driving means 2 is provided at one end of the base 1 and at least one screw 12 is provided in the movement path 11 of the base 1, (All of them are included in the claims of the present invention if they are moved by the driving means 2). The driving means 2 is driven to rotate the screw 12 and the mover 3 is movably screwed together with the screw 12 so that the axis of the screw 12 and the moving path 11 are parallel to each other Do. The screw 12 sets a tolerance value. For example, when a standard C7 grade screw moves 300 mm, the error range is ± 50 μm, which corresponds to an error range of ± 2.5 μm when moved 15 mm , And the movement path 11 is 300 mm, the tolerance value is +/- 50 mu m. In the present embodiment, a standard C7 grade screw is used, the tolerance value when the mover 3 moves 300 mm is ± 50 m, the sensing element 4 is provided equidistantly, 60 mm, the tolerance value for each sensing element 4 is +/- 10 mu m. The absolute value of the contrast data is smaller than the absolute value of the actual position +/- 10 mu m and is set to the actual position +/- 9 mu m in the present embodiment.

On the other hand, the above-mentioned precision measurement refers to measurement with an optical element. When the driving means 2 is driven to rotate the screw 12, the mover 3 can be simultaneously moved. A guide rail 13 for guiding and moving the mover 3 is further provided on the base 1 and the movement path 11 is formed by a combination of a straight line, an arc line, .

The sensing element 4 is arranged in the movement path 11 of the base which is connected to the surface of the base 1 below the screw 12 (i.e. the base 1 of Figures 1 and 2) The bottom surface of the mover 3 is opposed to the surface of the base 1 and the bottom surface thereof is provided with an acting portion 31 to be detected by the sensing element 4 , These sensing elements 4 can detect that the mover 3 is moving on the movement path 11 and can generate a real time signal. These sensors 4 are sensing elements 4 applicable to the position detection of an electro-optical sensor or a magnetic induction sensor. In the case of an electro-optical sensor, for example, an electro- (Detailed in Fig. 2), these electro-optical sensors generate a detection signal and transmit the detection signal to the controller 5, thus completing the detection operation of the sensing element 4 in this way.

The controller 5 has position data on the movement path 11 of each sensing element 4 and electrically connects the sensing means 4 to the driving means 2 (for example, Electronic connection via optical fiber). The controller 5 calculates a plurality of contrast data by calculating from the position data and the tolerance value, and also receives real-time signals to generate real-time data, compares corresponding real-time data with contrast data, Or not. When it is determined that the real-time data does not exceed the contrast data, the controller 5 continuously moves the mover 3 without performing correction, and performs error correction when it is determined that the real-time data exceeds the contrast data. (I) a method of immediately correcting real-time data so as not to exceed the contrast data when it is determined that the real-time data exceeds the contrast data, (II) when the real-time data exceeds the contrast data, There is a method of controlling real-time data until the mover 3 reaches the next sensing element 4 so as not to exceed the contrast data by accelerating or decelerating the sensor 2.

Therefore, if the detected real-time data differs from the once-contrast data every time the mover 3 passes the sensing element 4, the controller 5 immediately determines whether it needs to be corrected, If the sensing element 4 is provided on the movement path 11 and can be detected along this path even if the movement distance of the mover 3 is long enough to control the error of the data to be kept within the permissible range, The error can be prevented from being accumulated.

As shown in Fig. 3, when the conventional moving device is used, when the moving speed is 3 mm / sec and the work to be performed moves within a distance of 3 mm, an allowable error is ± 0.5 mm, There is a possibility that an error occurs and exceed the allowable range. However, as shown in Fig. 1, Fig. 2 and Fig. 4, the driving unit 2 of the mobile device, which can immediately correct the error according to the present invention, sets the tolerance value in advance. For example, The allowable error when moving the distance is +/- 0.5 mm and the movement of the mover 3 of the mobile device is controlled at a constant speed so that it is possible to avoid exceeding the allowable range due to a large error generated instantaneously.

A mobile device capable of immediately correcting an error during a moving state according to the present invention is characterized in that a plurality of sensing elements 4 are arranged in a movement path 11 and precise measurement of the actual position of each sensing element 4 If the detected real-time data (generated from the real-time signal) differs from the contrast data once every time the mover 3 passes the sensing element 4, the controller 5 can instantly check whether it needs to be corrected So that the error of the real-time data obtained by the controller 5 is controlled to be within the permissible range so that no matter how long the moving distance of the mover 3 becomes longer, the sensing element 4 is provided at the passing position, It is possible to immediately correct the error during the moving state, thereby avoiding accumulation of errors. In other words, the present invention makes it possible to correct the error immediately in the moving state, avoiding accumulation of errors, and reaching the correct position at once, eliminating the necessity of stopping the machine for correction, And the error can be controlled within an allowable range regardless of the length of the movement distance.

Although specific embodiments of the present invention have been described above, this is merely a preferred embodiment, and does not limit the scope of the utility model registration claims of the present invention. Accordingly, it is to be understood that those skilled in the art will be able to make the appropriate changes and modifications within the scope of the present invention, and such implementation is included within the scope of the present invention.

One… Base
2… Driving means
3 ... Mover
4… Sensing element
5 ... controller
11 ... route
12 ... screw
13 ... Guide rail
31 ... Function portion

Claims (5)

A base provided with a movement path,
A mover movably provided on a movement path of the base;
Driving means for driving the mover in a movement path of the base and setting a tolerance value in advance,
A plurality of sensing elements arranged in a movement path of the base for detecting a movement of the mover along a movement path and generating a real time signal,
And a controller electrically connecting the driving means and the sensing element and having a plurality of position data in the movement path of the sensing element,
Wherein the controller receives the real time signal to generate real time data and compares the real time data with the corresponding position data to determine whether or not to correct the error. Mobile device. The method according to claim 1,
Wherein the movement path of the base is any one of a straight line, an arc line, or a combination of a straight line and an arc line. The method according to claim 1,
Wherein at least one screw is provided in the movement path of the base,
The driving means rotates the screw,
The mover being movably screwed together with the screw,
Wherein the screw is capable of immediately correcting an error during a moving state wherein the tolerance value is set. The method according to claim 1,
Wherein the controller is electrically connected to the sensing element and the driving means, wherein the error can be corrected immediately during the moving state. The method according to claim 1,
Wherein the controller is electrically connected to the sensing element and the driving means, wherein the error can be corrected immediately during the moving state.

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