KR890000863Y1 - The position controller of the robot - Google Patents
The position controller of the robot Download PDFInfo
- Publication number
- KR890000863Y1 KR890000863Y1 KR2019850016035U KR850016035U KR890000863Y1 KR 890000863 Y1 KR890000863 Y1 KR 890000863Y1 KR 2019850016035 U KR2019850016035 U KR 2019850016035U KR 850016035 U KR850016035 U KR 850016035U KR 890000863 Y1 KR890000863 Y1 KR 890000863Y1
- Authority
- KR
- South Korea
- Prior art keywords
- rod
- detection
- sensing
- robot
- bracket
- Prior art date
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/1005—Programme-controlled manipulators characterised by positioning means for manipulator elements comprising adjusting means
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
- B25J19/02—Sensing devices
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/102—Gears specially adapted therefor, e.g. reduction gears
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/10—Programme-controlled manipulators characterised by positioning means for manipulator elements
- B25J9/12—Programme-controlled manipulators characterised by positioning means for manipulator elements electric
- B25J9/126—Rotary actuators
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Manipulator (AREA)
Abstract
내용 없음.No content.
Description
제1도 및 제2도는 본 고안의 일부 절개 상태의 작동상태 정면도로서,1 and 2 is a front view of the operating state of the partially cut state of the present invention,
제1도는 본 고안의 비검출 작동시의 정면도.1 is a front view of the non-detection operation of the present invention.
제2도는 본 고안의 검출 작동시의 정면도.2 is a front view of the detection operation of the present invention.
* 도면의 주요부분에 대한 부호의 설명* Explanation of symbols for main parts of the drawings
1 : 검출브라켓 2 : 실린더기구1: Detection bracket 2: Cylinder mechanism
3 : 감지부 4 : 위치감지봉3: detecting unit 4: position detecting rod
5 : 스프링 6 : 승강제어나봉5: spring 6: lift control rod
7 : 감지센서 8 : 종동기어7: detection sensor 8: driven gear
9 : 구동기어 10 : 스텝핑모우터9: Drive Gear 10: Stepping Motor
ℓ : 승강스트록ℓ: lifting stroke
본 고안은 수평 관절형 로보트의 상하위치 제어장치에 관한 것으로, 에어실린더에 의하여 승강작동하는 위치검출 브라켓 하방에 스텝핑 모우터에 의하여 승강자재하는 제어나봉을 형성하고, 이 제어나봉 내부에 상기 위치검출 브라켓과의 접촉여부에 의하여 위치 감지신호를 발생시키는 위치 감지봉을 스프링으로 승강자재하게 탄삽하여 마이크로 프로세서의 구동신호에 의하여 스텝핑 모우터를 구동시켜 위치 감지봉을 탄삽한 제어나봉을 상·하로 정확히 이동시켜 준 다음, 수평 관절형 로보트의 위치검출 브라켓을 하강시켜 제어나봉에 탄삽된 위치 감봉과 접촉, 압압하게 하여 상하 위치를 검출하게 하여 수평관절형 로보트의 상하위치를 미세한 범위내에서 정확하게 검출할 수 있도록 한 것이다.The present invention relates to a vertical position control device for a horizontal articulated robot, and forms a control rod that is elevated by a stepping motor under a position detection bracket that is lifted and operated by an air cylinder, and detects the position inside the control rod. Lifting and inserting the position sensing rod that generates the position sensing signal by the contact with the bracket, and driving the stepping motor according to the driving signal of the microprocessor, the control rod which inserted the position sensing rod up and down accurately After moving the robot, lower the position detecting bracket of the horizontal articulated robot to contact and press the position reducing rod inserted into the control or rod to detect the vertical position.The vertical position of the horizontal joint robot can be accurately detected within a fine range. I would have to.
일반적으로 수평관절형 로보트에 있어서는 직접 모우터의 구동에 의하여 상·하 이동위치를 제어하고 있는바, 이와 같은 경우 지령속도나 실린더 기구나 모우터의 관성에 따른 오차에 따라 소정의 정확한 위치로 제어되지 않고 이동거리의 오차가 발생되는 문제점이 있어 정밀도면에서 매우 불량한 문제점이 있었다.In general, in the horizontal joint type robot, the up and down movement position is controlled by the direct drive of the robot. In this case, the robot is controlled to the correct position according to the command speed or the error due to the cylinder mechanism or the inertia of the motor. There is a problem that the error of the moving distance occurs without being very poor in terms of precision.
본 고안은 상기와 같은 문제점을 감안하여 먼저 스텝핑 모우터에 의하여 소정의 상·하위치까지 위치 감지봉을 위치시킨 다음, 위치검출 브라켓을 소정의 위치까지 하강시켜 위치 감지봉과 위치검출 브라켓과 접촉하는 순간정지 신호를 발생시켜 위치검출 브라켓 구동용 에어실린더기구를 정지시키되 에어실린더 기구의 정지후의 관성에 의한 이동거리를 흡수하여 정확히 소정의 위치로 상하 위치를 제어할 수 있도록 한 것으로 이를 첨부한 도면에 의하여 상세히 설명하면 다음과 같다.The present invention, in view of the above problems, first position the position sensing rod to a predetermined upper and lower positions by a stepping motor, and then lower the position detecting bracket to a predetermined position to contact the position sensing rod and the position detecting bracket. It generates a momentary stop signal to stop the air cylinder mechanism for position detection bracket driving, but absorbs the movement distance by the inertia after the air cylinder mechanism stops so that it can control the up and down position to a precise position. When described in detail as follows.
제1도 내지 제2도는 본 고안의 전체 개략도로서, 수평관절형 로보트의 상하위치를 검출하는 검출 브라켓(1)이 에어실린더와 실린더기구(2)에 의하여 승강 가능하게 설치되어 있다.1 to 2 are schematic views of the present invention, wherein a detection bracket 1 for detecting the vertical position of the horizontal joint robot is provided by the air cylinder and the cylinder mechanism 2 so as to be able to move up and down.
상기 검출 브라켓(1)의 선단 직하방에는 감지부(3)를 상부에 형성한 위치감지봉(4)이 삽설되고, 위치감지봉(4)의 감지부(3) 하부에는 스프링(5)으로 탄설시킨 승강제어 나봉(6)이 설치되어 있고, 승강제어 나봉(6) 하부에는 감지센서(7)가 설치되어 있다.A position detecting rod 4 having a sensing unit 3 formed therein is inserted directly below the front end of the detection bracket 1, and a spring 5 is disposed below the sensing unit 3 of the position detecting rod 4. A raised and lowered control rod 7 is provided, and a sensor 7 is installed below the lift control rod 6.
따라서 상기 검출 브라켓(1)과 승강제어 나봉(6) 내부에 승강가능하게 탄삽된 위치감지봉(4)의 감지부(3)가 접촉하지 않은 상태-위치검출하지 않을 때에는 스프링 (5)의 탄성에 의하여 감지부(3)가 승강제어 나봉(6) 상부로 돌출되게 되고, 이러한 상태에서 감지센서(7)는 작동하지 않아 위치제어를 하지 않으며, 검출 브라켓(1)과 승강제어 나봉(6) 내부에 탄삽된 위치감지봉(4)의 감지부(3)가 접촉할 때에는 감지센서 (7)가 작동하여 실린더기구(2)의 승강작동을 제어하게 된다.Therefore, when the detection bracket 3 and the sensing part 3 of the position detecting rod 4 inserted into the elevating control bar 6 in a liftable manner are not in contact with each other, the elasticity of the spring 5 is not detected. As a result, the sensing unit 3 protrudes above the elevating control rod 7, and in this state, the sensing sensor 7 does not operate and does not perform position control, and the detection bracket 1 and the elevating control rod 7 are operated. When the sensing unit 3 of the position detecting rod 4 inserted therein is in contact, the sensing sensor 7 is operated to control the lifting operation of the cylinder mechanism 2.
상기 승강제어 나봉(6)의 외주 나사부(6')에는 내부에 나사부(8')를 형성한 종동기어(8)가 나삽되고, 종동기어(8)는 구동기어(9)와 스텝핑모우터(10)에 의하여 좌·우 회전하게 구성된다. 상기 종동기어(8)와 구동기어(9)는 케이싱(11) 내부에 설치되고, 종동기어(8) 및 구동기어(9)와 케이싱(11) 사이에는 이들의 회전을 원활하게 하기 위하여 저면에는 슬라이드 받침판(12)과 베어링(13)이 부설되어 있으며, 승강제어 나봉(6) 나사부(6')에는 가이드키(14)가 삽치되어 승강제어 나봉(6)의 공회전을 방지하게 구성되어 있다.In the outer circumferential threaded portion 6 'of the elevating control lower rod 6, a driven gear 8 with a threaded portion 8' is inserted therein, and the driven gear 8 includes a drive gear 9 and a stepping motor ( 10) is configured to rotate left and right. The driven gear 8 and the drive gear 9 are installed in the casing 11, and the bottom of the driven gear 8 and the drive gear 9 and the casing 11 in order to facilitate their rotation. The slide support plate 12 and the bearing 13 are attached, and the guide key 14 is inserted in the threaded portion 6 'of the elevating control rod 7 so as to prevent idling of the elevating control rod 6.
이와 같은 본 고안은 실린더 기구(2)를 작동하여 검출 브라켓(1)을 상승시켜 주고 소정의 위치만큼 스텝핑모우터(10)를 구동시켜 승강제어 나봉(6)을 승강시켜 준다음, 실린더 기구(2)를 작동시켜 검출 브라켓(1)을 하강시켜 승강제어 나봉(6) 내부에 탄삽된 위치감지봉(4)의 감지부(3)로 근접시켜 서로 접촉시키면 감지부(3)와 검출브라켓(1)이 접촉하는 순간 감지센서(7)가 동작하여 위치감지 신호를 외부 컴퓨터 측으로 보내 에어실린더와 같은 실린더 기구(2)의 동작을 제어하게 되는데, 이때 실린더 기구(2)는 제어된 순간이후에도 관성에 의하여 하강하게 되고, 이에 따라, 검출 브라켓 (1)은 승강제어 나봉(6)의 상면에 돌출되어 접촉된 위치 감지봉(4)의 감지부(3)를 압압, 하강하여 승강제어 나봉(6)의 상면과 밀착된 순간에 완전히 하강을 정지하게 되므로서 소정의 위치에 제어되게 되는데, 이때 실린더 기구(2)의 작동관성에 따른 하강오차를 스프링(5)으로 탄설된 감지부(3)가 하강하여 흡수, 제거시켜 주게 됨으로 검출 브라켓(1)의 소정의 정확한 위치로 제어하게 되는 것이다.The present invention operates the cylinder mechanism 2 to elevate the detection bracket 1 and drive the stepping motor 10 by a predetermined position to elevate the elevating control rods 6 and then the cylinder mechanism ( 2) by operating the detection bracket (1) is lowered and moved close to the detection unit (3) of the position detection rod (4) inserted into the lift control bar (6) to contact each other, the detection unit (3) and the detection bracket ( At the moment when 1) contacts, the sensor 7 is operated to send a position detection signal to the external computer to control the operation of the cylinder mechanism 2 such as an air cylinder, where the cylinder mechanism 2 is inertial even after a controlled moment. As a result, the detection bracket 1 presses and descends the sensing unit 3 of the position detecting rod 4 which protrudes and contacts the upper surface of the elevating control rod 7. As it stops descending at the moment when it comes in close contact with the upper surface of In this case, the detection error of the detection bracket 1 is reduced by absorbing and removing the falling error according to the operation inertia of the cylinder mechanism 2. It will be controlled to the correct position.
이와 같이 본 고안은 스텝핑모우터에 의하여 승강 작동하는 승강제어 나봉과 승강제어 나봉에 실린더 기구의 관성에 따른 위치의 오차를 흡수하는 위치감지봉을 설치하는 간단한 구성에 의하여 수평 관절형 로보트의 상·하 위치를 정확히 제어할 수 있게 되어 수평관절형 로보트의 정밀도를 향상켜 줄 수 있는 매우 유용한 고안인 것이다In this way, the present invention provides a horizontal articulated robot according to the simple construction of the elevating control rod and the elevating control rod, which is lifted by the stepping motor, and the position detecting rod that absorbs the error of the position due to the inertia of the cylinder mechanism. It is a very useful design that can improve the precision of the horizontal joint robot by being able to control the lower position precisely.
Claims (1)
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019850016035U KR890000863Y1 (en) | 1985-11-30 | 1985-11-30 | The position controller of the robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| KR2019850016035U KR890000863Y1 (en) | 1985-11-30 | 1985-11-30 | The position controller of the robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| KR870008153U KR870008153U (en) | 1987-06-10 |
| KR890000863Y1 true KR890000863Y1 (en) | 1989-03-27 |
Family
ID=19246905
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| KR2019850016035U KR890000863Y1 (en) | 1985-11-30 | 1985-11-30 | The position controller of the robot |
Country Status (1)
| Country | Link |
|---|---|
| KR (1) | KR890000863Y1 (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10094396B2 (en) | 2014-01-02 | 2018-10-09 | Jae Ha SONG | Fan having cold air function |
-
1985
- 1985-11-30 KR KR2019850016035U patent/KR890000863Y1/en not_active IP Right Cessation
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US10094396B2 (en) | 2014-01-02 | 2018-10-09 | Jae Ha SONG | Fan having cold air function |
Also Published As
| Publication number | Publication date |
|---|---|
| KR870008153U (en) | 1987-06-10 |
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