TW200831233A - Control device and control method for parallel link type carrying apparatus - Google Patents

Abstract

This invention provides a control device and a control method for a parallel link type carrying apparatus capable of improving the position accuracy of the tip of a parallel link mechanism even when an object to be carried is being moved. This invention adds a plurality of correction torque command values Kfp, Kfq obtained based on the position target values [X, Y] of the tip of the parallel link mechanism and the mass m of the object to be carried, respectively, to respective torque command values to be given to a plurality of motor drivers 25, 26. By adding the correction torque command values Kfp, Kfq reflecting the effect of inertia force to the torque command values to be given to the motor drivers 25, 26, the compensation control to the motion of each link constituting the parallel link mechanism can be performed. Thus, the position accuracy of the tip of the parallel link mechanism can be improved even when the object to be carried is being moved.

Description

200831233 IX. OBJECTS OF THE INVENTION: 1. Field of the Invention The present invention relates to a parallel link type transport (four) (four) that drives parallel feeding. [Prior Art], a control device for clothes, and a control method. The type of conveyance device that drives the parallel link mechanism μ (4) (4), #顼 from the 仃连才, used as a tandem press (tandempress), the transfer between the presses, press For example, the following patent document 1). This kind of r machine 变换^ 变换 changes from the target position of the conveyed object to the parallel position control. However, according to the visual control, the parallel bar mechanism of the fixed conveyance quality will have the support at the end. The situation where the positioning accuracy is lowered. Yu Lian's question on (4) 'The following patent document 2 position calculates the current value of each motor shaft and the current command value of the motor (4), and feeds it to the motor, thereby improving the motor shaft. In the case of the invention of the patent document 2, the method of the patent document 2 is due to the problem of the invention. Only the balance force is used as the correction and the gateway, and this improves the positioning accuracy of the connecting rod in a stationary state. In the action of moving/moving, not only will the influence of the balance force due to gravity be affected, but also the shadow of inertial force due to acceleration. 319806 200831233 2; Γ吏: send, high-speed movement 'The influence of the aforementioned inertial force is changed to only, and the correction of the balance force cannot compensate for the positional production. The kind of person who has completed the above problems, and the control device and control of the parallel link type conveying device which can also make the front end of the link and the French/monthly "in the position of the movement" The control of the means (the means to solve the problem): The problem described above, the parallel link type conveying apparatus and the control method of the present invention employ the following means. =) In the control device of the parallel link type conveying device of the present invention, the parallel cup type conveying device is provided with a plurality of links connected to the plurality of links, and determines a parallel link mechanism for driving the m-position ϊ 复 复 ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ ϊ And the correction torque command is respectively added to the control device of the flat lamp link conveying device, wherein the fixed link is a plurality of 319806 200831233 sliders that are linearly moved by the drive motor. The driver, the torque correction means is configured to obtain a plurality of modified torque command values according to a plurality of functions, wherein the plurality of functions are respectively performed on the moving target of the plurality of sliders The difference between the kinetic energy and the potential energy obtained by the track and the target velocity is partially differentiated. (3) In the control device of the parallel link type conveying device, each of the plurality of linked rafts is driven by a plurality of sliders $ that are linearly moved by the drive motor, and the torque correction means is based on a plurality of The function extracts the plurality of corrected torque command values, wherein the plurality of functions respectively differentiate the kinetic energy obtained from the target speed of the transport by the moving coordinates of the plurality of sliders. In addition, a plurality of (Kui 4) = control of the parallel link type conveying device, wherein the complex and the series of cups are respectively a plurality of drives that are linearly moved by the drive motor: the torque correction means According to a plurality of functions, "the number of corrected torque command values, wherein the complex number == the moving coordinate of the slider respectively differentiates the bit % obtained from the target of the transport object" is obtained. (5) Parallel link type conveying device=the connecting rod system is respectively transmitted by the driving motor; the right torque correction means is based on a plurality of first letters, or a plurality of third correcting torques. The command value, the number of turns w is returned to the number of turns, and the middle number of brothers - the function is the difference between the kinetic energy and the potential energy obtained by the target % of the complex number, and the difference is "the speed is based on the plurality of sliders" Move = Gu Di two function knives do not compare the material μ 319806 7 200831233 The knives A complex second function is the above multiple sliders! Γ = Γ! line partial differential, and in the aforementioned parallel link Type of k-shirt, the method of cutting the torque correction is based on Switching the position of the transport object and/or the speed to determine whether to control the plurality of parallel parallel link transport devices based on the first function and the third function. The above-mentioned effective formula: the function system and the Lagrange equation of motion, etc. in the control device of the parallel link type conveying device are calculated at all times as the position target value changes. I m corrects the turn command value and sets the multiple torque command values. 。 。 。 。 。 。 。 。 。 。 。 。 。 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式 式= a plurality of drive motors of the connecting rods, and a plurality of motor drives that drive the plurality of drive motors: the control of the transfer link type withdrawing device for transporting the objects by the parallel linkage mechanism The method features a plurality of corrected torque command values obtained by the position target value at the front end of the =π link mechanism and the plurality of torque command values of the plurality of motor_devices. (9) In the control method of the parallel link type conveying device, the plurality of 319806 200831233 = one link system is driven by a plurality of sliders that are linearly moved by the drive motor, the plurality of The corrected torque command value is obtained according to a complex number of four times, wherein the plurality of functions are the energy and potential energy obtained from the target and target speeds of the transport object by the plurality of sliders and the movable coordinates. The difference is made by partial differentiation. In the above-described control method of the parallel link type conveying device, the W = one continuation is a plural number to the driver that is linearly moved by the drive motor. The plurality of correction torque command values are based on the complex And (2) determining, wherein the plurality of functions respectively perform a partial deviation of kinetic energy obtained from a target speed of the transport object by the plurality of sliders=moving coordinates. (1) In the control method of the parallel link type conveying device, the plurality of link system components are driven by a plurality of blocks of the drive motor that are linearly moved, and the plurality of correction torque command values are According to the complex function, the plurality of functions are differentiated by the bit energy obtained from the target obstruction of the transport object by the plurality of sliders. (12) In the control method of the parallel link type conveying device, the plurality of link systems are respectively a plurality of linearly moving by the drive motor: slip = drive, and the plurality of corrected torque command values are Calculating 2 according to the plurality of first functions, the plurality of second functions, or the plurality of third functions, wherein the plurality of first functions are the target track of the moving object by using the moving blocks of the plurality of sliders The difference between the kinetic energy and the bit traversal obtained by the target velocity is the partial differential. The complex second function is based on the moving coordinates of the aforementioned plurality of 319806 9 200831233? In the above-mentioned plurality of sub-sectors, the plurality of sub-differentiators are performed, and in the operation of the first two-digit linkage-type conveying device, the material transfer (four) position and/or speed is performed. Determining, according to the function of the second brother, the second function, the second function of the plurality of correction torque commands - J-13: in the control method of the parallel link type transporting, the foregoing ;::::Tender function system and In the control method of the above-mentioned parallel link type conveying device, the above-mentioned plurality of correction values are calculated at all times with the change of the target value of =1. 曰7 i respectively add To the corresponding plurality of torque commands (effect of the invention) mass m: ^ positive torque private value is based on the position target value and the conveyed object and the 咏 φ Λ 者 ' not only reflects the balance of the drive shaft Influence, and == influence of the force. Therefore, by adding this corrected torque command value to the torque command value of the motor driver, the debt control of the motion of the == link can be performed, and thus even The conveyance of the moving object and the advancement of the connecting rod can also improve the positional accuracy of the front end of the connecting rod. The end weight: two == moment command value, the correct torque command can be provided to the horse line: When the feedback control system is combined, the feedback part only enters the compensation control of the movement of each link of the dry link mechanism. Since 319806 200831233 • This, the feedback control system gain adjustment and performance compensation It's easier. Also, based on the movement of multiple sliders The moving coordinates respectively determine the difference between the kinetic energy and the potential energy of the target trajectory and the target velocity of the 彳^~° object, the number of functions, and the moving coordinates of the plurality of sliders respectively determine the target velocity of the object. The kinetic energy of the partial differential of the kinetic energy, the number, or the moving coordinates of the plurality of sliders respectively for the target orbit from the transport object = a plurality of functions that can feed the differential (with the Lagrange ((4) coffee (four) sports 耘The equivalent formula) is used to obtain a plurality of corrected torque command values, and the appropriate corrected torque command value for the influence of the correct reaction inertial force can be extracted. "In addition, the correction torque command value is calculated only. Compared with the moving pair, the difference between the 盥 and the moving pair is reduced by the difference of 1 and the position can be suppressed. The difference between the kinetic energy and the potential energy can be suppressed. Partial differentiation, partial differentiation of only this movement, and partial differentiation of only the positional energy = in the beginning and the end of the rotation, depending on the position and speed of the conveyed object, it is appropriate: 'the amount of calculation will also decrease'. The load. Correcting the change of the torque flap = position target value and calculating a plurality of moment fingers at all times: the appropriate correction of the target position command at the time of the value [Embodiment], :: H:: The detailed description of the present invention Preferred embodiment. Its description. Portions of the mouth and the parts are denoted by the same reference numerals and are not repeated. 319806 11 200831233 • Fig. 1 shows a schematic configuration of a parallel link type conveying apparatus 10 including the control device of the present invention. In the same manner as the above-mentioned Patent Document 1 (Japanese Laid-Open Patent Publication No. 2004-344899), the present invention is provided between the upstream side press station 14a and the downstream side press station. The article is conveyed from the formed conveyance (plate 1) of the upstream side press station 14a to the downstream side press station 14b. As shown in Fig. 1, the transport device ???0 is provided with a parallel link mechanism 6, and is connected to the parallel connection; j: the front end of the dry mechanism 6 (panei) gripping portions 15, and 2 are connected to the parallel link mechanism The first link drive mechanism 11 and the second link drive mechanism 12 at the other end of 6. The plate holding portion 15 is provided with a workpiece holder 2 for vacuum cups or the like for sucking a plate member i, and a workpiece holder 2 attached thereto and at a right angle to the conveying line (perpendicular to the paper surface) Direction) extends the cross bar 3. The flat link mechanism 6 is composed of a first link 7 and a second link 8. The other end of the link 7 is connected to the first link drive mechanism 11, and the other end of the second link 8 is connected to the second link drive mechanism 12. The first link drive mechanism 11 and the second link drive mechanism are attached to the I-shaped base member 16. The first link driving mechanism n includes a first slider shaft 9 composed of a screw 2 shaft, a drive motor 17 for driving the first slider shaft 9 to rotate, and a rotation of the first slider shaft 9 Driven by >, the first slider 4 that is underperforming. The second link driving mechanism 12 includes a second slider shaft 13 formed of a screw, a first drive motor 18 for driving the second slider shaft 13 to rotate, and a rotation of the second slider shaft 13 Drive 12 319806 200831233 The second slider 5 that moves in a straight line. The first drive motor 17 and the second drive motor 18 are respectively driven by motor drivers 25, 26 which will be described later. The drive of the first drive motor 17 and the second drive motor 18 causes the first slider 4 and the second slider 5 to linearly move, and is accurately positioned by numerical control or the like. Further, as shown in Fig. 1, the springs of the first slider shaft 9 and the second slider shaft i 3 are inclined from the vertical axis γ in opposite directions by a predetermined angle (Θ /2 in the figure) 〇# With this configuration, the first slider 4 is tilted with respect to the horizontal plane in the driving field in such a manner that the upstream side of the transport line is at a low position on the downstream side of the transport line by the first link drive mechanism n. Linear motion. Similarly, the second slider 5 is tilted with respect to the horizontal plane in the driving field by the second link driving mechanism 12 so that the upstream side of the conveying line is at a high position and the downstream side is at a low position. Linear motion. Further, in the present embodiment, the first link drive mechanism 丨丨 and the second link drive mechanism 12 constitute a linear motion drive mechanism by a ball screw mechanism, but the present invention is not limited thereto, and may be activated. A belt (·ηιίη§ belt), a hydraulic cylinder, a rack and a gear (rack and phi (10)), etc. constitute a linear motion drive mechanism. According to the above configuration, the first drive motor 17 and the second drive motor 18 can be independently driven by the first drive motor 17 and the second drive motor 18 by the operation command 2 (hereinafter) given by the control device 2 (). In this way, the position of the front end of the parallel link 319806 13 200831233, that is, the position of the first slide of the second slide 5) is the position of the drive motor 17 and the drive error 35 of the second drive motor (7). The desired transport action. Bull Holding Unit Fig. 2 shows the configuration of the parallel control device 20 according to the embodiment of the present invention. The flying vibration k device is shown in Fig. 2, and the control target position calculating means 21 and the motor control unit of the present invention are provided with a slider unit 24. 3 violation control °" 2, 23, and torque correction hand data = (duplicate r mark position (below, target position two moves 22, 23 is a plurality of ' respectively, will be used to make the front end of the link torque command The value is supplied to a plurality of motor drives for driving the first drive motor 17 and the second drive motor 18. In the present embodiment, the first drive motor 17 is driven: red two 26. The shaft motor driver 25 drives the second drive motor. Motor of 18: Movement: The motor control unit of Z 5 is set as the p-axis motor control unit 22, and the torque is given to the motor control unit of the shaft motor driver 26 to be the q-axis motor control two port P 2 3 . The first-push motor 17 and the second drive motor 18 are respectively detected by the p-axis motor 319806 14 200831233 driver 25 and the q-axis motor driver 26, and the encoders (4)-27, 28 are detected, and the detected turn is made by the user. S h or the 5 tigers that are happily used as the feedback L唬 input to the P-axis motor control unit 2 F勹U fork ^ 23 ° ^ for positioning control.,,, up to 7, for the feedback control torque correction means 24 According to the position target value of the flat part 1" and the front end of the "two (4)" and the board Quantity), the amount m is obtained (the number of correction torque command values Kfp, Kf of the plate holding portion 15 and the complex value of the positive torque command value are respectively added to a plurality of motor controls: ... = torque command value % Command value: The corrected torque command value Kf Kf does not accept the torque-slider and the second slider (four) divided into two, ^ 5 moves in the axial direction - and the value of the second slider. Below, the ffrf force, ^ is multiplied by the adjustment gain K, and fp, fq is called the slider driving force. The following 'describes the above method of calculating the sliding ίρ, ς 。. No setting (P, q), slider driving force 3 shows the first In the third figure, the γ, γ, and the cup-type conveying device 10 L indicates that the 7 (Υ) of the connecting rod 7 indicates the position of the plate holding portion 15, and the second slider Drive of U: ρ axis, q, indicates the first slider axis 9, ^ axis 'p, q indicates the position of the junction (the first slider 4, the second slider 5), ' ' , = and the intersection of the q axis and the Q axis (? axis, the origin of the taste), "represents (χ j) indicates the angle P, and does not indicate the X axis and the q axis (4). ... the P axis of the plate holding portion 15 Location (X,, Code,) / The block position (P, q) is 319806 200831233 and the relationship shown by the following formula i is obtained. [Expression 1] p = ((X - +(Γ - r〇)sin a)+Jl1 _(( X - XQ) sin α - (y -}ς ) cos or)2 (厶1) 不)c〇s々+〇r-:Qsk (Α·2) y ^P〇〇sa + qQ〇 S0 t pBma-qsmfi | 4L2 2 2 li 〆切2 - 2/^g(众一灼' (Β·1)

Y^Y^Psma^qsiri0 pcosa-qcos0 I ^4iT 2 2 iP2 +(l2 ^2Pq〇os^^β) *1 = This is the wish to put the front end of the connecting rod (the obstacle of the plate holding part is as long as The corresponding slider position (P, q) ' in the above equation i can be calculated by calculating the first slider 4: (A: 2) to the calculated slider position. The π block 5 moves as described above. The weight of the plate holding portion 15 and the object of the plate mass m is γ(9) as a function of time m. The kinetic energy I of the limb, the potential energy U is moved by the following equation, and the difference is (Form D and (Formula 2) to calculate [Expression 2] (Formula 1) (Formula 2) 16 200831233 where 'g represents the gravitational acceleration [m/s2], X y kinetic energy I, the potential energy u has been given, the required slip The block driving force ff 1 - is considered in the case of the Lagrange equation of motion, and is expressed by (Expression 3) and (Formula 4) of the following Equation 3. Formula 3] dl rabbit

Tt L{^ du (Formula 3) (Formula 4) (Formula 3) and (Formula 4) are based on the positional coordinates of the slider to kinetic energy! The position is differentiated from the bit, but the in situ energy is almost no compared to the kinetic energy. In the case of change, kinetic energy becomes a dominant factor, so only kinetic energy can be biased: considering potential energy. On the other hand, ~=), which has almost no change in kinetic energy compared to the potential energy, becomes a dominant factor. Therefore, only the positional energy can be considered to be slightly different from the kinetic energy, and the phase can be the transported object. The case where the horizontal coordinate surface moves (for example, '彳=down case). In addition, even if it is the composition of the figure, the command of = ^ will make the position of the conveyed material hardly change with time = it is the dominant factor. ^In the case of a sub-conformity, etc.), the kinetic energy is in the case of a change of ==nrr, and it can be thought of as a situation in which the dress is placed. Further, the positional energy is a dominant factor as long as the conveyance condition is such that the speed of the conveyed object is such that the kinetic energy of the conveyed object is almost 319,806, and 1731,323, and the like (for example, at a very low speed, etc.). ^About the same consideration of kinetic energy and potential energy, or only consider kinetic energy and position = any of the 'can be determined in advance according to the structure and operation method of the transport device, and the sub-transfer device does not change after the start of operation set up. • Alternatively, it is possible to switch between the position and speed of the conveyed material during the operation of the transport unit. By designing such a configuration, the calculation f can be reduced, and the load of the control device 20 can be suppressed. Further, such switching is performed by the torque correcting means 24 in the control device 2 of the first. In the following, when the kinetic energy and the potential energy are simultaneously considered, the following formula (4) and (formula 2) are substituted and the following formula 4 is obtained. 5 乂正【数式4】d[嗜Of d (式5) =Λ

Jt di (Formula 6) In addition, returning to the previously considered parallel link condition, it can be seen from the above-mentioned guide type, that the position of the plate holding portion 15 can be said to be the position of the slider = formula, 5 Equation 5: Set (Ρ, ❸'s function bucket (0, #)) (Equation 7) (Equation 8) 319806 18 200831233 Therefore, the elements in (Equation 5) and (Equation 6) can be expressed as follows [Expression 6] • 8X .dX . dp aq

Y

dY Ρ

Dt d2x . t d2x . —=—^泠-1--ο dp φ2 dpdq dx d2x Ψ t d2x . Upper two-P+-irQ dq φθΖ V —.丨.一ZZ _·_' dp Φi-% d2Y ^ Dp1 dpdqq di protection y Φ^ίΤ dqlH dY

Dq % Φ dY :...I dq (Wu 9) (Formula 1) Field 11) (Equation 12) (Equation 13) (Equation 14) (Equation 15) (Equation 16) (Equation 18> p = birth without dq(t) di dt • Substituting the above (Equation 9) to (Equation 18) into (the formula can be obtained as the slider driving force fp, fq as shown in Equation 7 The calculation formula (Equation I9) and (Formula 2〇) ° 19 319806 200831233 [Expression 7]

X f dzX . d2X Λ ^ <dp1 P + dpdqqj +

fP

X fd2X . dzX /

J + ί^ρ+

d2Y Λ1 dY Λ (Equation 19) Test 2〇) (Equation 19) and (Formula 2〇) include the partial number of the front end position (χ, Y) of the link. Even if the front end position (Χ, Υ) is biased, (Β-2), the partial 八 八 敎 敎 精 精 精 精 精 精 精 精 精 精 精 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 。 The result of partial differentiation can be expressed by a function such as the following number 1 [Expression 8]. ¢, ¢) 詈 = Qiao (10)) (Equation 21) (Equation 22) (Equation 23) d2JC (Wu 24) (Equation 25) (Formula 2S> Hair: Far (p, q) ^27) d2Y (^28 ) d'Y ^Fiv Μ (Formula 2S) dPdg -Fw(P,q) (Expression 30> 319806 20 200831233 (Formula 21) to (Formula 3〇) can be obtained from (Β-l) and (B_2) in advance Therefore, the slider driving force && mass with respect to the front end of the link is calculated from (Formula 9) and (Formula 2〇) by the following steps 1 to 6. (Step 1) Substituting the position target value [X, γ] of the plate holding portion into (a_1 (A.)), determining the position target value of the first slider and the second slider _ and • [p, obtained in step 1] q] Substituting Fl(t) F10(P, q) of the above formula 8 to obtain a partial differential value. ' q) to (step 3)

And the first slider operation is performed to obtain a speed target of the position target value [χ, yj, 4 of the plate gripping portion 15 and the position target value [p, q] of the second slider 5 value. [Equation 9] Speed target value of the plate holding portion [Text, h The speed target value of the first slider and the second slider [Multiple, Μ (Step 4) Calculate the Vp of the following equation l〇, from The result of step 2 and step 3, Cp, Gp, Vq, Cq, Gq. 319806 21 200831233 ^ [Expression 10] VP ^Pi(P>q)^ + F6(p,q)^Y (Expression 31) = X. (^3 (p, q) · p + F${p, q)-q)+f. (jr ^ q)^p + Fl0 (py q) · q) (Equation 3 2) ' s'h{p,q) (Equation 33)

Vq =^(P^)-X + F7(p3?)-T (Expression 34) (F5(^)j+F4(M).々)+f.(Fi0(p,")j+F9(MH (Expression 35) Lu^qS^nip^q) (Expression 35) (Step 5) Find the Vp and Vq2 differential values obtained in Step 4 (Expression 11 below) 〇 [Formula 11]

Differential value of Vp F :匕 P dt

The differential value of Vq is one dVq dt (step 6) The slider driving forces fp, fq are obtained from the results of steps 4 and 5 by the following equations (Expression 37) and (Expression 38). [Expression 12] (Expression 37) (Expression 38) fp^m^P-Cp+Gp) Λ zzfn^q-cq+Q^ ττ 319806 200831233 The slider obtained by the above steps 1 to 6 The driving force f is multiplied by the adjustment WK to obtain the aforementioned corrected torque force p, and the above-described torque correction means performs the positive torque command values Kfp, Kfq as described above. The following four effects of the parallel connecting rod type 20 and the control method of the present invention are as follows. The control device γι j describes the corrected torque command value, which is determined based on the mass m of the position, the influence of the force, and reflects the influence of the inertial force. Therefore, the value of Kfp and Kfq is added to the value of the motor driver, and the position and accuracy of the front end of the compensating rod of the movement of each of the 6 links can be performed. In the process of improving the movement, it is also possible to make a series of functions of the == micro-knife obtained from the position of the plurality of sliders 4, 5, respectively, based on the position of the sliders 4 and 5 (Lagrange) It is: a differential correction torque command value, Wang type), to obtain a plurality of corrected torque command values. π reflects the influence of the inertial force. In addition, in the case where the corrected torque command value Kf can be used or only the positional energy can be biased, the difference is only in the case of the momentum. The difference between the enthalpy and the potential energy is slightly different, and is designed to suppress the load on the control device 20. A aligning energy: partial kinetic energy h value ‘and in operation depends on the position and speed of the moving object 2 = 319806 200831233 line switching, the calculation amount will also be reduced, the same can suppress the negative control device (9)? The second system = the processing of the steps 1 to 6 is in each of the updated torque: she is 周. That is, as the position target value changes, the Japanese character calculates a plurality of corrected torque command values Kfp, Kfq ' at a time and = torque command value, and can calculate the position "b) corresponding to the time Correctly correct the torque command values Kfp, Kfq. In addition, if the weight of the tool (10) U with a change in the panel size to be produced is changed, as long as the corresponding 1 and 吏 are set to m, the surface can be adapted. For the correct correction torque command value Kfp, KV of the transported object, the positive and the positive mutual torque command value Kfp can be obtained, and the KV can change the weight and movement of the positive green core weight portion. According to the teaching method, the motor driver is provided with the compensation control for the parallel link mechanism 6 in the same manner as in Fig. 2, in other words, the basket adjustment and performance compensation for the loading are improved. Further, the above-described embodiment is a parallel link type conveying device which is a parallel link machine having a two-degree-of-freedom, but a parallel link type conveying device having a range of application of the present invention. On the sun, The embodiments described above are described, but the embodiments disclosed above are only examples, and the scope of the present invention is not limited to the scope of the present invention. The scope of the present invention covers the scope of the patent application 319806 24 200831233 ' All changes in the meaning and scope of the claims are as follows. [Simplified description of the drawings] Fig. 1 is a schematic configuration diagram of a parallel link type conveying device having the control device of the present invention. ^ Fig. 2 Fig. 3 is a schematic view of a parallel link type conveying device shown in Fig. 1. [Main element symbol description] 1 Plate 2 workpiece Gripper 3 Crossbar 4 First slider 5 Second slider 6 Parallel link mechanism 7 First link 8 Second link 9 First slider shaft 10 Transport device 11 First link drive mechanism 12 Second connection Rod drive mechanism 13 Second slider shaft 14a Upstream side press station 14b Downstream side press station 15 Plate gripping portion 16 Base member 17 Motor 18 Motor 20 Control device 21 Slider target Position calculation means 22 p-axis motor control unit 23 q-axis motor control unit 24 torque correction means 25 p-axis motor driver 26 q-axis motor driver 27 encoder 28 encoder 25 319806 200831233 fp,fq slider driving force Kfp, Kfq correction Torque command value L Link length (p, q) Slider target position [X, Y] Position target value (X0, Y0) The intersection of the ρ axis and the q axis (X, γ) Position of the plate grip ❿ 26 319806

Claims (1)

200831233 X. Patent application scope: h A parallel link type conveying and conveying device is equipped with · #由, f: clothing, the parallel _ several links are connected: into:! And the drive of the plurality of drive motors that drive the plurality of links, and the torque command value respectively f + according to the motor drive $ I 34 minus (four) motor of the plurality of transporters, the flat The driving of the dry 4 structure is characterized in that a plurality of motor controls are provided for the control device to be moved, and the position target value and the number of the front end of each of the flat members of the flat mast mechanism are fixed. Repair:: respectively, to correct the value of the aforementioned torque command value to the I value ' and to the aforementioned plurality of motor control parts: ::::: hand turn ^ (10) ^ ^ ^ 2 · 3. The one-level flat device, i, the control of the cup-and-carrying device, and the cable-linking device are respectively a plurality of sliders and correction means that are linearly moved by the drive motor, and are based on a plurality of movements. The moment command value, wherein the plurality of Hs and the plurality of modified revolutions and the number of turns are the kinetic energy and the potential energy obtained from the target and the target speed of the transport object by the plurality of and the moving coordinates The difference is made by partial differentiation. Further, the control of the parallel link type conveying device according to the first aspect of the patent application is 319806 27 200831233. The device, wherein the plurality of link systems are respectively driven by a plurality of sliders that are linearly moved by the driving motor. The torque correction means obtains the plurality of corrected torque command values based on a plurality of functions, wherein the plurality of functions are obtained by using the plurality of sliders: the moving coordinates are obtained from the target speed of the transport object Kinetic energy is partial. 4. The control device for a parallel link type conveying device according to the scope of the patent application, wherein the plurality of link systems are respectively driven by a plurality of sliders that are linearly moved by the drive motor, and the torque correction is performed. The method is based on a plurality of functions to "report the plural number of movements: the number of functions in the slave is the partial differential of the aforementioned plurality of sliders. The material (four) can be carried out = the application of the special (four) (four) item of the flat rod type Moving = ;:, the plurality of link systems are respectively determined by a plurality of sliders and correction means for moving through the straight line, according to a plurality of first-, =, or a plurality of third functions. a plurality of two functions and values, wherein the plurality of first-function coefficients and the corrected torque means that the cold moving coordinates respectively differentiate the difference between the color kinetic energy and the potential energy of the plurality of sliders of the transport object: = target (10) The γ (four)-function differential of the (four)-seat of the plurality of smectic blocks is obtained, and the plurality of third functions perform the eccentricity of the kinetic energy to perform the bitwise coordinate respectively: the movement of the sliders is And in 392806 28 200831233 In the operation of the link conveying device, the torque correction means switches between the position and/or the speed of the conveyed object to determine the first function and the second function according to The control device of any one of the second to fifth aspects of the invention, wherein the foregoing is subjected to partial differentiation: 2# 'Equivalent to the Lagrange equation of motion. The parallel link of any of the items in items 1 to 6 follows the control device, wherein the aforementioned torque correction means is modified: At the same time, the plurality of torque command values 7 are added to the corresponding plural number. The control method of the moving device, the position of the front end of the parallel link type connecting rods is 1 The machine does not move the complex number of the above-mentioned multiple links 〖: The characteristic of the parallel link type transfer device control method:::: The target position value of the front end of the 41-link mechanism is added: := Find multiple corrections The command value is divided into the t-torque command value of the special-purpose park. The control of the cognac-link transfer device is 319806 9· 200831233 匕Π 'The above multiple link systems are respectively driven by the aforementioned drive The correction torque command value is driven by a plurality of sliders moving in a straight line according to a plurality of functions, and the movement coordinates of the plurality of sliders are respectively determined by: the partial vote and the target speed are obtained. The difference between the kinetic energy and the potential energy is 10·= please Γ: Fan=item” The control of the link-type conveying device reaches a plurality of links that are linearly moved by the aforementioned driving horse. The block-corrected torque command value is obtained from a plurality of functions, and the two-numbered and two-numbered function systems are different from the plurality of sliders: u The kinetic energy obtained by the target speed is partial---- In the control i /, the parallel link type conveying device of the eighth item of the benefit range, the plurality of link systems are respectively driven by the plurality of sliders that are moved by the above-mentioned driving and straight lines, and frozen, -*, Corrected torque command value based on complex number The function is used to find, ^ a number of functions are based on the position of the plurality of sliders, the position of the target track of the object i 12:: the position of the object can be differentiated 〗 〖 攸. square (four) the eighth item of the parallel link The control of the conveying device reaches a plurality of sliders that move through the straight line: === = The torque command value is obtained according to a plurality of first-function, complex number= or a third function, wherein the naming is performed by a number of slips The moving coordinates of the block are respectively subjected to the partial trajectory from the target trajectory and the target speed of the transporting 30 319806 200831233. The plurality of seconds are moved by the second:::: I, and the three functions of the kinetic energy are respectively performed = slider俜 今 、 , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , , Cut the position and/or speed of the transport u = the determination of the aforementioned plurality of correction torque commands according to the aforementioned first function, the second (four), or the former two-function. 13. In the scope of the patent scope, items 9 to 12 - A method of controlling a flat conveying apparatus, wherein the aforementioned partial differentiation: the function is equivalent to the Lagrange equation of motion. 14. The method for controlling the continuous transfer device of any one of the items 8 to 13 of the patent application scope, wherein the foregoing plural number is calculated as the value of the above-mentioned position is changed The correction torque refers to: the value 'and is added to the corresponding plurality of torque command values respectively 319806 31