JPS5820759B2 - Conveyor travel position setting mechanism - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a traveling position setting mechanism for a conveying machine such as a robot, a crane, a hoist, etc., which controls the traveling of a movable body in the conveying machine to automate the conveying work.

Transport work using transport machines such as robots, cranes, and hoists is generally carried out by moving movable bodies such as actuating arms and sliders. The automatic stop control for stopping the movable body and the control for starting the movable body once it has stopped are done individually and are not organically organized, making full automation extremely difficult.

Furthermore, regarding automatic stop control, conventionally, limit switches are operated in multiple stages to decelerate the operation of the movable body in stages, thereby removing the operating inertia when the movable body is stopped. Because it is a step-by-step process, smooth automatic stopping is still not performed, which not only creates dangers such as the suspended load rolling sideways and falling loads, but also makes it impossible to operate at high speeds with large operating inertia, resulting in poor work efficiency. The disadvantage is that it is not possible to improve the

Moreover, the stop position in the conventional automatic stop control mentioned above is fixed, and there is no room to arbitrarily set a position suitable for the work and automatically stop at that position, which is an issue for the future. It had become.

On the other hand, when the above-mentioned movable body stops once and then starts again, the conventional automatic start control and automatic stop control systems are different in terms of total heat. The disadvantage is that the system is not organically organized, and the start is sudden, resulting in various dangers due to inertial forces similar to those caused by stopping.

The present invention has been made with the aim of proposing a mechanism that can eliminate the above-mentioned drawbacks and facilitate the full automation of a transport machine, and is intended to provide a mechanism for either a movable body of the transport machine or a stationary body corresponding to this movable body. A position detecting device for detecting the amount of rotational displacement such as a potentiometer, etc. is attached to one side, and a position setting device having an operating rod that can be freely retracted and retracted is attached to the other side so that the position can be adjusted, and the operating rod of the position setting device is made to protrude at a desired stop position. As a result, the movable body is controlled to gradually decelerate and stop in conjunction with the position detection device, and when starting,
The purpose of the present invention is to provide a mechanism in which the movable body is controlled to travel at a gradually increasing speed simply by sinking the operating rod in order to release the link between the respective devices.

Hereinafter, the present invention will be described in detail based on embodiments shown in the drawings.

Fig. 1 is a perspective view of the travel position setting mechanism of the present invention installed on a hoist robot, and Fig. 2 is a plan view thereof. In the embodiment shown in Figures 1 and 2, in which a slider 3 that travels by an omitted drive source is slidably mounted, the slider 3 constitutes the movable body of the traveling position setting mechanism of the present invention, and the arm 1 constitutes a stationary body.

The slider 3 constituting the movable body includes a position detection device 4,
The arm 1 constituting the stationary body is provided with position setting devices 6, 6 at arbitrary locations in the longitudinal direction via a guide rail 5 connected to the arm 1.

Note that 7 is a wire rope for hoisting the cargo 9 with a tip hanging device 8, and 10 is a drive device for winding up the rope 7.

The outline of the travel position setting mechanism of the present invention in the embodiment shown in FIGS. 1 and 2 is as follows.

That is, the position setting devices 6 and 6 are respectively arranged and fixed at locations corresponding to the desired stop positions at which the slider 3, which is a movable body, is to be stopped, and when the slider 3 moves, the position detection device attached to this slider 3 moves. The actuating rod 2 of the position setting device 6 with the rotatable actuator 11 of No. 4 set in the protruding state.
1 and rotates, whereby the position detection device 4 is operated to control the drive output of the slider 3, and the speed of the slider 3 is gradually decreased until it reaches the target stop position.

After that, the operating rod 2 of the position setting device 6 is
1 is buried, the actuator 11 of the position detection device 4 returns to the initial position before rotation, and the slider 3 starts running again in the same direction or in the opposite direction while gradually increasing the speed. Furthermore, although the position setting device 6 is disposed at another desired stop position and the operating rod 21 is set in the protruding state, the actuator 11 of the device 4 is attached to the operating rod 21.
comes into contact and starts rotating, and the slider 3 starts rotating as described above.
One cycle is completed by converging and stopping at the stop position while gradually decelerating.

The configuration of the traveling position setting mechanism of the present invention will be explained in detail below.

As an example is shown in FIG. 3, the position detection device 4 has a rotatable actuator 11 that protrudes from the device 4 to the outside, and rotates forward and backward in conjunction with the rotation of the actuator 11. a rotary variable resistor 12; auxiliary rods 14, 14 connected to the actuator 11 via a rotating shaft 13 and arranged symmetrically;
An elastic body 15 made of a spring or the like is attached to the auxiliary rod 14 and urges the actuator 11 to a predetermined position, and the resistance comparison value of the resistor 12 corresponds to a predetermined value at the predetermined position of the actuator 11. At the same time, no matter which direction the actuator 11 is rotated in the direction shown by the arrow in FIG. 3, the resistance comparison value of the resistor 13 gradually decreases to zero, as shown in FIG. 4, and then gradually increases. It is set to do so.

In the embodiment shown in FIG. 3, pressure is applied via the auxiliary rod 14 in order to bias the actuator 11 to a predetermined position, but it goes without saying that this method is not limited to this method. The elastic body 15 may be directly connected to the actuator 11 to urge it to a predetermined position; in this case, the elastic body 15
There is also a method using coil springs that bias pressure in mutually opposing directions.

Further, the position detection device 4 may be one in which the actuator 11 rotates in one of the directions indicated by the arrow in FIG. There is also a method of using it by disposing it in parallel with the detection device 4.

As shown in FIGS. 1 and 2, the position detection device 4 moves the actuator 11 in the sliding direction of the slider 3 (arm 1
The guide rail 5 is attached to the slider 3 so as to protrude at right angles to the guide rail 5 (longitudinal direction).

As shown in FIG. 5 as an example, the position setting device 6 is provided with a device main body 23 provided with a concave strip 22 having a cross-sectional shape that holds the guide rail 5 at the lower end. The above-mentioned operating rod 21 that can protrude and retract freely in the direction shown by the arrow in FIG. Rollers 25° 25 are provided so as to face the device 6 and facilitate sliding on the guide rail 5.
One or more of them are arranged on the guide rail 5 in a position adjustable manner and fixed at a desired stopping position.

The operating rod 21 is moved in and out by the rotation of a pinion 24 by a drive source such as a motor (not shown), and this movement in and out is performed according to the order of the conveyance work by a control signal linked to the traveling movement pattern of the slider 3. It will be done.

In the embodiment shown in FIG. 2, when the load is conveyed alternately to two locations (from the location corresponding to the device 6c to the device 6a,
6b), when the slider 3 running on the arm 1 in the left direction in FIG. 2 approaches the position setting device 6a fixed to the left end of the arm 1, a control signal is sent to the device The operating rod 21 of 6a is driven to protrude and maintains the protruding state.

The actuator 11 of the position detecting device 4 on the slider 3 that has traveled comes into contact with this protruding actuating rod 21 and rotates, whereby the slider 3 gradually decelerates to a stop target corresponding to the position setting device 6a. Stop in position.

When the unloading operation is completed, the slider 3 starts moving to the right in FIG.
Proceed toward the position corresponding to c.

At this time, the operating rod 21 of the device 6b located in the middle maintains a buried state, and the actuator 11 of the position detection device 4 does not come into contact with this operating rod 21.

Position setting device 6 where the slider 3 is located at the right end of arm 1
When it approaches point c, a control signal is sent out, and the operating rod 21 of the device 6c is driven to protrude and stop at the target stop position as in the case of the device 6a.

When the load lifting work is completed, the slider 3 starts moving to the left in FIG. It will stop at the stop position corresponding to 6b.

When the unloading work is finished here, the slider 3 is moved again to the device 6.
It travels towards c and repeats the load transport.

Note that the position setting device 6 is not limited to the above-described configuration; for example, as shown in FIG. It may also be configured to appear and appear.

Further, the movement of the operating rod 21 is not limited to the above-mentioned rack and pinion system or electrical control using a solenoid, but may be mechanically controlled using a hydraulic or pneumatic cylinder, or manually.

Further, unlike the embodiment shown in FIG. 2, the operating rod 21 of the position setting device 6 may be of a protruding and fixed type in operations such as conveying a load to one location.

The above-mentioned operation in which the slider 3, which is a movable body, gradually decelerates and stops at the target stop position corresponding to the position setting device 6 will be explained in detail as follows.

In other words, when the actuating element 11 of the position detecting device 4 provided on the slider 3 that is traveling is brought into close contact with the actuating rod 21 of the position setting device 6, the actuating element 11 gradually moves against the elastic body 15. By generating a predetermined amount of angular displacement and changing the resistance comparison value of the resistor 12 linked to the actuator 11 that causes this angular displacement, the relative positional displacement between the slider 3 and the target stop position is converted into a voltage drop. The displacement amount signal is used to output control the drive section of the slider 3, and the slider 3 is
The rotation speed of the drive source (not shown) is steplessly decreased (or increased) in proportion to the displacement amount signal, and the speed of the slider 3, which is a movable body, is controlled to gradually decrease (or increase). It is something.

To explain this in relation to the rotational angular displacement amount θ of the actuator 11 and the resistance comparison value X shown in FIG. 4, this angular displacement amount θ
The resistance comparison value X decreases in response to becomes minute.

However, since the slider 3 may travel beyond the target stop position due to its inertial force, the resistance comparison value X is set so as to gradually increase when the angular displacement amount θ is exceeded. A voltage that causes the slider to run in the opposite direction to the original running direction is applied to the slider 3 to control the speed, and this acts as an overrun brake at the stop target position of the slider 3 and moves the slider 3 to the target position. It acts to correct the position of movement.

In this way, the slider 3 performs a damping operation in the forward and reverse directions centering on the target stop position, so that it reliably and quickly converges to the target position and stops.

Then, when the actuating rod 21 of the position setting device 6 is buried, the actuator 11 of the position detecting device 4 loses the external force that causes it to rotate and returns to its initial predetermined position by the elastic force of the elastic body 15. However, at this time, the resistance comparison value of the resistor 12 changes with the return rotation of the actuator 11, and the slider 3
The displacement signal sent to the first drive output control circuit also changes, and the slider 3 moves in a preset left or right direction while gradually increasing its speed.

Figure 7 shows the slider 3 of the hoist robot shown in Figure 1.
It is a partial perspective view in which a lifting rod 30 that can be lifted, lowered, and rotated is attached to the holder, and the traveling position setting mechanism of the present invention can be used not only for the movable body traveling in the horizontal direction, but also for vertical movement and rotation as shown in the figure. It can also be applied to

That is, in this figure, for example, the lifting rod 30 is a movable body, and the slider 3 is a stationary body.

Still, in the present invention, if the position detection device 4 is configured to extract a position signal for the next operation at any rotation angle of the actuator 11, for example, in FIG.
It is possible to start the lifting/lowering or rotational operation of the lifting rod 30 in conjunction with the mid-way operation of stopping traveling, and this allows for coordination when a plurality of traveling position setting mechanisms of the present invention are used in a working machine.

In addition, although the movable body controlled by the present invention is a slider of a hoist robot in the embodiment,
The present invention is not limited to this, and can be similarly applied to various objects such as an actuating arm of a robot, a moving vehicle body for automatic transport, and the like.

In this embodiment, the position detection device is attached to the slider, which is a movable body. It can be attached to any part of the body in a corresponding manner.

As described above, the present invention provides a position detection device that detects the amount of rotational displacement such as a potentiometer on either a movable body of a conveyor or a stationary body corresponding to this movable body, and a position detecting device that detects the amount of rotational displacement on the other side. Since the setting device is configured so that its position can be adjusted, it is possible to smoothly stop the movable body at a desired stopping position while eliminating operating inertia, and furthermore, the speed can be gradually increased when starting from the stopping position. Furthermore, although it is a simple mechanism, it is possible to control the transport machine to stop and start.
This has various effects such as being able to organically organize the operating system and thereby improving the automation and labor saving of the conveyor.

[Brief explanation of the drawing]

Figure 1 is a perspective view of the traveling position setting mechanism of the present invention installed on a hoist robot, Figure 2 is a plan view of Figure 1, and Figure 3 is a perspective view of the traveling position setting mechanism of the present invention attached to a hoist robot.
The figure is a plan view of the internal state of the position detection device used in the mechanism of the present invention, Figure 4 is a correlation diagram of the rotational angular displacement of the actuator of the position detection device and the resistance comparison value, and Figure 5 is the diagram used in the mechanism of the present invention. FIG. 6 is a perspective view showing another embodiment of the position setting device, and FIG. 7 is a portion showing a state in which a lifting rod is attached to the slider of the hoist robot shown in FIG. 1. FIG. 1...Arm, 2...Robot support,
3... Slider, 4... Position detection device, 5... Guide rail, 6... Position setting device, 11... Actuator, 12... Variable resistor, 15... Elastic body, 21...
Operating rod, 22... Concave line, 23... Device body, 24... Pinion, 25... Roller, θ... Angular displacement amount, X...Resistance comparison value.

Claims (1)

[Scope of Claims] 1. A position detection device on either one of a movable body such as an operating arm of a robot, a slider of a crane, a traveling cart of a hoist, a moving vehicle body of an automatic transport, or a stationary body corresponding to this movable body, and a position detection device on the other side. A position setting device is attached to the position adjusting device so that the position can be freely adjusted so as to correspond to a desired stop position, and the position detecting device includes a rotary variable resistor, a rotatable actuator connected to the resistor, and a rotatable actuator connected to the resistor. and an elastic body that biases the actuator to a predetermined position. An operating rod is provided, and when the actuator and the actuator come into contact with each other and the actuator rotates, the output of the drive section of the movable body is controlled, and the speed of the movable body is gradually increased or decreased. A traveling position setting mechanism for a conveyor machine, which is characterized by: 2 A position detecting device is attached to one of a movable body of various work machines or a stationary body corresponding to this movable body, and a position setting device is attached to the other so that the position can be freely adjusted so as to correspond to a desired stop position, and the above-mentioned The position detection device includes a rotary variable resistor, a rotatable actuator linked to the resistor, and an elastic body that biases the actuator to a predetermined position. , an operating rod is provided at a position that comes into contact with an actuator of the position detecting device when the device and the position detecting device move relative to each other, and the movable body is attached to a stationary body. When approaching the device, the position detecting device is actuated by the actuator provided thereon contacting and rotating the protruding operating rod of the position setting device, and detecting the position between the movable body and the target stop position. A traveling position of a conveying machine, characterized in that the relative positional displacement amount of the moving body is detected and the output of a drive unit of the movable body is controlled, and the speed of the movable body is gradually increased or decreased so that the speed of the movable body reaches the target stop position. Setting mechanism. 3 A position detecting device is attached to one of a movable body of various working machines or a stationary body corresponding to this movable body, and a position setting device is attached to the other so that the position can be freely adjusted so as to correspond to a desired stop position, and the above-mentioned The position detection device includes a rotary variable resistor, a rotatable actuator linked to the resistor, and an elastic body that biases the actuator to a predetermined position. , an operating rod that appears and retracts at a position where it comes into contact with an actuator of the position detecting device when the device and the position detecting device move relative to each other, and the movable body is attached to a stationary body. When moving away from the stopped position corresponding to the position detecting device, the position detecting device causes the actuator, which is in a rotating state in contact with the actuating rod of the position setting device, to move to the initial predetermined position due to the embedding of the actuating rod. It is activated by rotating the movable body back to the starting position, detects the amount of relative positional displacement between the movable body and the starting position, controls the output of the drive section of the movable body, and gradually increases the speed of the movable body from the starting position. A traveling position setting mechanism for a conveyor, characterized by separating the conveyor.