JPH0690001B2 - Position detection device for moving body - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [Industrial application] The present invention relates to a position detecting device such as a moving robot that performs a linear motion, for example, a cleaning robot.

[Conventional technology]

A conventional position detecting device is shown in FIG. As is clear from the figure, the moving body 2 connected to the wire 5 is moved by the action of the drive pulley 4 along the support column 3 fixed between the upper and lower plates 7 and 1. When the moving body 2 moves, the limit switch 12 arranged at a predetermined interval is turned on and off, and the position of the moving body 2 is detected by this.

[Problems to be solved by the invention]

However, since the conventional position detection device requires a limit switch at every predetermined interval, a large number of limit switches are required and a high cost is required when the movement section is long or accurate position information is desired. If position detection is performed in the vertical direction, there is a risk in the maintenance work. In addition, particularly accurate position detection was not possible with conventional devices.

[Means for Solving Problems] The present invention is a position detecting device for a moving body, which has been proposed to solve the above-mentioned conventional drawbacks, and is provided along the moving direction of the moving body and rotatably supported. The position of the moving body based on the number of rotations of the twisting rod, which has a twisting rod and a guide that is provided on the moving body and regulates two opposing twisting surfaces of the twisting rod, and is driven to rotate by the movement of the moving body. In the device for detecting the above, the twist degree of the twist bar is partially changed in the axial direction of the twist bar.

[Action]

According to the present invention having the above-described configuration, by detecting the rotation angle of the torsion bar that rotates with the movement of the moving body, the moving body can be detected based on the correspondence between the rotation angle and the moving distance. The position will be measured. further,
Where accurate position detection is required, increasing the degree of twist of the torsion bar enables particularly accurate position detection.

〔Example〕

The present invention will be described below with reference to the drawings. FIG. 1 is an overall view of a position detecting device for a moving body according to an embodiment of the present invention,
FIG. 2 is a detailed view of the guide portion, and the same members as those in FIG. As is clear from the figure,
A guide 11 is attached to the moving body 2 that moves along the support column 3 to restrict two opposite surfaces of the torsion bar 6 having a square cross section. The torsion bar 6 is rotatably held on the upper plate 7 and the lower plate 1 via bearings 8, and a rotation angle detector 9 such as an encoder is attached to the end of the lower plate 1 via a coupling 10. Has been.

Since the present invention is configured as described above, when the moving body 2 moves, the torsion bar 6 is rotated. However, when the correspondence between the rotation angle of the torsion bar 6 and the moving distance is obtained in advance, the rotation is The position of the moving body 2 is measured from the value detected by the angle detector 9. The position of the moving body 2 can be controlled by inputting the detected value of the rotation angle detector 9 to a control means such as a sequencer and giving the output to the driving means of the moving body 2 including the drive pulley 4 and the like. Needless to say, it becomes possible.

It should be noted that the twisting degree of the torsion bar 6 (which determines the correspondence between the rotation angle and the moving distance) is not limited, and when the moving section of the moving body 2 is long, the rotation speed of the twisting bar 6 (movement (In the section) may be set to be large, and particularly when there is a place where an accurate position is desired to be grasped, the twisting degree may be set to be large only in the vicinity thereof, depending on the individual moving body to which the present invention is applied. It is decided by.

〔The invention's effect〕

As described above in detail, according to the present invention, the position of the moving body can be easily and accurately grasped by the rotation angle of the torsion bar according to the twisting condition, and the cost reduction and maintenance work can be performed. It is extremely effective in practice because the safety of is secured.

[Brief description of drawings]

FIG. 1 is an overall view of a moving body position detecting device according to an embodiment of the present invention, FIG. 2 is a detailed view of a guide portion, and FIG. 3 is an overall view of a conventional moving body position detecting device. 2 ... Moving object, 6 ... Torsion rod, 9 ... Rotation angle detector, 11
……guide.

Claims (1)

[Claims] Claim: What is claimed is: 1. A moving body, comprising: a twist rod provided along a moving direction of a moving body and rotatably supported; In a device for detecting the position of a moving body based on the number of rotations of the torsion bar that is rotationally driven by the movement of the body, the degree of twist of the torsion bar partially changes in the axial direction of the torsion bar. A moving body position detecting device.