JPH02250784A - Two-axis conveying device - Google Patents

Abstract

PURPOSE:To eliminate the thickness of stacking by two-axis rectangular crossing by stretching a wire having a controlled member in parallel with one reference axis, running this wire in the direction of one axis, and moving it in the direction perpendicular to one axis. CONSTITUTION:Speeds Vx and Vr proportional to shift quantities Lx and Ly of the X-axis and Y-axis of a controlled member 10 are calculated, a wire 9 is run at the speed Vr between a pair of rollers 1 and 3, for example, and the wire 9 is moved in the direction perpendicular to one axis at the speed Vx together with a pair of rollers 1 and 3. If the movement is stopped when the shift quantities reach Lx and Ly respectively, the controlled member 10 reaches a target.

Description

Detailed Description of the Invention [Field of Industrial Application] The present invention combines movement in the X-axis direction and movement in the Y-axis direction to move an object through an arbitrary path on a plane. The present invention relates to a two-axis transport device for moving to a position, and particularly relates to a two-axis transport device that improves installation ease by providing the Y-axis and the Y-axis in the same plane.

[Conventional technology]

Conventional two-axis transport devices use two l-axis peripheral transport devices that transport objects on one straight line, and these are arranged orthogonally, one for X-axis movement and the other for Y-axis movement. It is commonly used for transportation. Specifically, the X-axis moving transport device with the object to be moved is fixed to a rectangular fixed plate,
This is attached to a transport device for X-axis movement. When moving the moving object in the X-axis direction, it is carried only by the X-axis moving conveyance device, and when moving it in the Y-axis direction, the fixed plate is moved by the X-axis moving conveyance device, and the X-axis moving conveyance device and Convey moving objects.

In addition, for movements that combine movement in the X-axis direction and movement in the Y-axis direction, such as diagonal movement or circular movement, we can move the X-axis while moving the fixed plate using a 7-wheel transport device. This is achieved by moving the object using a transport device. In this way, the Y axis and the plane defined by the Y axis,
In the above, an example of using a two-axis transfer device that transports a moving object to an arbitrary position through an arbitrary path is to attach a robot device equipped with an arm or the like as the moving object, and use the arm to move the moving object. A two-axis robot control device that grasps parts, etc. and transports them to a predetermined position using a two-axis transfer device, and a marker such as a pen is attached as a moving object.
The markers are moved by a two-axis conveying device and are used for drafting or drawing blocks for patterns.

[Problem to be solved by the invention]

However, the conventional two-axis conveying device has a configuration in which individual single-axis conveying devices are stacked orthogonally in two stages, and therefore there is a disadvantage that a thickness is created due to the overlapping. Furthermore, since the maximum movable length in the Y-axis direction is determined by the fixed plate, it is necessary to manufacture and install a fixed plate according to the location or range of movement. There is an inconvenience that installation sometimes requires preparation such as adjusting the dimensions of the fixing plate.

An object of the present invention is to provide a two-axis conveying device that does not allow for thick overlapping due to two axes orthogonal to each other.

Another object of the present invention is to provide a two-axis conveying device that does not require preparation of a fixing plate or the like when newly installed, and can be easily expanded.

[Means to solve the problem]

In order to achieve the above-mentioned object, the present invention stretches a wire, a chain, a timing belt, etc. having a controlled member parallel to one reference axis, and connects this wire, etc. to the one axis. The object of the present invention is to provide a two-axis conveying device that displaces the controlled member to arbitrary coordinates by moving the controlled member in the direction of , and in the direction of another axis perpendicular to the one axis.

That is, the two-axis conveying device of the present invention includes the following means.

(1) Stretching means 1 having a controlled member parallel to the Y axis or one axis of the Y axis
Stretch the book wire. For example, 1 at 2 points on the 1 axis.
A pair of rollers is arranged, the controlled member is positioned between the rollers, and the one wire is stretched. Furthermore, a chain or a timing belt may be used instead of the wire.

(2) Driving means for causing the wire to run between the pair of rollers, and at the same time,
The wire is moved together with the pair of rollers in a direction perpendicular to the one axis.

(3) Control means drives the drive means to make the wire travel in order to displace the controlled member from the current position to the target position, and causes the wire to run orthogonally to the l-axis together with the pair of rollers. move in the direction.

[Effect]

Y-axis and Y-axis from the current position and target position of the controlled member
Calculate the axis movement Lx and LV.

The speeds 8 and Vv proportional to the calculation results LX and LV are calculated, and for example, the wire is run between the pair of rollers at a speed 8, and the wire is moved together with the pair of rollers at a speed 8. to move it in a direction perpendicular to the first axis. When the movement is stopped when the amount of movement reaches Lx and LV, respectively, the controlled member has reached the target.

〔Example〕

Examples of the present invention will be described in detail below.

FIG. 1 shows an embodiment of the present invention, in which a robot arm is attached as an object to be moved by a two-axis transfer device to form a two-axis robot control device. They are placed in the four corners of a rectangle, and are placed on the ceiling, walls, and floor.

Drive roller 1° and drive roller 2 fixed to a surface such as a work table. Free roller 3. and a motor 5.6 that rotationally drives the free rollers 4, drive rollers 1 and 2, and a Y disposed between the drive rollers 1 and 2 and the free rollers 3 and 4.
7. A moving plate that defines a straight line parallel to the axis and specifies the X coordinate.
8, a wire 9 stretched with a predetermined tension without slack between drive rollers 1, 2, free rollers 3, 4, and movable plates 7, 8, and a robot arm attached to a predetermined position of the wire 9. controlling the rotational direction and speed of the drive rollers 1 and 2 via the unit 10 (moving object) and the motors 5 and 6;
a control unit 11 that controls the transportation of the robot arm unit 10;
It consists of a control section 12 that controls the operation of the robot arm section 10. Pinch rollers al+a are provided on the movable plates 7 and 8, respectively.
l+ Reference roller b and tension roller C are attached. The aforementioned robot arm part 10 is fixed to the wire 9 between the reference rollers b, b, and specifies the X coordinate between the reference rollers b, b, and the reference rollers b, b together with the moving plate 7.8 Move in the axial direction to determine the X coordinate. In addition, the pinch rollers al + a Z + move the moving plates 7 and 8 in the X-axis direction, and the tension rollers c and c function to apply a predetermined tension to the wire 9 even when the moving plates 7 and 8 move. .

The present invention will be explained in detail below. When drive roller 1 and drive roller 2 are rotated clockwise at the same rotational speed, only robot arm section 10 moves in the Y-axis direction (-Y direction) while movable plate 7.8 remains stationary. Similarly, when driving rollers 1 and 2 are rotated counterclockwise at the same speed, the moving plate 7.8 remains stationary and the robot arm 10
moves in the Y-axis direction (+Y force direction. Also, when the drive roller 1 is rotated clockwise and the drive roller 2 is rotated counterclockwise at the same rotation speed, the movable plates 7 and 8 move in the X-axis direction (-X force direction).
The robot arm section 10 moves in the X-axis direction (-X direction) without changing the X coordinate. The above relationship is shown in the table.

Although the above table is an example of a method of controlling the drive rollers 1.2, more complex control can be achieved by controlling the rotational speeds of the drive rollers 1 and 2 at different speeds.

For example, when the drive roller 1 is rotated at a rotation speed V and the drive roller 2 is rotated at a rotation speed V2 with the counterclockwise direction being positive, the position of the moving object 13 will be the following relationship from the original position in the orthogonal coordinate system XY. It moves by the values of ΔX and Δy determined by the formula. At this time, the traveling distance of the wire 9 based on the rotational speed V l + vZ is assumed to be tz,,i.

In other words, the length of the wire 9 between the drive roller 1 - the reference roller b, b - the drive roller 2 and the length of the wire 9 between the drive roller 1 - the free roller 3 - the tension roller c, c - the free roller 4 - the drive roller 2. The position of the robot arm section 10 can be controlled by the ratio of the lengths of the wires 9.

(]l From (2) 2, from the relationship of equation (3), the phase of drive rollers 1 and 2 is set to 90°.
By shifting and moving sinusoidally, a circular orbit can be easily created.

Next, the coordinates of the robot arm section 10 (x l + y +
) to (xz, yz) will be explained as an example.

A moving member (not shown) is gripped by the robot arm lO under the control of the control unit 12 . When the moving member is gripped,
A signal indicating completion of the gripping operation is output from the control unit 12 to the control unit 11. When the control unit 11 receives the signal, it controls the motors 5 and 6 based on the preset movement amount (ΔX, Δy).
is rotated at a predetermined rotational speed (equivalent to vl+VZ of drive roller 1.2). The robot arm section 10 gripping the moving member by the above rotation moves from (x+, y+) to (XZ
, )' to move.

When the movement of the robot arm section 10 is completed, the control section 11
outputs a signal indicating the completion of the moving operation to the control section 12.

When the control unit 12 receives the signal, the robot arm unit 10
control and release the moving member to complete the conveyance.

In the embodiment, the robot arm section 10 is attached as the object to be moved, but it goes without saying that the present invention can also be applied to a plotter device by attaching a pen or the like. In addition, when expanding the two-axis conveying device of the present invention (increasing the conveying range), the drive roller 1.2 and free roller 3.
4 is fixed and adjustment can be made simply by changing the length of the wire 9, making installation easy.

FIG. 2 shows a second embodiment of the invention. Portions common to the first embodiment are indicated by common reference numerals, and therefore redundant explanations will be omitted. In this embodiment, reference rollers b, b are rotatably fixed on a movable plate 7, and a movable plate 8 with a free roller 3.4 is rotated by a spring 14 fixed to a fixed system 13 to being pulled in the direction.

In this embodiment, as in the first embodiment, the robot arm section 10 can be moved to a predetermined position by driving the drive rollers 1 and 2 with the motors 5 and 6.

In the second embodiment, the loop of the wire 9 is eliminated, the reference rollers b and b are rollers that can be sent out and taken up, the wire 9 is run in the Y-axis direction between them, and the movable plate 7 is driven by a motor. The robot arm section IO can also be moved to a predetermined position by moving it in the X-axis direction by, for example, the robot arm section IO.

Note that the number of rollers used in each of the above embodiments is not limited to the number in the embodiments. Furthermore, a chain, a timing belt, or the like may be used instead of the wire.

〔Effect of the invention〕

As explained above, according to the two-axis conveying device of the present invention,
A wire having a controlled member is stretched parallel to one axis serving as a reference, and this wire is run in the direction of the l axis,
In addition, since the wires are moved in a direction perpendicular to the one axis, the drawbacks of using two wires described above can be overcome. Furthermore, since the installation width (transportable range) can be adjusted simply by changing the length of the wire, new installations sometimes require no preparation, and expansion is easy.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram showing an embodiment of the present invention. FIG. 2 is an explanatory diagram showing another embodiment. Explanation of symbols 1.2-1.--Drive roller 3.4-.--Free rollers 5, 6--Motor 7.8.--1-- -・Moving plate 9-・-111-・-Wire IO-・・・・・・−
1--Robot arm section 11...--Control section 13--Fixed system--Control section 1, t--------- Spring

Claims (2)

[Claims] (1) In a two-axis transport device that moves a moving object to an arbitrary position along an arbitrary path on a plane by combining movement in the X-axis direction and movement in the Y-axis direction, the moving object a single wire fixed to an object, or
Chain, timing belt, etc. on the X-axis or Y-axis
a stretching means for stretching the wire parallel to the axis; a driving means for causing the one wire, etc. to run parallel to the one axis and moving in a direction perpendicular to the one axis while maintaining the parallelism; Control to calculate the amount of displacement in the X-axis direction and the Y-axis direction from the current position and target position of the moving object, and drive the driving means according to the displacement amount to make the wire etc. travel and move. A two-axis conveying device characterized by comprising means. (2) The tensioning means includes two driving rollers and two driven rollers arranged at the four corners of a rectangle, and two rollers movable in the X-axis direction and defining the Y-axis. a reference roller, the wire, etc. is stretched between the two driving rollers, the two driven rollers, and the two reference rollers in the same plane, and the control means The wire is configured to run between the two reference rollers by driving the two drive rollers via the drive means, and the two reference rollers are moved in the X-axis direction. 2 stated in claim 1
Conveyor for shafts.