JPH0761558A - Positioning device for substance to be carried - Google Patents

Abstract

PURPOSE:To provide a positioning device for carried substance which is constituted to have general purpose and reduce the occurrence of a risk to a worker even when it is used in a work place where it is located together with a worker. CONSTITUTION:A carried substance positioning device comprises a drive motor 21 to convey a substance 11 to be carried; a sensor 23 to detect a position; and a control means 26 which is operated such that the drive force of the motor 21 is not controlled by a time required for arrival at a given position, the drive force of the motor 21 is brought into an initial set state during a time in which the substance 11 to be carried is moved from an initial position to a given position, and the motor 21 is driven without being controlled through limitation of a time.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a conveyed object positioning device. More specifically, the present invention relates to a transported object positioning device that moves a transported object to a predetermined position and stops it.

[0002]

2. Description of the Related Art Conventionally, a position detection device (conventional example 1) using a positioning dog or a cam mechanism is known as a transported object positioning device that moves a transported object to a predetermined position and stops it. In this positioning device, a conveyed object such as a welding gun is conveyed along a motion guide in which a positioning dog is installed at each stop position, and a position detection limit switch conveyed with the conveyed object detects the positioning dog. The drive motor is stopped every time.

As another conventional example, a positioning device of a so-called velocity feedback system is known. Use a motor of 100w or more that can control torque change,
There is known a conveyed object positioning device including a control unit that controls a motor that drives a conveyed object at 200 mm / sec or more at a target position and a time of seconds or less (conventional example 2). In the second conventional example, the position signal of the conveyed object is always transmitted to the control means, the arrival target value is constantly calculated, and the torque of the motor is changed according to the target position and time. Then, normally, acceleration is performed until the constant speed operation is performed, and then the vehicle is decelerated and stopped after the constant speed operation.

[0004]

However, the conventional example 1 has a problem of lacking versatility.

In the conventional example 2, for example, when interference occurs during constant speed operation and the motor stops, the control means recognizes that the change of the position signal is delayed, and the motor calculated from the target arrival time and the position to recover the delay. Instantly increase the driving force.
Then, due to the rapid increase in the torque, there is a problem that the interfering object damages the operator in the case of the operator.

[0006]

Means for Solving the Problems

The drive motor for conveying the conveyed object and the driving force of the motor are set to the initial setting state until the conveyed object moves from the initial movement position to the predetermined position, and the motor is substantially controlled without time limitation. A conveyed object positioning device, comprising:

[0008] is provided.

[0009]

During normal traveling, the motor is accelerated by the control means to the constant-speed traveling speed that has been initially set, and when the vehicle reaches a position after a constant distance is backcalculated from the predetermined position after constant-speed operation, the transferred object is decelerated from the initial position. It is transported to a predetermined position.

When the conveyance of the conveyed object is stopped by the interfering object, the conveyed object is driven again by driving the motor after removing the interfering object. Since the motor is driven without changing the torque, the motor is accelerated similarly to the initial acceleration and then decelerated to reach the predetermined position.

[0011]

Embodiment An explanation will be given with reference to FIG. 1 showing a schematic view of an embodiment of the present invention, FIG. 2 showing an enlarged view of the same portion, and FIG. 3 showing the running state diagram.

Reference numeral 11 is an object to be conveyed. In this embodiment, the transported object 11 is a welding gun of 35 kg or less. 1
Reference numerals 2 and 13 are guide rails, the guide rail 12 constitutes an X axis and the guide rail 13 constitutes a Y axis, and the guide rail 13 is slidably mounted on the guide rail 12. Rack gears are provided on the side surfaces of the guard rails 12 and 13. The transported object 11 is attached to the tip of the guide rail 13.

Reference numeral 21 is a motor. The motor 21 has 8
It consists of a reversible type AC motor of 0 kg or less, and is attached to the guide rails 12 and 13, respectively. A reducer 22 is attached to the lower part of the motor 21 to reduce the output of the motor. Reference numeral 23 is an encoder sensor. 24 and 25 are pinion gears,
The speed reducer 22 is attached to the rotary shaft of the encoder sensor. The pinion gears 24 and 25 of the motor 21 attached to the guide rail 13 are attached in contact with the guide rail 13 side to form a rack and pinion.
The pinion gears 24 and 25 of the motor 21 attached to the guide rail 12 are attached in contact with the guide rail 12 to form a rack and pinion.

Reference numeral 26 is a control means, which comprises an arithmetic unit. The control means 26 is connected to the motor 21 and the encoder sensor 23. The encoder sensor 23 calculates the number of rotations of the pinion gear 25 and transmits it to the control means 26.
27 is a display unit and 28 is an operation unit. The control means 26
The motor is driven until the transported object 11 moves from the initial movement position to a predetermined position without changing the torque of the motor 21.

Next, the operation of the embodiment will be described. The normal operation of the motor 21 that conveys the object to be conveyed 11 is controlled by the control means 26 as shown by the solid line in FIG.
That is, in the acceleration control step a, the vehicle is accelerated from the initial position to the initially set traveling speed (150 mm / sec in the embodiment). However, the final position of the acceleration control step a is indefinite because torque control is not performed in this embodiment. Next, the vehicle runs at a constant speed in the constant speed control step b. The deceleration control step c starts from a position where a constant distance is calculated back from the predetermined position, and the vehicle is decelerated to the initially set low speed (10 mm / sec in the embodiment). In the low-speed traveling step d, the vehicle travels at a low speed, the motor driving is stopped at a predetermined stop position e, and the brake braking is applied. Keep brakes applied during the stop work to secure the stop position. In addition, the traveling distance is determined by the encoder / sensor 2
3 is detected and is obtained by calculation in the control means 26. If the load is large or the target position is close, 150 mm /
Before the time reaches sec, the position becomes a position obtained by back-calculating a certain distance from the predetermined position (target position), and the deceleration control step c is started.

When the conveyance of the conveyed object 11 is stopped by coming into contact with an interfering object such as a worker, as shown by the alternate long and short dash line in FIG. The object 11 is driven again. Since the motor is a motor of 80 w or less, when the transferred object 11 is an obstacle for the worker's work, even if the transferred object 11 is stopped or retracted, the worker is not injured. Since the motor is driven without changing the torque, the motor is accelerated similarly to the initial acceleration, runs at a constant speed, and is decelerated to reach a predetermined position.

In the conventional example, the speed of the motor is controlled in units of seconds. In this embodiment, however, the work is canceled only when the work is not completed in minutes, the time is not substantially limited, and the distance is limited. Control.

Further, multiple points can be stored in the storage circuit of the control means at a predetermined position, and it is easy to change or add / delete them.

[0019]

[Effects of the Invention] Therefore, according to the present invention, it has general versatility, and there is no danger to the worker even if it is used in a work place that exists together with the worker.

[Brief description of drawings]

FIG. 1 is a schematic diagram of an embodiment of the present invention.

FIG. 2 is a partially enlarged view of an embodiment of the present invention.

FIG. 3 is a running state diagram of an embodiment of the present invention.

[Explanation of symbols]

 11 Transported object 21 Motor 26 Control means

Claims (1)

[Claims] 1. A drive motor for conveying an object to be conveyed,
Positioning of the conveyed object characterized by comprising a control means for setting the motor drive force to the initial setting state until the conveyed object moves from the initial movement position to the predetermined position and driving the motor without substantially controlling by the time limit. apparatus.