JPS6016342A - Device for checking or calibrating load sensor in operational apparatus - Google Patents
Device for checking or calibrating load sensor in operational apparatusInfo
- Publication number
- JPS6016342A JPS6016342A JP12255483A JP12255483A JPS6016342A JP S6016342 A JPS6016342 A JP S6016342A JP 12255483 A JP12255483 A JP 12255483A JP 12255483 A JP12255483 A JP 12255483A JP S6016342 A JPS6016342 A JP S6016342A
- Authority
- JP
- Japan
- Prior art keywords
- load sensor
- head
- checking
- output
- members
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 210000000078 claw Anatomy 0.000 claims abstract description 21
- 238000006243 chemical reaction Methods 0.000 claims abstract description 9
- 238000006073 displacement reaction Methods 0.000 claims description 5
- 238000010586 diagram Methods 0.000 description 5
- 238000000034 method Methods 0.000 description 3
- 238000001514 detection method Methods 0.000 description 2
- OIQXFRANQVWXJF-LIQNAMIISA-N (1s,2z,4r)-2-benzylidene-4,7,7-trimethylbicyclo[2.2.1]heptan-3-one Chemical compound O=C([C@]1(C)CC[C@H]2C1(C)C)\C2=C/C1=CC=CC=C1 OIQXFRANQVWXJF-LIQNAMIISA-N 0.000 description 1
- OVSKIKFHRZPJSS-UHFFFAOYSA-N 2,4-D Chemical compound OC(=O)COC1=CC=C(Cl)C=C1Cl OVSKIKFHRZPJSS-UHFFFAOYSA-N 0.000 description 1
- 241000244317 Tillandsia usneoides Species 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000004065 semiconductor Substances 0.000 description 1
Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q17/00—Arrangements for observing, indicating or measuring on machine tools
- B23Q17/002—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders
- B23Q17/005—Arrangements for observing, indicating or measuring on machine tools for indicating or measuring the holding action of work or tool holders by measuring a force, a pressure or a deformation
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
- B23Q—DETAILS, COMPONENTS, OR ACCESSORIES FOR MACHINE TOOLS, e.g. ARRANGEMENTS FOR COPYING OR CONTROLLING; MACHINE TOOLS IN GENERAL CHARACTERISED BY THE CONSTRUCTION OF PARTICULAR DETAILS OR COMPONENTS; COMBINATIONS OR ASSOCIATIONS OF METAL-WORKING MACHINES, NOT DIRECTED TO A PARTICULAR RESULT
- B23Q3/00—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine
- B23Q3/16—Devices holding, supporting, or positioning work or tools, of a kind normally removable from the machine controlled in conjunction with the operation of the tool
Landscapes
- Engineering & Computer Science (AREA)
- Mechanical Engineering (AREA)
- Machine Tool Sensing Apparatuses (AREA)
- Manipulator (AREA)
Abstract
Description
【発明の詳細な説明】
〈産業上の利用分野〉
本発明は、作業装置の作業ヘッドに取付けられた把持爪
等の操作部に作用する操作反力を検出する荷重センサの
チェックもしくは較正を行う装置に関するものである。[Detailed Description of the Invention] <Industrial Application Field> The present invention checks or calibrates a load sensor that detects an operation reaction force acting on an operation part such as a gripping claw attached to a work head of a work device. It is related to the device.
〈従来技術〉
把持爪を備えた作業装置においては、その把持爪に作用
する反力を検出するための荷重センサを設け、この荷重
センサの出力によって物品の把持確認や把持力の制御等
を行うようにしており、荷重センサの特性が変化したり
、故障したりすると、把持確認等を正確に行えなくなる
。<Prior art> In a working device equipped with gripping claws, a load sensor is provided to detect the reaction force acting on the gripping claws, and the output of this load sensor is used to confirm the gripping of an article, control the gripping force, etc. Therefore, if the characteristics of the load sensor change or break down, it will no longer be possible to accurately check the grip.
しかしながら、従来の作業装置においては、このような
荷重センサの特性変化を自動的に検出することができず
、荷重センサの特性変化によって不正確な作業が行われ
る危険があった。However, in conventional work devices, such changes in the characteristics of the load sensor cannot be automatically detected, and there is a risk that inaccurate work may be performed due to changes in the characteristics of the load sensor.
〈発明の目的〉
そごで、本発明は、マスクスプリング等の基準力発生要
素によって発生される力を基準として荷重センザのチェ
ックもしくは較正を自動的に行えるようにすることを目
的とするものである。<Objective of the Invention> Therefore, it is an object of the present invention to automatically check or calibrate a load sensor based on the force generated by a reference force generating element such as a mask spring. be.
〈発明の構成〉
第１図は本発明を明示するための全体構成図である。作
業ヘッド１１の相対移動によって把持爪１２が係合可能
な係合部材６１ａ、６１ｂと、この係合部材６１ａ、６
１ｂに連結され、係合部材６１ａ、６１ｂに基準押′圧
力をイ」与する基準力発生要素であるマスクスプリング
６３とからなるマスタユニット５０が設げられ、把持爪
１２が係合部材６１ａ、６１ｂと保合する状態に位置決
めされた後、変位イ」与手段１が有効にされ、サーボモ
ータＳ Ｍ ＬＪの回転により把持爪１２が原位置から
一定量移動されて、マスクスプリング６３が一定量（ず
εまされる。<Configuration of the Invention> FIG. 1 is an overall configuration diagram for clearly explaining the present invention. Engagement members 61a, 61b that can be engaged with gripping claws 12 by relative movement of work head 11, and engagement members 61a, 6.
A master unit 50 is provided, which is connected to a mask spring 63 and is a reference force generating element that applies a reference pressing force to the engagement members 61a and 61b. 61b, the displacement applying means 1 is activated, and the gripping claws 12 are moved by a certain amount from the original position by the rotation of the servo motor S M LJ, and the mask spring 63 is moved by a certain amount. (I will be disappointed.
チェック較正手段２は把持爪１２を一定量閉じた後のイ
奇重センザ３１の出力を検出して一定の範囲から外れて
いないか否かを判別し、外れている場合には例えば界雷
信号ΔＢＮを出力し、外れていない場合には、検出した
出力と基準値との偏差を演算して補正値として記憶する
較正処理を行う。The check calibration means 2 detects the output of the odd-weight sensor 31 after closing the gripping claw 12 by a certain amount, and determines whether it is out of a certain range. ΔBN is output, and if it is not out of range, a calibration process is performed in which the deviation between the detected output and the reference value is calculated and stored as a correction value.
〈実施例〉 以下本発明の実施例を図面に基ついて説明する。<Example> Embodiments of the present invention will be described below with reference to the drawings.
第２図において、１０は、多種類の作業ヘッド１１を選
択的に装着可能な支持ヘットで、この支持ヘッドｌＯば
、一対のパイロソトハ−１３ａ、１３ｂによって横送り
台１４に対して上下動可能に案内支持され、送りねじ１
５を介してサーボモータ１６によって移動されるように
なっている。また、ヘッド１８上を紙面と垂直な方向に
移動可能に案内され、サーボモータ１９によって移動さ
れる作業台２０を跨いでクロスビーム２１が配設され、
前記横送り台１４はこのりし１スヒーム２１上を移動可
能に案内され、クロスビーム２１の端部に取（＝Ｊ番：
Ｉられたサーボモータ２２によって位置決め可能となっ
ている。また、クロスビーム２１の左端には、複数の作
業ヘッド１１を貯蔵する作業ヘッド貯蔵マガジン２３お
よび交換アームを備是たヘッド交換装置２４が設けられ
ており、横送り台１４を左端まで移動させた状態でハン
ド貯蔵マガジン２３内の作業ヘッド１１と支持ヘッド１
０上の作業へラド１１とを交換するようになっている。In FIG. 2, reference numeral 10 denotes a support head on which various types of work heads 11 can be selectively mounted. Guided and supported, feed screw 1
5 and is moved by a servo motor 16. Further, a cross beam 21 is disposed across a workbench 20 that is guided so as to be movable on the head 18 in a direction perpendicular to the plane of the drawing and is moved by a servo motor 19.
The cross beam 14 is movably guided on the beam 21, and is attached to the end of the cross beam 21 (=No. J:
Positioning is possible by a servo motor 22 that is rotated. Further, at the left end of the cross beam 21, a work head storage magazine 23 for storing a plurality of work heads 11 and a head exchange device 24 equipped with an exchange arm are provided. Working head 11 and supporting head 1 in hand storage magazine 23 in condition
It is designed to replace the RAD 11 to work on the 0.
前記作業ヘットＩＩの内、物品把持移載用の作業ヘッド
は、第３図に示すように、支持へラドｌＯの下端に穿設
された保持穴１０ａと嵌合するシャンク部１１ ａを有
し、このシャンク部１−１ａの先端に一体的に形成され
た爪案内部１１ｂには、両端部に互いに逆方向の雄ねじ
を刻設したねじ軸２５が中央部で支承されてシャンク部
１１ａの軸線と直交する方向に延在し、このねし軸２５
の両端ねじ部に一対の把持爪１２が螺合している。また
、ソ、トンク部１１ａの軸心には上端部に係合駒２６を
有する駆動軸２７が軸承され、この駆動軸２７とねし軸
２５は一対のかさ歯車２８ａ、２８゛ ｂによって連結
されている。Of the work heads II, the work head for gripping and transferring articles has a shank portion 11a that fits into a holding hole 10a drilled at the lower end of the support rod IO, as shown in FIG. A threaded shaft 25 having male threads in opposite directions at both ends is supported in the center of the pawl guide part 11b integrally formed at the tip of the shank part 1-1a, so that the axis of the shank part 11a This screw shaft 25 extends in a direction perpendicular to
A pair of gripping claws 12 are screwed into threaded portions at both ends. Further, a drive shaft 27 having an engaging piece 26 at the upper end is supported on the axis of the tonk portion 11a, and the drive shaft 27 and the screw shaft 25 are connected by a pair of bevel gears 28a and 28'b. ing.
一力、支持ヘット１０の下端円筒部には作業ヘット１１
の装着状態を維持するノツチ機構３５が設りられており
、上方方形部には作業ヘッド１１の係合駒２６を回転す
る駆動機構３６が配設されている。この駆動機構３６は
、保持穴１０ａの軸線の延長線上に回転可能に取付げら
れ、ウオーム３７を介して作業へラド１０の外壁に取付
けられたサーボモータ３８によって回転されるウオーム
ホイル４０と、このウオームボイル４０の軸心を貫通し
て上下方向に延在し、スプライン係合によりウオームボ
イル４０に対して上下方向のみ移動が許容された回転軸
４１、この回転軸４１に下方に向く押圧力を付与するス
プリング４２とによって構成され、作業ヘッド１１を支
持ヘッドｌＯへ取付けた時に回転軸４１の下端に形成さ
れた係合歯が係合駒２：６の係合歯に係合する。A work head 11 is attached to the lower cylindrical part of the support head 10.
A notch mechanism 35 is provided to maintain the attached state, and a drive mechanism 36 for rotating the engagement piece 26 of the working head 11 is provided in the upper rectangular portion. This drive mechanism 36 includes a worm wheel 40 that is rotatably mounted on an extension of the axis of the holding hole 10a and rotated by a servo motor 38 that is attached to the outer wall of the rad 10 via a worm 37. A rotating shaft 41 extends vertically through the axial center of the worm boiler 40 and is allowed to move only in the vertical direction with respect to the worm boiler 40 due to spline engagement, and a downward pressing force is applied to the rotating shaft 41. When the working head 11 is attached to the support head IO, the engaging teeth formed at the lower end of the rotating shaft 41 engage with the engaging teeth of the engaging pieces 2:6.
なお、支持ヘッドｌＯの上端には回転軸４１の回転量を
検出する位置検出器４３か取付けられている。この位置
検出器４３はイックリメンタル形の位置検出器で、把持
爪１２等、作業へラド１１の操作部が一定距離変位する
度に変位方向に応じて正もしくは負のパルスを発生し、
この位置検出器４３から出力されるパルスは後述する数
値制御装置８０内の位置検出カウンタ４５に供給されて
累積加算され、作業ヘット１１の操作部の位置を検出で
きるようになっている。Note that a position detector 43 for detecting the amount of rotation of the rotation shaft 41 is attached to the upper end of the support head IO. This position detector 43 is an incremental type position detector, which generates a positive or negative pulse depending on the direction of displacement each time the gripping claw 12 or other operating part of the working rod 11 is displaced by a certain distance.
The pulses output from the position detector 43 are supplied to a position detection counter 45 in a numerical control device 80, which will be described later, and are cumulatively added, so that the position of the operating section of the work head 11 can be detected.
また、把持爪１２の一方にはその基準部に可撓部１２ａ
が形成され、ごの可撓部１２ａには、把持爪１２に作用
する操作反力を検出する半導体歪ケージ等から成る荷重
センサ３１が取付けられ、こ０舗’＋ｆ市センザ３１の
出力は、作業ヘット１１および支持ヘット１０に取付け
られたコネクタ３２゜３３を介し゛Ｃ支持ヘッド１ｏ側
へ伝達され、数値制御装置８０内のＡＤ変換回路４６の
入力に供給されるようになっている。Further, one of the gripping claws 12 has a flexible portion 12a at its reference portion.
is formed, and a load sensor 31 made of a semiconductor strain cage or the like is attached to the flexible portion 12a to detect the operation reaction force acting on the gripping claw 12, and the output of the sensor 31 is as follows. The signal is transmitted to the C support head 1o side via the connectors 32 and 33 attached to the work head 11 and the support head 10, and is supplied to the input of the AD conversion circuit 46 in the numerical control device 80.
さらに、前記作業台２０の第２図において左側には、支
持ヘッド１０に装着される作業ヘッドｌＩのそれぞれに
対応したマスクリングユニット５０２〜５０ｎを備えた
マスクリング装置５１が配設されている。ずなわち、ク
ロスビーム２１を支持するコラム２１ａに固着された支
持本体５２に、水平面内で回転割出し可能な回転円板５
３を支承し、この回転円板５３の外縁部にマスクリング
ユニット５０ａ〜５０ｎが等開度間隔で取付けられてい
る。そして、支持本体５２の内部には、回転円板５３の
回転割出しによってマスクリングユニット５０２〜５０
ｎの内の１つを作業領域内の割出位置に位置決めする割
出機構が内蔵されている。Furthermore, on the left side of the workbench 20 in FIG. 2, a mask ring device 51 is disposed, which includes mask ring units 502 to 50n corresponding to each of the work heads II attached to the support head 10. That is, a rotating disk 5 that can be rotated and indexed in a horizontal plane is attached to a support body 52 fixed to a column 21a that supports the cross beam 21.
3, and mask ring units 50a to 50n are attached to the outer edge of this rotating disk 53 at equal opening intervals. Then, inside the support body 52, mask ring units 502 to 50 are arranged by rotationally indexing the rotary disk 53.
An indexing mechanism is built in to position one of n to an indexed position within the work area.
マスクスングユニノ）５０ａ〜５０ｎは、物品把持、ね
じ締め等、作業の種類に応じ“ζ異なる形式になっζお
り、第４図に示されているように、把持用のマスクリン
グユニット５０ａは、作業ヘソｌ” １１の把持爪１２
か係合可能な係合部６１ａ。The mask ring units 50a to 50n have different formats depending on the type of work such as gripping an article, tightening screws, etc. As shown in FIG. 4, the mask ring unit 50a for gripping is , the gripping claw 12 of the working navel l” 11
or an engaging portion 61a that can be engaged.
６１ｂを形成した一対の可動体６２．６２をユニット基
体６０に移動可能に案内支持し、この一対の可動体６２
．６２間にマスクスプリング６３が配設されている。A pair of movable bodies 62 and 62 formed with 61b are movably guided and supported on the unit base 60, and the pair of movable bodies 62
．． A mask spring 63 is disposed between the springs 62 and 62 .
また、ねじ締め作業用のマスクリングユニット５０ ｒ
＋は、ねじ締め作業用の作業ヘッド１１のねじ締めソケ
ットと係合可能な保合部７１を備えた回転軸７２をユニ
ット基体７０に軸承し、この回転軸７２に形成された歯
７２ａと噛合するラック７４とユニット基体に固着のキ
ャップ７５との間にマスクスプリング７３が配設されて
いる。In addition, a mask ring unit 50r for screw tightening work is also included.
+ indicates that a rotating shaft 72 equipped with a retaining portion 71 that can be engaged with a screw tightening socket of a work head 11 for screw tightening work is supported on a unit base 70, and meshes with teeth 72a formed on this rotating shaft 72. A mask spring 73 is disposed between a rack 74 and a cap 75 fixed to the unit base.
次に制御回路について説明すると、数値制御装置８０内
の中央処理装置８１はマイクロプロセッサによって構成
され、この中央処理装置８１には、メＢす８２、データ
入力装置８３、インタフェイス８４１，８４ｂが接続さ
れ、インクフェイス８４ａには、ザーポモータ１９，１
６，３８．２２をそれぞれ駆動するドライブユニットＤ
ＵＹ、ＤＵＺ、ＤＬＪＬＪ、１）ＵＸが接続され、イン
クフェイス８４ｂには位置検出カウンタ４５とＡＤ変換
り路４６の出力とが接続されている。Next, to explain the control circuit, the central processing unit 81 in the numerical control device 80 is constituted by a microprocessor, and the central processing unit 81 is connected to a computer 82, a data input device 83, and interfaces 841, 84b. The ink face 84a has zarpo motors 19,1
Drive unit D that drives 6, 38, and 22, respectively.
UY, DUZ, DLJLJ, 1) UX are connected, and the position detection counter 45 and the output of the AD conversion path 46 are connected to the ink face 84b.
前記メモリ８２には、各種組付作業を行うだめの数値制
御プロゲラＪ、を記憶する数値制御デークエリ−ＮＣＤ
八が設りられ、作業する物品の種類に応じた複数組の数
値制御プログラムが記憶されている。数値制御プし１グ
ラムのそれぞれには第５図に示すように、作業物品に適
した作業ヘッド１ −１を支持ヘッド１０に取１＝Ｊり
るためのハンド交換指令Ｈ’０１．ＭＯ６が最初のプロ
・ツクＮ０ＯＬにプログラムされており、このデータが
読出されると、現在装着されている作業ヘッド１１を作
業ヘッド貯蔵マガジン２３へ返却し、次に使用する作業
ヘッド１１を支持ヘッド１０に装着する動作が行われる
。The memory 82 includes a numerical control data query-NCD that stores a numerical control programmer J used for various assembly operations.
8 are provided, and multiple sets of numerical control programs are stored in accordance with the types of articles to be worked on. As shown in FIG. 5, each numerically controlled program includes a hand exchange command H'01.H'01. to transfer a work head 1-1 suitable for the workpiece to the support head 10. MO6 is programmed to the first program N0OL, and when this data is read, the currently installed working head 11 is returned to the working head storage magazine 23, and the next working head 11 to be used is transferred to the supporting head. 10 is performed.
そして、この後ブロックＮ００２にプログラムされてい
るＵＯＩの指令データによりマスタリング装置５１のマ
スクリングユニット５０２〜５０ ｎの内、支持ヘッド
１０に装着した作業ヘッド１１に対応するものが割出さ
れた後、ブロックＮ００３のＧＯＯＺ−１５０００のプ
ログラムにより支持ヘッド１０が下降され、作業ヘッド
１１の操作部か割出されたマスクスングユニソＩ−５０
ａ〜５０ｎの係合部と係合可能な状態に位置決めされる
。After that, one of the mask ring units 502 to 50 n of the mastering device 51 that corresponds to the working head 11 attached to the support head 10 is indexed according to the UOI command data programmed in block N002. The supporting head 10 is lowered according to the GOOZ-15000 program in block N003, and the operating section of the working head 11 is indexed to the Masksung Uniso I-50.
It is positioned so that it can engage with the engaging portions a to 50n.
さらに、これに続くブロックＮ００４にプログラムされ
ているＭ５１のプログラムが読出されると、中央処理装
置８１は第６図に示す検出器チェック処理を実行する。Furthermore, when the program M51 programmed in the subsequent block N004 is read out, the central processing unit 81 executes the detector check process shown in FIG.
すなわち、まず最初に支持ヘッドｌＯに装着された作業
ヘッド１１の操作部、この場合には把持爪１２を原位置
状態から一定量りだけ閉じるためパルスをトライブユニ
ソｌ−Ｄ Ｕ Ｕに供給しく９０）、この後、荷重セン
サ３Ｉの出力値を読込む（９１）。そし−ζ、この読込
んだ値Ｆが、使用限界範囲とされるΔし〜へＨの範囲に
あるか否かを判別しく９２）、もしこの範囲になければ
、界雷を表示しで（９３）、作業を停止する。That is, first, a pulse is supplied to the Tribe Unisol l-D U U in order to close the operation part of the working head 11 mounted on the support head lO, in this case the gripping claw 12, by a certain amount from the original position (90). After this, the output value of the load sensor 3I is read (91). Then, determine whether the read value F is within the range of Δshi~H which is the usable limit range (92), and if it is not within this range, display the limit ( 93), stop work.
一方、読込んだ値ＦかＡし〜ＡＨの範囲に入っている場
合にはその読込値Ｆ（！：基準埴ＦＯとの間の偏２．Δ
Ｆを６ｉｊ算するとともに（９４）、これを補正値とし
て記憶しく９５）、較正処理を完了するく９６）。これ
により把持力制御等を行う場合には、荷重ヒンザ３１の
出力値が記１．ロシた補正値で修正され、正確な際作力
を検出できる。On the other hand, if the read value F is within the range of A to AH, then the read value F (!: deviation 2.Δ
Calculate F by 6ij (94), store this as a correction value (95), and complete the calibration process (96). When performing gripping force control, etc., the output value of the load hinge 31 is set as described in 1. Corrected with the corrected correction value, it is possible to accurately detect the operating force.
なお、荷重センサ３１の出力ＦがＡし〜ＡＨの範囲にあ
る場合には、検出値と基準値ＦＯとの間の偏差を記１意
し、ごの偏差εによって荷重センサ３１の出力値を補正
するようにしてもよい。In addition, when the output F of the load sensor 31 is in the range of A to AH, note the deviation between the detected value and the reference value FO, and calculate the output value of the load sensor 31 according to the deviation ε. It may be corrected.
把持爪１２が係合部６１ａ、６１ｂに当接した後におヘ
ノる把持爪１２の移動量に対するマスクスプリングの撥
力の変化割合は第７図に示されるように比較的小さいた
め、チェック時の把持爪１２の位置が多少ばらついても
一定の基準力を正確に発生でき、荷重センサ３１の界雷
を高精度に判定できる。As shown in FIG. 7, the rate of change in the repulsive force of the mask spring relative to the amount of movement of the gripping claws 12 after the gripping claws 12 come into contact with the engaging portions 61a and 61b is relatively small, so the Even if the position of the gripping claw 12 varies to some extent, a constant reference force can be generated accurately, and the field lightning of the load sensor 31 can be determined with high precision.
なお、上記実施例においては作業ヘッドの操作部を一定
量移動させた後における荷重センサの出力が所定の範囲
から外れたことで特性変化を検出するようにしていたが
、荷重センサの出力値か一定値となるまで操作部を移動
させた時の操作部の位置が基（１’Ｓ位置から許容値以
上ずれていることで特性変化を検出するようにしてもよ
い。In the above embodiment, a characteristic change is detected when the output of the load sensor falls outside of a predetermined range after the operation part of the work head is moved by a certain amount. A change in characteristics may be detected if the position of the operating section deviates from the base (1'S) position by a tolerance value or more when the operating section is moved until a constant value is reached.
さらに、操作部が係合部に当接した後における操作部の
変位量と荷重センサの出力変化量との関係から荷重セン
サのゲインを検出し、この検出したゲインの大きさによ
り、荷重センサの特性変化を検出したり、ゲインの較正
を行ったりしてもよい。Furthermore, the gain of the load sensor is detected from the relationship between the amount of displacement of the operating part and the amount of change in the output of the load sensor after the operating part contacts the engagement part, and the magnitude of the detected gain determines the amount of change in the load sensor. It is also possible to detect changes in characteristics or calibrate gains.
〈発明の効果〉
以上述べたように本発明においては、操作部の相対移動
によって係合可能な係合部材と、この係合部祠に連結さ
れた基準力発生手段とから成るマスクユニットを設け、
前記操作部の相対移動により操作部を前記係合部材に当
接させて前記荷重ザンセに一定の荷重を作用させ、この
相対移動後における操作部の位置と前記荷重センサの出
力との関係から荷重セン力′の特性変化のチェックもし
くは較正を行うように構成したので、荷重センサの特性
変化のチェックをもしくは較正を自動的に行うごとか可
能となり、作業装置の信頼性を大幅に向上−ζきる利点
がある。<Effects of the Invention> As described above, in the present invention, a mask unit is provided which includes an engaging member that can be engaged by relative movement of the operating section and a reference force generating means connected to the engaging member. ,
The relative movement of the operating part brings the operating part into contact with the engagement member to apply a constant load to the load sensor, and the load is determined from the relationship between the position of the operating part and the output of the load sensor after this relative movement. Since it is configured to check or calibrate changes in the characteristics of the sensor force, it becomes possible to check or calibrate changes in the characteristics of the load sensor automatically, greatly improving the reliability of the work equipment. There are advantages.
第１図は本発明を明示するための全体構成図、第２図〜
第７図は本発明の実施例を示すもので、第２図は作業装
置の全体構成図に制御回路を示すフロック図を４３１記
した図、第３図は第２図における支持ヘット１０および
作業ヘノＦ’ １１の構成を示すｆｆ１ｉ（Ｌｔｌｉ面
図、第４図は第２図におけるマスクユニット５０ａ〜５
０ ｎの構成を示す部分拡大図、第５図は第２図におり
る数値制御テータエリアＮＣＤΔに記憶される数値制御
プログラムを示す図、第６図は第２図における数値制御
装置８０の動作を示すフローチャート、第７図は把持爪
１２の移動に対するＡＤ変換回路４６の出力の変化を示
すグラフである。
１０・・・支持ヘッド、１１・・・作業ヘット、１２・
・・把持爪、３１・・・前車センサ、５０ａ〜５０ｎ・
・・マスクユニット、６２．７２・・・係合部、６３．
７３・・・マスクスプリング、８０・・・数値制御装置
、８１・・・中央処理装置、８２・・・メモリ。
持前出願人
豊田工機株式会社Figure 1 is an overall configuration diagram for clearly demonstrating the present invention, Figures 2-
FIG. 7 shows an embodiment of the present invention, FIG. 2 is a block diagram showing the control circuit in the overall configuration diagram of the working device, and FIG. 3 shows the support head 10 and the working device in FIG. 2. ff1i (Ltli side view showing the configuration of the heno F' 11, FIG. 4 is a mask unit 50a to 50 in FIG. 2.
FIG. 5 is a diagram showing the numerical control program stored in the numerical control data area NCDΔ shown in FIG. 2. FIG. FIG. 7 is a graph showing changes in the output of the AD conversion circuit 46 with respect to movement of the gripping claws 12. 10... Support head, 11... Working head, 12.
...Gripping claw, 31...Front vehicle sensor, 50a to 50n.
. . . Mask unit, 62. 72 . . . Engaging portion, 63.
73...Mask spring, 80...Numerical controller, 81...Central processing unit, 82...Memory. Owner-owned applicant Toyota Machinery Co., Ltd.
Claims (1)
操作部に作用する操作反力を検出する荷重センサを有す
る作業装置において、前記操作部の相対移動によって保
合可能な係合部材と、この係合部月に連結された基準力
発生要素とを備えたマスクユニットを設けるとともに、
前記操作部の相対移動により前記操作部を前記係合部材
に当接させた後で前記操作部に特定の操作反力が作用す
るまで前記崩作部を相対変位させる変位付与手段と、こ
の変位付与手段による前記操作部の相対変位後において
作動し、前記操作部の位置と前記荷重センサの出力との
関係より前記荷重センサの特性変化のチｚ７りもしくは
較正を行う手段とを設けたことを特徴とする作業装置に
おける荷重センサのチェックもしくは較正装置。(11) In a working device having a load sensor that detects an operation reaction force acting on an operating section such as a gripping claw attached to a working head of the working device, an engaging member that can be secured by relative movement of the operating section , and a reference force generating element connected to the engaging portion, and
Displacement imparting means for relatively displacing the collapsing portion until a specific operation reaction force acts on the operating portion after the operating portion is brought into contact with the engaging member by relative movement of the operating portion; and means for checking or calibrating a change in the characteristics of the load sensor based on the relationship between the position of the operation section and the output of the load sensor, which operates after the relative displacement of the operation section by the applying means. A device for checking or calibrating a load sensor in a working device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12255483A JPS6016342A (en) | 1983-07-05 | 1983-07-05 | Device for checking or calibrating load sensor in operational apparatus |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP12255483A JPS6016342A (en) | 1983-07-05 | 1983-07-05 | Device for checking or calibrating load sensor in operational apparatus |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS6016342A true JPS6016342A (en) | 1985-01-28 |
| JPH057136B2 JPH057136B2 (en) | 1993-01-28 |
Family
ID=14838750
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP12255483A Granted JPS6016342A (en) | 1983-07-05 | 1983-07-05 | Device for checking or calibrating load sensor in operational apparatus |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS6016342A (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012188141A (en) * | 2011-03-10 | 2012-10-04 | Yazaki Corp | Remaining water amount managing system for water server |
| JP2012188142A (en) * | 2011-03-10 | 2012-10-04 | Yazaki Corp | Remaining water amount managing system for water server |
| CN109702226A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
| JP2021007993A (en) * | 2019-06-28 | 2021-01-28 | 三菱電機株式会社 | Robot system, method of assembling assembly, assembly inspection method, motor-driven hand inspection method and motor-driven hand performance inspection jig |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5613598A (en) * | 1979-07-16 | 1981-02-09 | Sony Corp | Sample holding circuit |
-
1983
- 1983-07-05 JP JP12255483A patent/JPS6016342A/en active Granted
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5613598A (en) * | 1979-07-16 | 1981-02-09 | Sony Corp | Sample holding circuit |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2012188141A (en) * | 2011-03-10 | 2012-10-04 | Yazaki Corp | Remaining water amount managing system for water server |
| JP2012188142A (en) * | 2011-03-10 | 2012-10-04 | Yazaki Corp | Remaining water amount managing system for water server |
| CN109702226A (en) * | 2017-10-25 | 2019-05-03 | 深圳市炫硕智造技术有限公司 | Paw device |
| JP2021007993A (en) * | 2019-06-28 | 2021-01-28 | 三菱電機株式会社 | Robot system, method of assembling assembly, assembly inspection method, motor-driven hand inspection method and motor-driven hand performance inspection jig |
Also Published As
| Publication number | Publication date |
|---|---|
| JPH057136B2 (en) | 1993-01-28 |
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