JPH06250715A - Actuator system - Google Patents

Abstract

PURPOSE:To facilitate reconstitution of the system by the replacement, re-assembly, etc., of an actuator. CONSTITUTION:The actuator 10 is fitted between leg parts 16 and 16 and the moving body of the actuator 10 is fitted with a cylinder 14 for driving a mechanical hand 12. Then a controller 18, a communication system 20, a power source 22, etc., are incorporated in a leg part 16. This controller 18 is so constituted as to cooperate with the controller incorporated in the actuator 10 and also connected to an external controller through an interface, so that this system operates as an integrated system.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an actuator system in which a plurality of actuators are combined, and more particularly to an actuator system in which the system can be easily reconfigured by replacing or rearranging the actuators.

[0002]

2. Description of the Related Art Electric actuators and fluid pressure actuators represented by motors and cylinders, actuators that perform linear motions and rotary motions, and the like are controlled by motor drivers, solenoid valves, and the like. Further, each actuator is configured in association with the electric device. Then, these actuators including a robot actuator are usually arranged independently of the controller and the control device without being integrated.

[0003]

By the way, an actuator including a robot actuator having water resistance (including a power supply line), electrical insulation, and explosion proof in a manufacturing industry, a medical institution having a rehabilitation device, etc., at home, etc. The system must be easy to disassemble or assemble because it is reconfigured and carried in and out, and accuracy and safety must be ensured. In the biomedical field, DNA analyzers, gel actuators, sample reagent positioning multipoint injection devices managed and controlled by computers, automatic sequencers (automatic electrophoresis devices) and robots are used for DNA, cDNA, mRNA.
Extraction and CI analysis of several million bases / day of nucleotide sequences (codes) by automated analyzers such as automatic human genome analysis
It is necessary to execute in M network system, management analysis report, failure diagnosis, and automatic repair.

Further, in the case of the assembly machine, the company-level company, the associated management with the cooperating factories, the manufacturing, the logistics,
In a sales system, like CIM, it is necessary to perform integrated and simultaneous manufacturing and production by a computer that embodies and embodies management and factory operation.

Furthermore, since the research, design, and development departments and the production technology departments, the production sites, and the logistics of logistics proceed at the same time, it is necessary to deal with work on the same database and the same system management. Conventional NC machines, etc., which have simple communication functions, are not very adaptable for rearrangement, integrated management, and cannot handle the production and status of the entire lower-level production site. It was a human system.

[0006]

In order to solve the above-mentioned problems, according to the present invention, each element of the actuator structure is provided with a controller, and each element has an ID code that can be identified for each element. Is characterized by.

The present invention is also characterized in that an actuator structure having a frame is provided with a power supply bus and a signal bus in order to couple the individual elements.

[0008]

In the actuator system according to the present invention, a controller is provided for each of the individual elements constituting the actuator structure so that each controller can identify itself. Therefore, the actuator structure can be easily recombined.

[0009]

EXAMPLES The present invention is related to Japanese Patent Application No. 4-44975, Japanese Patent Application No. 4-197178, Japanese Patent Application No. 5-168235, Japanese Patent Application No. 5-168232, and Japanese Patent Application No. 5-280124. ing. The technique disclosed in Japanese Patent Application No. 5-280124 is used with, combined with, or integrated with the present invention, and naturally, the operation and effect predicted by those skilled in the art can also be the present invention.

Generally, CIM (Computer Integrate)
(d Manufacturing) users must use CIM, FA (Factory Automation) in order to efficiently produce their products.
We are conducting research and development on the operational means of. The work for the research and development performed by our company (SMC Co., Ltd.) is to manufacture CIM users for our company, for example, to incorporate the parts into the system for CIM and FA using actuators ( Supporting cooperation (for development) is the main subject.

As means for this support cooperation, a form in which an actual actuator is easily configured for CIM and FA, appropriate performance, suitable manufacturing method, supply method, means, compatibility,
It shall have maintainability.

[0012] And, not only these actuators themselves have their support and cooperation means, but also our company, other users,
Ordering, manufacturing with collaborators and within other companies,
It is necessary to be suitable for a system (for example, an inter-company accounting system, an inter-company logistics system, an inter-company design collaboration work network computer system) that is handled so that management, planning and combination can be easily performed. Technical equipment therefor (computer network, EWS network management system, assembly module management processor, their network management software, OS), assembly, processing,
Intelligent networks of warehouses and distribution systems (WAN, LAN, LON (for example, Japanese Patent Publication No. 3-504
066, 3-505642)), and their man-machine interfaces, as well as different systems between different factories, different departments, different companies, different regions, countries, management CIM, FA systems, software, etc. Not only the assumption of programs and characters, but also means for matching the interfaces such as the management method, data structure, data format, file structure, file format, database management method, ordering system, and the like. These means (protocols, data structures, etc.) manage all search structures,
At the same time, depending on the occasion, both parties will make appropriate repairs.

For the above-mentioned purposes, A. The actuator structure and its components (motor, ball screw, timing belt, bearing box, bevel gear box, sensor, pulley, remote or right-angle power transmission HST (Hydro Static Transmission)
(Axial piston type hydraulic pump motor type)) etc.) can be used independently by standardizing the shape, mounting, hole position, width, etc., and having a compatible block structure or module structure. You can assemble them. Also, the mounting is standardized by sharing the basic dimensions. B. For each member, the manufacturing method, manufacturing process, inspection result and design method, handling method, other members connected to it, and the overall configuration (hierarchical structure) are converted into data, and all data on how the member is used GA (coil with double helix structure, triple helix structure, etc.) that is coded and has sudden displacement, intersection, and natural selection called artificial life by artificial or pseudo-biological circuits of circuit means such as semiconductor circuits and biomolecular circuit means Genetic Algor preferably implemented by structure
Ithm), a magnetic recording medium or a code (DNA) in the form of a molecular structure (such as arrangement of nuclei). Then, so that each member has data of the combination thereof, for example, a bar code, a metal code (a magnetic or non-magnetic pattern), or a pattern obtained by direct laser trimming or a lithographic method on the surface of a metal (these are electrical patterns). , Which has an electronic circuit, a memory, a CPU, a programmable system, is processed into a concave portion of a metal surface, and the surface is coated so as to be flush with the metal surface. Attach it to the inside or the surface of the member with a capsule or tape.

Of course, the data of each member can be stored as management data on another computer by the management code and can be retrieved by the code.

By the way, with such a structure, it can be used only when there is a management computer or a system therefor, and cannot be used in an emergency on site.

Therefore, take these code readers to the site, or arrange them at the site as needed,
Functions such as members and actuators that are built into robots or actuators or that are installed by a predetermined attachment means and that have a self-regenerating means for performing the history, processing, and reconfiguration of the members on the spot are required. Is.

To this end, the actuator control device is allowed to have flexibility, substitution, and rearrangement for the types of motors and solenoid valves, and actuator identification.
Providing means for (identification) to be self and surroundings and to each other (bar code, memory card, RAM, E
Wireless ID module by PROM, arithmetic unit, microwave, etc.)

Each actuator then has its own controller, integrated by means of network communication, which comprises several mechanically integrated actuator groups, several interrelated tasks, associated actuator groups, Or they are integrated and FM
Each actuator is loaded on S, production process and changes,
It is assumed that actuator groups and their cells, groups, and units are rearranged and reconfigured according to optimization. Further, each cell, group, unit, and each actuator to which this is integrated by the network means are managed by the network address on the network and the network control process manager.
Resources, addresses, etc. are reconfigured as needed.
They are done even when the network is up. Network management is controlled by LAN control (network protocol TCP / IP such as NFS) implemented in UNIX or the like, MAP or the like. The programs of the local controller are also initially loaded and reloaded (loads are downloaded and uploaded) from other controllers in upper, middle, lower, and parallel as appropriate. The parts, actuator structure, CPU, computer network, network group, actuator, motor, cylinder, controller, etc. appearing in this system supply the world's absolute address as the address by the address setting approval management distribution mechanism, and supply the world's only address.

This absolute address is 48-bit, 64-bit, 96-bit, 128-bit addressing or appropriate addressing, and is given as required.

Each controller is arranged inside the structure of each actuator, and is preferably formed so that no protrusions are projected outside. The structure is an actuator structure or a structural member that conforms to the standard or is standardized (Japanese Patent Application No. 4-180133) and has a T slot. Each structural member is connected to a signal line associated with each controller, wiring for network and wireless connection, and each block is also fluidly connected, and is attached to the hole, groove, inside, and outside in the profile. In addition, the air passage is used for its use.
Each actuator or structure is made of Al, Mg, Ti,
FRP, CFRP, FRP, CFR made of 3D fabric
When mechanically interconnected with P, concrete, ceramics, sintered metal, etc., and constrained to each other or only one of them, signals, power supplies, air pressure, etc. are sent or sent in the connection with fixed or relative motion. It has the function of In addition, each structure has a transmission line that combines all by an optical path with a prism, a beam splitter, and a reflection plate, and a composite transmission line thereof. The optical transmission line uses water, oil, or air transmission line instead of an optical fiber. You may.

The linear or rotational guide means for restricting the correlation of the actuator structure is directly formed on the structural member or the structure body of the actuator.

The signal system is performed by bus, optical communication, wireless communication, microwave, ultrasonic communication. Electric power is collected by a trolley guide, a rotating brush, and a roller brush. Power and signals are transmitted as a unit by a microwave or the like transmitted by a photocell or the like. The sensor, controller, and drive use the power from the microwave or the like or have a battery for storage.

For each actuator, one or more of these stations are provided with a standardized module circuit or box.

Further, each actuator can have all control function elements, and a part of the control function elements can be appropriately selected and replaced. It can be done before, during or after assembly.

The controller is a power source for each control (generator, chemical cell, fuel cell, bio-cell, internal combustion engine,
It has a solar cell and a microwave), and can be controlled and driven independently. The controller is a fluid pressure control switching valve (pilot type 2-way, 3-way, 4-way).
One-way or five-way valve), a proportional control valve, a PWM pulse valve, a compressor such as a scroll compressor, a vacuum pump, or one that uses the intake air of one scroll compressor to generate vacuum , Freezing type, hollow type, etc., or a combination thereof, a dehumidifying device (means), a demister, an integral block of hydrophobic cement, FRL (filter, pressure reducing valve, if necessary, lubricator, piston, scroll, vane Intensifier, or pump). And again (compressor +
Not only (FRL) and (vacuum pump + vacuum pressure control),
PI by variable capacity control and inverter servo rotation speed control
The distributed pressure control device may be configured by an A controller, a digital display, a failure prediction function, and a silicon diaphragm pressure control sensor feedback control.
Each controller that controls the electric actuator and fluid system by combining them can be combined with an electric actuator and an air balancer (weight counter balancer), and each actuator, upper control device, or higher management level computer. Has a means to view contents and change data (input / output device such as screen input touch panel or Virtual Reality and Artificial Reality (man-machine interface for data glove, voice input, EEG input, output, etc.)) , Color LCD
And has a micro keyboard.

Here, an example of the structure of the actuator will be described with reference to the drawings.

FIG. 1 shows an example of a structure using an actuator.

In FIG. 1, the actuator 10 is mounted between the legs 16, 16. The actuator 10 includes a cylinder 14 for driving a mechanical hand 12 (which may be an ejector hand system having an ejector, a supply valve, a release valve, and a switch) (which may be a ball screw drive, a string screw drive, or ( Plastic multi-thread nut + rolling screw + unlubricated) drive, plastic screw drive, change nut type feed screw drive, timing belt drive, steel belt drive, linear electric drive actuator may be attached). The one leg 16 has a controller 18, a communication system 20, and a power source 22 for the actuator 10.
Etc. are incorporated.

The relationship between the actuator 10 and the cylinder 14 is shown in FIG.

The moving body 24 is housed in the actuator 10, and the cylinder 14 is attached to the moving body 24. Moving body 24 of actuator 10
Are configured to be guided and slid in the actuator frame 26 via a shaft 28 and a guide 30. Then, the power supply control unit 32 and the controller 34 are mounted on the moving body 24 (the power supply control unit 32 and the controller 34 may be integrated. The CPU (RI
(SC, DSP, multi-CPU), multi-layer substrate integrated and further operated by DSP for high speed control), the power supply control unit 32 is provided from the power supply bus 36 provided in the frame 26 to the moving body 24. Power supply sliding part 38
Power is supplied via. Further, the controller 34 having a network communication unit is supplied with electric power from the power supply controller 32 and a signal from a non-contact signal bus (not shown) provided with the frame 26 using light or the like. .
The signal from the signal bus is supplied to the signal receiving unit 40 provided in the moving body 24.

Signals from the power supply controller 32 and the controller 34 are supplied to the cylinder 14 by the connector 42.

FIG. 3 shows the relationship between another actuator 50 and the leg portion 52 connected to it.

In this example, the actuator 50 includes a motor 54, a moving body 56, a frame 58 and a controller 60.
And the moving body 56 has a contact 62 for signal connection.
Is provided, and a signal bus 64 for signal connection is exposed at the end of the frame 58. The signal bus 64 and the bus 66 of the leg portion 52 are connected when they are connected. The controller 60 is provided with a display 68 capable of displaying the contents of each actuator or sensor, a self-diagnosis monitor, a failure diagnosis monitor, a host control device or a host management level computer, or a display 68, if necessary.
An input means is provided for inputting a signal for extracting the data to be displayed on. On the other hand, the leg portion 52 is provided with the controller 70, and the controller 70 also has the controller 60.
Similarly to the above, a display 72 and the like are provided. The displays 68 and 72 are provided with the controller 60,
It can be configured so that it can be stored flush with the surface of 70. Further, as shown in FIG. 4, the controllers 60 and 70 are provided with a front panel 74, in which all the data of each member are stored and the I for identification is also stored.
Allow the card 76 with D to be inserted. In addition,
The front panel 74 may be provided with a well-known bar code reader, data carrier writing / reading means.

The controllers 34, 60, 7 as described above
The actuator 10 having 0, etc., can be assembled as shown in FIG. First, a base 82 is provided below the legs 80, and the master controller 8
4 is installed. The slave controller 86 provided on the leg 80 is connected to the master controller 84 by a bus. Further, a master controller 84 is also provided by a bus to the controllers 92 and 94 of the actuators 88 and 90.
Transmit the signal from. This is the master controller 8
Under the control of 4 slave controllers 86, 92, 94,
96 are controlled.

Next, a structure in which a columnar member (leg portion, etc.), an actuator and the like are combined will be described.

Referring to FIG. 6, a structure 110 of an actuator having an auxiliary joint which is known or has increased rigidity.
Is basically composed of a first section 112 and a second section 114 attached to the first section 112 according to a work process. The first section 112 has a belt conveyor 116.
Is attached. What is described as a cylinder in FIG. 6 may use an electric actuator or another actuator. Reconfiguring and constructing the structure can be facilitated by appropriately using compatible actuators according to the purpose.

The first section 112 is provided with a controller 122 having a motor box 120 and a display section which are arranged flush with the upper surface of the actuator 118 at one end of the actuator 118. By forming the motor box 120 and the controller 122 so as to be flush with the upper surface of the actuator 118 in which they are arranged, the motor box 120 and the controller 122 are compatible with each other when mounted on other members, and the shape is compact, so that space is saved. Can be used. Therefore, it is possible to form the other motor boxes 124, 126, etc. shown in the figure so as to be flush with the upper surface of the actuator provided.

In the second section 114, the balancers 132 attached to the actuators 128 and 130 are erected so as to face each other, and the attached actuators 128 and
Both ends of an actuator 138 are connected to the moving bodies 134 and 136 of the balancer 132 and the balancer 132, respectively. The actuator 138 is substantially orthogonal to the actuators 128, 130 and the balancer 132 provided side by side, and is connected while maintaining a substantially horizontal state.
The moving body 140 of the actuator 138 is connected to the moving body 140 of the actuator 142.
A cylinder 148, to which a mechanical hand 146 is connected to the tip of the rod, is connected to the cylinder 44. The actuator 150, which is oriented in the portion where the first section 112 and the second section 114 are connected and in the longitudinal direction thereof,
152 are connected in series, and the moving bodies 154 and 156 of the actuators 150 and 152 are connected to cylinders 158 and 160, respectively, each having a cylinder rod for positioning.

On the other hand, a belt conveyor 116 is provided so as to be connected to the first section 112, and programming keyboards 162 and 164 having a function as an input / output device for the control system are provided at the connected parts. .
The programming keyboards 162 and 164 are detachably attached to the columnar member 166, and the configuration body 110
Various devices incorporated therein, specifically various actuators 168, 138, 142, 128, 130, 15
0, 152, balancer 132, cylinders 158, 14
8, 160, the mechanical hand 146, the belt conveyor 116, and the like can be collectively managed by the control system. In addition, various controllers constituting the control system, a processor, and a transmission circuit for various signals including, for example, an optical signal, an electrical signal, a fluid pressure signal,
As described above, they are housed inside the actuator 168 and the columnar member 166, respectively.

In this case, the actuator utilizing the fluid pressure (air, hydraulic pressure, and other fluids) is integrated with the valve, its controller, and the communication circuit, thus saving space and downsizing, and by omitting the piping, High efficiency and low loss. Electric actuators, drivers, controllers,
The same effect can be obtained by integrating the communication circuit.

Particularly, as the cylinder, the effect is further enhanced by using a low friction cylinder or a cylinder with a brake. Further, ultra-high molecular weight polyethylene (PE) can be used for the sliding portion. Also, try tech one (TT.
I) (manufactured by Daido Metal Industry (CAT No. 20509)
3.9 30,000 PN)) and use it as a cam follower by hybridizing the slip and slide.
Further, it is possible to use a linear guide which is developed by expanding the rotary bearing into a linear bearing and directly used as a linear linear guide. Cylinder lock in case of emergency or power failure improves safety. In addition, position the pneumatic cylinder, speed,
By performing acceleration, force, pressure feedback control and feedforward control, a higher speed servo cylinder can be made. Similarly, the electric actuator can also be equipped with a brake and made intelligent by using a low friction linear bearing guide, high precision gear, belt and bearing.
The same effect can be obtained with the electric actuator and the cylinder.

Wiring, signals, power, etc. of each actuator structure are connected by connectors as required, and signals are serially transmitted.

In particular, the fluid pressure supply is a self-sustained distributed type assembly, an independent compressor, a pressure booster (Bo
oster), a vacuum pump, and a low-level (0.5-1.2 kg / cm ² high-capacity turbine-type large-capacity compressor) factory centralized pressure source with a fuel generator,
^{3.5kg / cm 2, 7kg / cm} 2 and may be performed as needed boost. Further, a pressure control switching valve unit in which a switching valve, a pressure control valve (pressure reducing valve), a filter, and if necessary, a lubricator are integrated is used for distributing the air pressure. This facilitates maintenance. In addition, a pressure monitor sensor and a pressure switch are incorporated in these switching valve and pressure control valve.

These cells and processing units are flowmeters,
The pressure gauge and the like are digitized, and are integrated with an actuator, a control device, a valve, and a power generation control device. In addition, the Active Noise Control is used to further mute the sound.

Of course, the failure detection mechanism includes pressure, flow rate, response time, current value, coil impedance, vibration analysis,
This is performed by noise analysis and used to predict failure.

These cells use CIM and
I (Artificial Intelligence) etc. for cell assembly and configuration design, automatic device selection and ordering, pneumatic circuit, electric circuit, network circuit, sequence circuit, these procedures (Procedure), flow chart,
Create and change programs automatically.

These processing cells may be used as they are as the base material, but as a more human working environment, white, milky white coating or colored alumite treatment is performed to obtain a bright image color, color tone and lightness as a whole, Automatically design (AI, three-dimensional CAD, CAE) so that the combination of color schemes and color points will be healthy for the human spirit, ergonomics, and kansei engineering as a whole.

Furthermore, for human sense of smell, exhaust gas is not emitted to the surroundings, or even if it is emitted, a filter containing activated carbon, a silencer, a urethane tube, a nylon tube, a valve, a cylinder, an auxiliary device, plastic, or possessed by it. The plastic of the odor absorber removes the odor, and the above-mentioned members generate fragrances such as citrus and perfume by the microcapsules containing the odor substance, the fine powder or liquid containing the odor substance.

In addition, an active noise control, a T-slot of each structure, a T-slot of an actuator, or a cushioning member placed at a joint of a vibrating body may cause an unpleasant sound (frequency) of human.
Try to make smaller. These choices, automatic design,
It is performed by the CIM, AI, and CAE systems. In this case, an intensity or modal analysis is performed by sound field analysis using a three-dimensional model, or a vibration model and a simulation model from experimental data are verified.

In addition, each display is the state of the entire line, C
It is possible to display the status of inspection by IM and shipment.
The profit rate of this processing line is also displayed, and financial management of the line and cell is also performed.

Further, it has a manager, a work schedule, and a help function for emergency response.

Particularly, the end effect having the air chuck and the vacuum hand is an AC servo motor actuator,
AHC (Auto Hand Changer), ATC (Auto Tool Ch
anger) and the connection is made by a self-coupling connector. The control signal and the detection signal may be a bidirectional or unidirectional combination, and may be an optical communication connector or spatial transmission that mutually perform serial means. It may be wireless. A microwave that can send electric power and a signal in both directions may be used.

Air or electric power is automatically attached / detached by a connector with a check valve or a connector with an automatic switch. A solenoid valve manifold with serial communication function, a valve with serial communication function, or a distributed communication function has a built-in electric actuator controller / driver in the hand itself. As a result, the wiring and piping at the coupling portion of the AHC are reduced, noise is reduced even by wiring, wiring integrated with piping, connectors, etc., and the number of contacts is reduced and reliability is improved.
Then, the wiring and piping of the hand portion are reduced and the weight is reduced.

The servo system of these actuators (electric actuators, cylinders) is analyzed by vibration analysis, modal analysis or the like to obtain an optimum solution. The vibration sound is also designed and programmed in consideration of the ball screw, belt sound, guide sound, frame vibration, and vibration characteristics of the combined structure.
The learning function or modern control theory may be used to optimize the operation.

In the vibration analysis, the position, the velocity, the acceleration, and the derivative of the acceleration are controlled by feedback or feedforward.

Next, a case where the structure 110 has a plurality of steps as a whole and functions as an independent production line will be described.

As shown in FIG. 7, a component pallet 174 having an ID module (not shown) is conveyed from a warehouse 170 through an unmanned vehicle 172 and a belt conveyor 116. The parts pallet 174 is carried into the first section 112 of the structure 110 and subjected to a predetermined process. It is assumed that the work 176 is similarly provided with an ID module. After that, the component pallet 174 is carried into the second section 114 via a transporting means (not shown). In the second section 114, after a predetermined process is performed, all the predetermined processes of the production line are completed and the product is conveyed to another process.

On the other hand, a case where each section of the actuator assembly 110 functions as an independent production line will be described.

In FIG. 7, the actuator 118 is the actuator 168, the cylinder 178, and the suction pad 1 by the first actuator controller 200.
80 is the second actuator controller 202, and the actuator 182 and balancer 132 are the first
Are controlled by the respective balancer controllers 204. Further, the first actuator controller 200
The second actuator controller 202 and the first balancer controller 204 are respectively connected to the first multi-axis controller 206 via the multi-bus 184, and are integrally controlled as one work unit. The actuator 150 and the cylinder 158 are controlled by the third actuator controller 208, are connected to the second multi-axis controller 210 via the multi-bus 184, and are integrally controlled as one work unit.

As described above, the integrated control of the first section 112 in the structural body 110 is performed by the first multi-axis controller 206 and the second multi-axis controller 210 by the LAN using electric signals, optical signals, wireless communication and the like. Via a first management microprocessor 212 connected to the.

Second Section 11 in Construct 110
4, the actuator 138 is
The actuator 142, the cylinder 148, and the mechanical hand 146 are moved to the fifth actuator controller 218 by the fourth actuator controller 216.
Accordingly, the actuator 152 and the cylinder 160 are controlled by the sixth actuator controller 220, the actuator 128 and the balancer 132 are controlled by the second balancer controller 222, and the actuator 130 and the balancer 132 are controlled by the third balancer controller 22.
4 respectively. Further, the second balancer controller 222 and the third balancer controller 224 are respectively connected to the local controller 186 to move the actuator 138 in a substantially vertical direction while holding the actuator 138 in a horizontal state, and integrated synchronization control is performed.
Fourth and fifth actuator controllers 216,
218 and the local controller 186 are respectively connected to the third multi-axis controller 22 via the multi-bus 196.
6 and is integrally controlled as one work unit. Therefore, the integrated control in the second section 114 is also for the second management connected to the third multi-axis controller 226 and the fourth multi-axis controller 228 by the LAN using electric signals, optical signals, and wireless communication. This is performed by the microprocessor 230. The first to sixth actuator controllers can each function as a balancer controller, while the first to third balancer controllers can also function as an actuator controller.

Next, the belt conveyor 116 is controlled by the belt conveyor controller 188, and the unmanned vehicle 1
72 and the warehouse 170 are control devices not shown respectively,
Controlled by the control system.

The first control microprocessor 212 and the second control microprocessor 230, the belt conveyor controller 188 and the unmanned vehicle 172, and the control devices (not shown) of the warehouse 170 respectively receive an electric signal and an optical signal. , Which are networked by a LAN using wireless signals, etc., and information can be freely transmitted to each other. Therefore, an integrated control system of the actuator assembly 110 as an independent production line is configured. be able to.

The LAN network is connected to not only the control system of the actuator assembly 110 as an equivalent production line, but also other production, management, information, communication, and control systems, so that larger-scale integrated production is possible. A management system is built. For example, F on a LAN network
A production management computer 190 that functions as a higher-level management computer as seen in A and CIM may be connected to form a part of a network of a larger-scale integrated production system. In this case, according to the process managed by the CIM and the ordering system, ordering, process management, assembly, processing, and transportation procedures and associated actuators, sensors, pallets, robots, control devices, and other controlled objects are operated according to the above process Appropriate program procedures or program editing are performed in real time.

Input / output devices 192 and 194 such as programming keyboards 162 and 164 as shown in FIG. 6 are prepared as user interfaces of these systems. These input / output devices 192 and 194 are RS
It is possible to freely connect to each controller, processor, computer, etc. by a general-purpose interface such as 232C, RS422C, etc., LAN and multibus by electric signal, optical coaxial communication, wireless signal, etc., Ethernet, token link. In addition, an input / output device or a general-purpose interface that can be connected to a higher-level CIM computer, controller, processor, etc. is prepared. In this case, the entire work such as editing, creating, changing, downloading, uploading, input / output of the control program is performed. Higher CIM
Not only the computer but also each controller, processor, computer and the like can be used. Furthermore, it is possible to access any controller, processor, and computer. In this case, communication may be performed via the multi-node or LAN, but all the controllers, processors, and computers may be directly connected to each other via a network. Also,
The software may be directly connected by a virtual network. Further, the route may be automatically changed when a failure occurs. Then, each controller, computer, and input / output device can be changed to a master or a slave depending on the situation, so that a protection mechanism can be provided when a failure occurs or a network goes down. This allows
It is possible to control the entire work site, monitor management information, and operate, and not only improve workability, but also individual control that preserves the integration of the entire system for work and process management. This increases the flexibility of the entire system and is very effective for system changes, maintenance, and high-mix low-volume production.

Other shapes of the actuator used for the above-mentioned actuator structure are shown in FIGS.
Shown in.

The actuator 250 shown in FIG. 8 basically comprises a motor 262, a moving body 256, a frame 258 and a controller 260. in this case,
The moving body 256 and the motor 262 are covered with a cover 252, and the end portion of the frame 258 has end covers 254, 2
It is covered by 54. In addition, the controller 260
Is configured to be housed in the frame 258 and is detachably configured. A display 268 is provided on the surface of the controller 260, and the input means 2 for selecting the display content of the display 268 is further provided.
64 is provided. In the actuator 250, the cover 252 is elevated at the motor 262, but it may be flush with the surface of the controller 260.

In FIG. 9, the controllers 274, 2
76 is detachably attached to the end of the actuator 270.
6 can be attached as a single or double.
For example, in the case of a single, the controller 274 controls the actuator 270, and in the case of a double, each of the actuators 270 and 272 has two controllers 2.
The control is performed by means of 74 and 276. These controllers 274, 276 are connected to a sequencer or main controller 278 by a communication line,
The control signals from the actuators 270, 27
2 is configured to control.

The actuator 280 shown in FIG. 10 is provided with a specially shaped controller 284 having a heat radiating portion 282 of a Peltier cooling system or the like.

[0070]

By constructing the actuator system as described above, the actuators and working module units can be rationally arranged.

Since the constituent elements of the actuator are standardized actuator structural members, joints, adapters, controller wiring, and connectors, CAD, CA
M, CAE can be handled and operated on a computer, and can be displayed as 3D data, enlarged, reduced, viewed in detail, and designed for each part, and the entire CIM, field, logistics, and development can be performed. Simulations (structure analysis, fluid heat analysis, mechanism analysis, plastic flow analysis, etc.) can also be performed, and concurrent engineering of factories and companies can be performed as a whole. In addition, the physical structure and the actuator can be used for NC production, production, and production construction of parts including the periphery of the control unit, and furthermore, estimation can be performed using a statistical database. Since the LAN is formed up to the lower layer, the sensor signals from each actuator can be reasonably managed including the entire management level.

[Brief description of drawings]

FIG. 1 is a diagram showing an actuator system according to the present invention.

FIG. 2 is a schematic sectional view showing the structure of an actuator.

FIG. 3 is a diagram showing a relationship between an actuator and legs.

FIG. 4 is a diagram showing a configuration of a controller.

FIG. 5 is an assembly explanatory diagram of an actuator having a controller.

FIG. 6 is a diagram showing a structure of an actuator.

FIG. 7 is a diagram illustrating the function of the structure of the actuator shown in FIG.

FIG. 8 is a diagram showing a configuration of an actuator.

FIG. 9 is a diagram showing a connection shape of an actuator and a controller.

FIG. 10 is a view showing a special shape of the controller.

[Explanation of symbols]

10, 50, 88, 90, 118, 128, 130, 1
38, 142, 150, 152 ... Actuator 14, 148 ... Cylinder 16, 52 ... Legs 18, 3, 60, 70, 92, 94, 122 ... Controller

Claims (4)

[Claims] 1. An actuator system in which a controller is provided for each individual element of the actuator structure, and each individual element has an ID code that can be identified for each element. 2. An actuator system, characterized in that an actuator structure having a frame is provided with a power bus and a signal bus for coupling between individual elements. 3. The actuator system according to claim 1, wherein the signal buses are wirelessly coupled. 4. Actuator system according to claim 1 or 2, characterized in that each individual element is integrated by a network communication means.