JPS60188293A - Method of positioning shifter - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

[Detailed Description of the Invention] [Technical Field] The present invention relates to a method for positioning a moving device, and by adopting a two-stage position fii control, it is not affected by the inertia or mechanical play of the moving device and has a good response. Furthermore, the position f is 11゛ degrees.
lill (goods) is changed to h] ability.

〈Prior art〉 Moving devices are roughly divided into two types: fixed track (4+J1), and free running types.Ceiling running types and wall running types belong to the former, while floor running types belong to the former. The type can be said to be a combination of both.

Although there are many types of moving devices, a hoist type crane that uses wire lobes is unstable because the lower end of the wire lobes shakes a lot, so position control cannot be performed in practice.

Therefore, in order to perform position control, in the ceiling traveling type as shown in FIGS. 1 and 2, a moving device using an elevating mechanism of an elevating section is required.

The moving device shown in FIGS. 1 and 2 is composed of a bridge mechanism 3 for running, a carriage mechanism 4 for traversing, and the above-mentioned lifting mechanism 1 or 2.
4 is also a linear motion mechanism, so operation control is easy, and it is most commonly used for position control. In the figure, 5 is a running rail, 6 is a traversing rail, and 7 is a work jig (manipulator, etc.).

By the way, as the weight of the object to be moved increases, and as the traversal distance or vertical distance in the moving space increases, the moving device itself also becomes more rigid, increasing its own weight and increasing its inertia. It's easy to get a big fc mechanism.

As described above, in the position control of a controlled object that has large inertia or backlash, the positioning accuracy is generally inferior as a matter of course.

Furthermore, when the moving device approaches the workpiece, there is a risk that the moving device will collide with the workpiece and damage it due to mechanical vibrations that cannot be compensated for by the control side. Therefore, in order to prevent such a situation, even if the elevating mechanism is made to be an elevator type such as a telescopic tube or a no-ninetagraph as mentioned above and the rigidity is improved, the vibration and precision of the bridge mechanism 3 and carriage mechanism 4 still deteriorate. It is necessary to keep it within the allowable value. Note that this also applies to the lifting mechanism.

However, in the past, in order to suppress the vibrations and accuracy of the Pritsuno mechanism 3 and carriage mechanism 4 within permissible values, position control had to be performed at the expense of responsiveness.

<Object of the Invention> In view of the above-mentioned prior art, an object of the present invention is to provide a positioning method that is not affected by the inertia or mechanical play of a moving device and can perform highly responsive and highly accurate position control. shall be.

<Summary of the Invention> The above-mentioned object is to provide a first position control mechanism for multiple axes comprising a plurality of linear motion mechanisms and a second position control mechanism for multiple axes in which a work jig is attached to the first position control mechanism for multiple axes also comprised of a plurality of linear motion mechanisms. This can be accomplished by attaching the mechanisms, first positioning the first position control mechanism in front of the desired position, and then positioning the second position control mechanism at the desired position.

In other words, by making the moving device a two-stage type consisting of two position control mechanisms, the first and second, the inertia and backlash of each position control mechanism are reduced, and the mechanical vibration and accuracy problems caused by these are reduced. It becomes less. In addition, by initially positioning to the front of the desired position using the first position control mechanism, even if the responsiveness of this mechanism is increased, there is no risk of the work jig colliding with the work object, and from the position one position before the desired position. Fine positioning at the desired position 1 can then be performed by the second position control mechanism, improving accuracy.

<Example> An example of the present invention will be described below with reference to FIGS. 3 to 5. Fig. 3 conceptually shows the method of the present invention, and Fig. 4 shows the method of the present invention.
FIG. 5 shows a buffer function provided in the second position control mechanism of this embodiment.

In FIG. 3, the bridge mechanism 3 in the X-axis direction, the carriage mechanism 4 in the y-axis direction, and the lifting mechanism 1 (or 2) in the Z-axis direction are the same as the conventional moving device shown in FIG. 1 or 2. By these, the first position control mechanism 8
In this example, the positioning is performed with respect to three axes: X, Y, and Z. However, 5 is a traveling rail, and 6 is a traversing rail. In this example, a second position control mechanism 9 for positioning with respect to the two x+y axes is attached to the large first position control mechanism 8, and this second position control mechanism 9 is small in size, and a work jig is attached to it. 7 is provided. However, X
1lII and the X axis, and the Y axis and the y axis are parallel. As a specific example, as shown in FIG.
is installed. In Fig. 4, 10 is a rank for X-axis travel, 11 is an X-axis moving table, 12 is a drive motor for travel, 13 is a gear meshed with the rack 10, 14 is a chic for y-axis traverse, and 15 is a drive motor for traverse. , 16 are gears meshing with the rack 1j, and these constitute the second position control mechanism 9. In other words, the traveling chic 10 is fixed as Telesco Tube I VCIbJ! The moving table 11 is fitted into the sickle 10 so as to be slidable in the X-axis direction, and is moved in the X-axis direction by rotating a gear 13 with a motor 12 attached to the moving table 11. - 10,000, the traverse rack 14 is fitted in the moving table 11 in the y-axis direction,
This traverse rack 14 is connected to a motor 1 attached to a moving table 11.
It is moved in the y-axis direction by rotating 16 gears at step 5. The work jig 7 is fixed to the traversing hook 14 via a vertical connecting part 17. However, although not shown in the drawings, the first position control mechanism 8 is provided with position detectors in all of the x, y, and z axis directions to enable position control. 9 is also X.

It has position detectors in both the y-axis directions, allowing position control.

Note that the second position control mechanism 9 of this embodiment has a vertical direction (
The reason for this is that the positioning in the y-axis direction in the first position control mechanism 8 is in the moving direction, and the telescopic tip 1 or the nocentagra 72 is not equipped with a moving mechanism. This is because minute positioning is easy because there is almost no backlash. Of course, in the second position control mechanism 9, the vertical connection member 17 between the traversing rack 14 and the work jig 7 can be used as a telescoping mechanism to control the position in two axial directions.

Next, the driving direction of the above-mentioned two-stage moving device will be explained.

+11 First, in both the X and Y axes (including the Z axis if necessary), the first position control mechanism 8 moves the workpiece to a predetermined position (e.g.
00IfuL). In this case, it is the first position control mechanism 8 that positions the workpiece in front.
X.

This is not because the positioning accuracy in the Y-axis direction is inferior to that of the second position control mechanism 9.

This is to avoid the risk of colliding with the workpiece due to vibration, etc., while increasing the response. That is,
The first position control mechanism 8 positions the work jig 7 close to the work object within a range where there is no risk of collision.

(2) Next, the second position control mechanism 9 first positions the work jig 7 from the position in front of the seller to the desired position x, y.
Fine positioning in both axial directions. Note that if the device has a position control function in two axial directions, fine positioning is performed in the two axial directions as well.

As described above, the position 1 is determined with good responsiveness and high accuracy.

By the way, the second position ft1l specifically shown in FIG.
The J control mechanism 9 is equipped with a loose # to prevent damage in the event that the work jig 7'45 or the moving mechanism itself collides with the object to be worked on.
It has a function. This will be explained with reference to FIG. ν, (1) First, if the second position control mechanism 9'dEx+V axis is not moving, generate a static torque in each drive motor 12, 15 for traveling and first traversing, and perform positioning. Give me the force to push it into place...<

(2) When the external force is lost due to a collision, etc., when the external force overcomes the static torque of the crab motor [2 or 15], the motor is rotated by the rack side force λ, and absorbs the external force by acting as a generator. There is. After the external force is absorbed, the motor will once again be pushed firmly into position V, which is determined by the static torque. However, in order to be able to transmit force from both sides, the angle between the tooth U 13 tte and the motor 12i 151, which are anastomosed to the rack, is 1" as shown in FIG.
,! IF 1lj)-JJi@I B is interposed, and the gear ratio N of this reducer is made small. Itn mentioned above
By generating a static torque in the motors 12 and 15, the brake mechanism 75, which was conventionally required to stop the motors 12 and 15 and press the brake pedal, can be used. can.

Note that the working jig 7 may be any type of jig for lifting, grasping, rotating, cutting, etc. T=T ff@. In general, a hook, a no-hand, a 1-lux wrench, or a manifolder as shown in Fig. 1 can be used.When a manipulator is used as a work jig, Figs. The entire insect transfer device shown in the figure is an 11-stroke delta sniffer kit with high-precision position control.

Furthermore, although the above explanation is about an overhead traveling type moving device,
The present invention can be applied to various types of devices such as wall-running type and floor-running type.

<Effects of the Invention> According to the positioning method of the present invention, the position control of the moving device is performed in two stages, both in terms of wear and tear, and the inertia and backlash of the moving device itself are controlled. This eliminates problems with mechanical vibration and accuracy caused by mechanical vibrations, and enables high-precision position control.Also, high-precision position control can be achieved without unilaterally improving either the mechanism or the control section. As a result, a moving device with high precision position control can be realized very easily.

[Brief explanation of the drawing]

FIGS. 1 and 2 are explanatory diagrams showing conventional examples of ceiling traveling type moving devices, FIG. 3 is an explanatory diagram conceptually showing the method of the present invention, and FIG. 4 is an example of the second position control mechanism. A perspective view showing,
FIG. 5 is an explanatory diagram conceptually showing the buffering effect. In the drawing, l stands for telescopic tube, 2 stands for noya tangra7. 3 is the traveling bridge mechanism. 4 is a carriage mechanism for traversing; 5 is a traveling rail; 6 is a traversing rail; 7 is a work jig; 8 is a first position control mechanism; 9 is a second position control mechanism; 1o is a rack for traveling. 11 is a moving platform, 12 is a drive motor for traveling, 13 is a gear, 14 is a rack for traverse, 15 is a drive motor for traverse, 16 is a gear, 17 is a connecting member, and 18 is a speed reducer. Patent Applicant Meidensha Co., Ltd. Representative Patent Attorney Mitsuishi Shibu (and 1 other person) 1st drawing, 2nd figure, 3rd figure f'

Claims (1)

[Claims] A moving device N" in which a multi-axis second position control mechanism consisting of a plurality of linear movement mechanisms and to which a work jig is attached is attached to a multi-axis first position control mechanism consisting of a plurality of linear movement mechanisms. In contrast, a method for positioning a moving device, which comprises first positioning a first position control mechanism in front of a desired position, and then positioning a second position mechanism at a desired position.