JPS63163513A - Automatic working machine - Google Patents

Abstract

PURPOSE:To automatically adjust an automatic working device to the horizontal position by vertically moving a level adjusting plate to the position, where an inclination angle sensor indicates the horizontal state, through a pair of elevators while interlocking with the inclination angle sensor. CONSTITUTION:When an operation switch is turned on, an inclination angle sensor 46 fixed on a level adjusting plate 30 is operated to measure angles of inclination in X and Y directions, and inclination angle data in the X direction is subjected to A/D conversion in an input part and is inputted to an operation circuit 47 to calculate a correction value (extent of elevation) for the horizontal level in the X direction. This correction value is inputted from an output part (I/O) to a driving circuit 49 and a stepping motor 44 is driven to vertically move elevators. The angle of inclination in he X direction is measured again, and the control is returned to the controller 47 to repeat the similar adjusting operation if the measured angle is on the outside of a prescribed angular range. Inclination angle data in the Y direction is inputted to the controller 47 to calculate a correction value (extent of elevation) for the horizontal level in the Y direction, and stepping motors 44 and 45 are simultaneously driven by the same extent to vertically move elevators 38 and 39, and all operations are terminated when the angle of inclination is within a prescribed angular range.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a self-propelled substitute cropping machine, and in particular, an automatic doffing machine or a spinning pack automatic exchange machine used in synthetic fiber factories, etc. travel positioning) ζ position.

[Prior art and its problems 1 Conventionally, automatic doffing in textile factories)
As shown in Japanese Patent Publication No. 710 and Japanese Patent Publication No. 59-ta3o2@, it was common to run on rails laid on the floor. In addition, even if JJ is used in the back automatic exchange machine, there are
As stated in Publication No. 207, many methods have been proposed for running on sea urchin rails. Generally, the main part of the winding machine, etc. is installed on a machined frame, and each one of its parts is exposed. In this case, it is necessary to set up a rail to match the spinning machine, etc. of the winding machine, etc., which requires a lot of effort to level the rail with the spinning machine, etc. There was a problem that two things were necessary.

On the other hand, recent developments in technology
'll~ 6-axis multi-joint type [1 bot can be easily introduced, but when trying to apply these to automatic doffing and automatic pack changing machines in the i-thread process, it is difficult to strictly control the horizontal level. If you don't lay the correct rails, you will not be able to achieve 1-hot accuracy.

Working position,
For example, is it possible to increase the amount of lees per meal by transferring the object and teaching the horizontal level deviation at each position? This requires a great deal of labor and effort for deving. For example, the taught position may be the stop of the traveling trolley (]-
It often happens that it cannot be used depending on the situation.

[Object of the Invention] The object of the present invention is to solve the above-mentioned problems and provide an automatic working machine that can perform traveling positioning by reliable and quick horizontal leveling. That is. This objective 1-1 can be achieved by using the following configuration.

[Structure of the Invention] In other words, the present invention provides an automatic working machine that travels between operating positions and performs a predetermined work at each operating position, in which a tilt angle sensor is installed between the running platform and the automatic operating position. Install a built-in level adjustment plate (and run the level adjustment plate on a trolley)
One point is supported fixedly through an automatic centering means, and the other two points are freely supported by ν1 lowering and resting so that they can move up and down, and furthermore, (1) The inclination angle sensor indicates the horizontal position.'71 (1) A lifting means is provided to move the level adjustment plate up and down via the lifting body to the ff position, and the automatic workwear is automatically adjusted to the horizontal position. ?jt'!1 is an automatic working machine.

[Example] The present invention will be described below with reference to the drawings using an automatic doffing machine as an example, but the present invention is not limited thereto. 1 shows an embodiment of the present invention; 1 is a schematic perspective view of an automatic ballpark machine;
This figure is a perspective view of the main part of the present invention shown in FIG. 1.

In the figure, reference numeral 10 denotes a self-propelled automatic doffing machine according to the present invention, which is guided by a kite rail 3 and is movable along the front surface of the winding machine 1. A running trolley 20 disposed at 11 and a level on it are mounted. [1 hot 11 for doffing placed through the adjusting plate 30
It consists of: Reference numeral 4 designates a small hinged width, on which a package taken out from a roll is loaded by a hunt 12 of a robot 11. 21 is the base blue-1~ of 20 in the traveling platform, and above the l\-spray 1~21 is the robot l.
A level adjusting plate 30 is provided to cover the level of the level adjustment plate 11. On the base plays 1 to 21, a rod 31 with a spherical bearing 32 (=J-4) protruding vertically is provided on the front part of the bogie 20 on the X side in the traveling direction lj, and this spherical bearing 32
is connected to the lower surface of the level adjustment plate 30 via the receiver 33, and the level adjustment plate 30 is automatically aligned in this fixed position, and the adjustment plate 30 is In addition, ball screws 36.37 rotatably supported by brackets 1 to 22. is set up, and this ball nest 3
6.37 screw shafts 36a and 37i1 are engaged
-36b and 37b, plate-shaped elevating bodies 38 and 39 are formed to support the level adjustment plate 30 in a vertically movable manner. still,! Does the R lowering body move the level adjustment plate 30, which is tiltably fixed at one point, up and down at a predetermined position?
In addition to the vertical movement of the elevating body itself, it is also possible to use known means such as a cam mechanism, for example, the rotation of an eccentric disk. The upper end of the elevating body 38, 39 that contacts the level adjusting plate 30 is formed into a spherical or circular shape so that it can be smoothly supported during adjustment.

The relationship between the lifting bodies 38, 39 and the supporting points of the spherical bearing 32 is as follows: 1" with the spherical bearing 32 at the apex. It is preferable that they be arranged to form a triangle, but the arrangement is not necessarily limited to this.

A pulley 40 is provided at the lower end of the screw shafts 38a and 37a. Timing bells 1 to 42.43 are connected to the stepping sweaters 44.45 through the
By rotating the screw shafts 36a and 3, the elevating bodies 38 and 39 are moved up and down.

Reference numeral 46 denotes a tilt angle sensor fixed to the top surface of the level adjustment plate 30, which detects the tilt angle relative to the center of gravity of the earth using a moving coil or the like, converts it into an electrical signal, and calculates the tilt angle from the horizontal to the peak. The inclination angle h4 is measured in the 2h direction between the X direction, which is the traveling direction of the trolley 20, and the Y direction, which is the lateral (horizontal) direction perpendicular thereto. This angle of inclination 46 is the third
As shown in the figure, it is connected to the stepping tanabata 44.45 via the control device 47 (arithmetic circuit 118), and the stepping tanabata 44.45 is driven through the drive circuit kL849 so as to achieve the required horizontal level. .

That is, as shown in FIG. 4, the tilt angle hinge 46 fixed to the level adjusting plate 30 is activated by turning the operating switch A, and the tilt angle hinner 46 in the X direction, Y direction, /'J direction is adjusted. ] First, the inclination angle data in the 5 directions of
A correction (+j+ ('71 early fall) is calculated so that the horizontal level in the X direction is obtained by D conversion and input to the arithmetic circuit 47. This correction value is inputted from the output section (Ilo> to the drive circuit 49 and is input to the stepping circuit 47. - Drive the vertical movement 44 to move the elevating body up and down.Next, measure the inclination angle in the X direction again to obtain a predetermined angle.
For example =LQ, O! If it is outside the J degree range [ql, the process returns to the control device 47 and repeats the same adjustment operation.

When the angle is within ±0.05 degrees, proceed to the next adjustment in the Y direction. Note that the stepping sweater 45 may be operated instead of the stepping E-944. The tilt angle data in the Y direction is input to the control device 47 and the Y
Horizontal level in the direction J: sea urchin correction value (rise sui hang) δ
After that, the stepping motors 44, 45 are simultaneously driven by the same amount to move the descending body 38, 39 up and down.Similar to the movement in the X direction, the tilt angle in the Y direction is measured again and ±0.
0! If the angle of inclination is outside the range of i degrees, the adjustment operation is repeated again by returning to the control device in the same manner as described above, and when the angle of inclination is within the range of ±0.05 degrees, the entire operation is completed.

The level adjustment plate 3() is thus controlled to a predetermined horizontal level.

At the tip of the hand 12 provided on the level adjustment plate 30, a detector □13 (limited to this) consisting of a phototube is attached. At the same time, a reflective tape 14 is affixed to each winding machine 1 (Ill) at a predetermined position corresponding to this phototube 13, and these phototubes 13 and reflective tape 14 enable hot operation (1). Determine the reference point (origin) of the Y direction for pulling and the Z direction for the weight direction perpendicular to this.

In such a device (automatic operation), robots v1 to 11 or robots v1 to 11 that have completed doffing work from winding machine 1 at a certain position or robots in the running platform 2
0, travels to the next position, and when it reaches a predetermined position, detects the detection plate 2 placed on the ground side with a detector (for example, a phototube) installed on the trolley 20, and presses W and +L to hear the sound. ? be done.

This stopping accuracy can achieve a normal three-phase seven-stage drive of about ±111 m, but in order to avoid rough polishing, it is also possible to use a ribo-seventer drive.

In this way, when the traveling platform is stopped at a predetermined position in the X direction, the switch of the horizontal level adjustment device is turned to A.
The inclination angle sensor 46 operates and as described above, by the 11ζ movement of the elevating body 38 or 39, the inclination angle in the
39 are moved up and down at the same time, the level in the Y direction is obtained, and thus the overall horizontal level is obtained. Through this level adjustment operation, the level adjustment plate 30 is maintained at a predetermined horizontal level, and the robot 11 is positioned on a horizontally held platform. After this, in Rohotsu 1=11, the hand 12 moves and the detector 13 at the tip of the hand 12 moves.
moves in the Y direction and approaches the anti-q1 tape 14 installed on the target winding machine side, the detector 13 detects it and sends the sight signal to m1.
The hand 12 stops, and this position 4g,) is set as the reference point (origin) in the Y direction (Y axis).

Next, when the hand 12 moves in the straightening direction and a detection signal that it has come off the foul tape 14 is output from the detector 13, the hands i to 12 stop, and this point is set as the reference point in the 7 directions (Z axis). do.

In this way, the robot 11 corrects the 1 quadrillion points, J
Then perform the (point iX recognition) on I in the Y-Z Ii direction, and thereafter set this origin to (1) and perform movements such as Ef4.1 easy operation that was taught in advance and J3.

In this way, the robot 11 is operated, or the robots 1 to 11 are always placed horizontally in the operating position without being affected by the unevenness of the floor surface, and the winding at each position is controlled in the Y and Z directions. By making these modifications, it becomes possible to perform the determined action smoothly without failure.

In addition, it is preferable to provide a kite rail in the X direction from the viewpoint of preventing deviation in the Y direction, but if the platform 11 is equipped with an autonomous steering function or a straight-line traveling function, a kite rail is necessary. It's not something you do.

[Effects of the invention in the Song Dynasty] As explained above, when using a robot with a 100000 point correction function on a running platform (when using a double-headed automatic working machine), rails were laid that restricted the correction of the floor surface and the level etc. This makes it possible to easily position the vehicle at a low cost without having to do any work.In particular, the surface of the vehicle is made of concrete and has the precision required for general construction work, and the middle wheel in the vehicle is also made of rubber. The advantage of using this is that you don't have to do any major construction work.

[Brief explanation of the drawing]

Fig. 1 is a schematic perspective view showing an embodiment of the present invention, Fig. 2 is a perspective view of a main part of a level adjustment plate not shown in Fig. 1, and Figs. Flock diagram J) J
, Bino U-chi 1/-1 is a diagram. DESCRIPTION OF SYMBOLS 1... Winder, 11... Robot, 20... Travel platform, 30... Level adjustment plate, 32... Spherical bearing,
38.39... descended. 44, 45... Stepping seater, 46... Tilt angle sensor holding position Applicant Teijin Ltd. agent Patent attorney Former Fil Jun Fubao Figure 2 Figure 3 Diagram 4

Claims (1)

[Claims] In an automatic working machine that travels between operating positions and performs a predetermined work at each operating position, a level adjustment plate incorporating a tilt angle sensor is provided between the traveling trolley and the automatic working device, and the level adjusting plate is connected to the traveling trolley. Three points are specified at the top, and one point is fixedly supported via an automatic centering means, and the other two points are freely supported by an elevating body so as to be able to move up and down. An automatic working machine characterized by being provided with a lifting means for vertically moving a level adjustment plate via a lifting pair to a position indicating a horizontal state, so that the automatic working device is automatically adjusted to a horizontal position.