JPS608954Y2 - industrial robot - Google Patents

Description

[Detailed explanation of the idea] The present invention relates to an industrial robot.

Industrial robots are generally operated according to a program, but when objects to be worked on become objects one after another, programs created based on the objects to be worked must be sequentially read out from a storage device.

By the way, in this case, according to the keyboard setting method in which the workpiece is visually identified and the program corresponding to the workpiece is read out based on this, a monitoring staff is always required during the work and the program is stored. Workers must always memorize the correspondence between programs and workpieces, and on the other hand, according to the pinboard setting method in which the program reading order is specified in advance by pins, the pinboard itself is limited. Since it is a space, only a limited number of specifications can be made, and in addition, since the reading order is determined in advance, the order of the objects to be worked on is also determined correspondingly, and the degree of freedom of work is significantly reduced.

Furthermore, like the keyboard setting method, the pinboard setting method requires a person to designate the program, and in addition, it takes a lot of time to change the program reading order, and therefore the work must be temporarily suspended. A situation may arise.

The present invention was devised in consideration of the above points, and its purpose is to allow infinite repetition of program specifications without requiring monitoring personnel or designated personnel, and in addition, to avoid interruptions in work. An object of the present invention is to provide an industrial robot that can easily change the order of objects to be worked on and the order of reading programs without causing any problems.

Next, a preferred specific example of the present invention will be explained based on the drawings.

In FIG. 1, 1 is a robot body consisting of a wrist 2, an arm 3, a support 4, a base 5, etc.
operates under the control of the control device 6.

The wrist 2 is connected to the arm 3 so as to be movable vertically and horizontally, and when this robot is used for painting, a paint spray nozzle is provided at the tip of the wrist 2.

The arm 3 is similar to the wrist 2, and is connected to the support column 4 so as to be movable vertically and horizontally.

The control device 6 controls workpieces 7, each having a different shape.
In order to cause the robot main body 1 to perform predetermined tasks corresponding to tasks 8, 9, etc., it has a storage device that stores work programs corresponding to these tasks.

The workpieces 7, 8, 9, etc. are suspended from the transport device 13 by suspension members 10, 11, 12, etc., respectively.

The conveyance device 13 sequentially conveys the workpieces 7, 8, 9, etc. in the A direction.

Suspension member 1θ. 11, 12, etc. each have an identification mark indicating the shape of the workpiece.

This identification mark consists of - number of strikers 14 on the suspension member 10, three strikers 15, 16 and 17 on the suspension member 11, and two strikers on the suspension member 12.
It consists of two strikers 18 and 19.

That is, the identification mark of the suspension member 10 is a digital signal "'
1000", and the hanging member 11
The identification mark on the suspension member 12 is provided to specify the digital signal "1101", and the identification mark on the suspension member 12 is provided to specify the digital signal "'1ooi".

In this way, each identification mark is formed to identify each workpiece.

20, 21, 22, and 23 are switches serving as readers that are fixedly provided at specific positions on the conveyance path of the workpiece, and these switches 20, 21, 22, and 23 are respectively attached to the hanging member. The switch 20, 21, 2 has an actuating piece actuated by a striker provided therein.
The outputs 24 of 2 and 23 are input to the control device 6.

25 is a switch having an operating piece operated by a hanging member, and this switch 25 outputs a signal defining the reading time of the identification mark by the reader.

Therefore, this switch 25 is the switch 20, 21.2
When the actuating pieces 2 and 23 are actuated by the striker, the actuating pieces are fixed at specific positions on the conveyance path of the workpiece so that they are actuated by the hanging member at the same time.

An output 26 of this switch 25 is also input to the control device 6.

Next, to explain the operation of the industrial robot configured in this way, the robot main body 1 has now completed a predetermined work on the workpiece 7, and the workpieces 7, 8, 9, etc. are moved in the direction A by the transport device 13. Suppose that it is being transported to

In this state, the workpiece is further conveyed, and when the suspension member 11 suspending the workpiece 8 reaches the positions of the switches 20 to 23 and 25, the suspension member 11 collides with the operating piece of the switch 25. Strikers 15, 16 and 17 are switch 2
It collides with actuating pieces 0, 21 and 23.

Note that the actuating piece of the switch 22 is not actuated because no striker is provided at the corresponding position.

Therefore, "'1101" is obtained as a digital signal at the output 24 of the switches 20 to 23, and this output is input to the control device 6.

At the same time, the output 26 of the switch 25 outputs a signal indicating that a signal for identifying the workpiece is being obtained.
This output is also input to the control device 6.

The control device 6 receives the signal from the switch 25 and the signal from the switch 2
Based on the signals from 0 to 23, the digital signal ゛1
101'' is read from the storage device.

That is, the work program corresponding to the specific workpiece 8 is read out.

Further, the control device 6 outputs a control signal to the robot body 1 based on this program in order to cause the robot body 1 to perform the work.

As a result, the robot main body 1 performs the work corresponding to the workpiece 8 and ends the work in response to the work stop signal from the control device 6.

Note that the reader and the identification mark may be implemented using optical means as follows.

That is, in FIG. 2, 30 is a light source, which includes a lamp,
A light emitting diode, a laser, etc.

31, 32, 33, and 34 are light receiving elements, such as phototubes, photodiodes, or phototransistors.

35 are through holes 36, 37 and 38 for specifying the workpiece 8;
This shielding plate 35 is provided on the suspension member 11.

In this way, the light source 30 and the light-receiving elements 31 to 34 constitute a reader, while the shielding plate 35 having a through hole constitutes an identification mark, and the same function as described above can be obtained.

In the illustrated example, a digital signal "'1101" is obtained as the workpiece identification signal.

Further, the function of the switch 25 shown in FIG. 1 may be realized using optical means in this way.

As described above, according to the present invention, since the type of workpiece can be automatically detected, there is no need for monitoring personnel, and at the same time, it is also possible to specify a program, so there is no need for designated personnel. In addition, even if the order of the workpieces is changed,
Programs can be specified normally, and as a result, the order of objects to be worked on and the order of program reading can be easily changed without interrupting the work, and an infinitely repeated program can be specified.

[Brief Description of the Drawings] Figure 1 is an explanatory diagram of a preferred embodiment of the present invention;
The figure shows a modification of the identification mark and reader: a cut. 1...Robot body, 6...Control device, 7°8.9...Worked object, 10. 11.
12... Hanging member, 13... Conveying device, 14. 15. 16. 17.18.19...
・・Striker-20, 21゜22゜23...Switch.

Claims (1)

[Scope of utility model registration request] A suspension member for suspending the object to be worked on the transport device, an identification mark provided on the suspension member indicating the type of the object to be worked, a reader for reading the identification mark, and a signal from the reader. An industrial robot characterized by comprising a robot body that performs work on a workpiece by selecting a predetermined program.