JP3380062B2 - Industrial robot - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION [0001] BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot,
In particular, industries that automatically open and close the work door
For robots. [0002] 2. Description of the Related Art For example, a coating lamination for coating an automobile body.
At the inn, the door is attached to the body
It is transported as it is, and the body and door are painted.
You. In such an automobile assembly line, the end of the painting process
Lock mechanism to lock the door in the closed position after
The lath is designed to be assembled inside the door, so
Before mounting, these parts have not been assembled yet. In the painting line, the inside of the body and the
Open the unlocked door before painting the inside
Industrial robots are provided. This kind of industrial ro
As a bot, the sensor detects the glass storage groove in the door.
The rod provided on the hand into the glass storage groove
There is a type of robot that turns the door in the opening direction. In the industrial robot, for example,
As shown in JP-A-60-64288,
An optical sensor is embedded at the end, and the sensor is
Signal obtained when passing above the lath storage groove (output waveform
Change), the position of the glass storage groove is detected,
Move the arm so that the rod is inserted into the glass storage groove.
It is made to work. And for industrial robots
Arm moves horizontally and rod engages as above
Open the door. [0005] SUMMARY OF THE INVENTION However, as described above,
The largest if you use an industrial robot to open the door
The problem is that the rod is inserted exactly into the glass storage groove of the door
It is to be. In particular, the body for the car turns left and right
When the paper is transported in the locked state, the glass
It can be tilted with respect to the approach direction of the robot arm,
The position of the glass storage groove detected by the sensor faces the rod.
Position of the glass storage groove, and the rod
It may not be inserted into the lath storage groove. For this reason, the above-mentioned robot is attached to the tip of the arm of the robot.
And detect the position of the glass storage groove
A glass storage groove detection sensor consisting of an optical sensor
The rod after detecting the position of the glass storage groove.
Move to the detection position and insert it into the glass
It is supposed to make it. However, like this
Even if a glass storage groove detection sensor is provided at the tip of the
The position of the door may be shifted at
It is necessary to confirm that it is inserted into the glass
You. However, the rod is inserted into the glass storage groove.
If you provide a separate sensor to confirm that
Only increase the number of sensors and increase the manufacturing cost.
Or the detection signal output from each sensor in the control circuit
Will be complicated. Accordingly, the present invention provides an industrial solution which has solved the above problems.
It is intended to provide a robot for use. [0009] [Means for Solving the Problems]BookInvention of the work door
Based on the door detection signal from the sensor that detects the position of
To open and close the door by engaging an engagement member with the door.
An industrial robot for operating an arm, wherein the door
During the opening and closing operation ofWith the engagement member engaged with the door,
MaThe sensor sectionSwivel in the horizontal direction and
Based on the outputThe engagement member is engaged with the door
A determination means for determining whether or not the
You. [0010] [0011] [Action]The present inventionAccording to the opening and closing operation of the door,Engagement member
While the sensor is engaged with the door, rotate the sensor
And based on the output of the sensorThe engagement member engages the door
The number of sensors by determining whether
The door is pivoting in the opening or closing direction with the
Can be confirmed. [0012] [0013] 1 to 3 show an industrial robot according to the present invention.
An example will be described. In each figure, a body (work) 1 of an automobile is painted.
Paint the inside of body 1 on both sides of the painting line
To open and close the painting robot 3 and the door 2 of the body 1
Industrial robot 4 is installed. Painting robot 3 and industrial robot 4
Are mounted on the traveling devices 5 and 6 extending in the workpiece transfer direction.
And moves in the work transfer direction to move the body 1
Painting work and opening and closing of door 2 while following the work
U. Therefore, in the painting area shown in FIG.
During this time, the industrial robots 4 on both sides open the door 2 and
After the painting robot 3 on the side paints the inside of the body 1,
The industrial robot 4 closes both doors 2
I have. The painting robot 3 is an articulated robot.
At the end of the arm, a coating gun 3a is provided. Robo for painting
The door 3 is opened by the industrial robot 4
And paint gun 3a inserted into body 1 to spray paint.
Fog and follow a pre-registered painting program
Perform the prescribed painting work. As shown in FIG. 2, the industrial robot 4 comprises:
The first arm 4C stands on the turning base 4B on the base 4A.
The second arm extending in the horizontal direction is provided at the upper end of the first arm 4C.
This is an articulated robot having an arm 4D. Also,
When opening the door 2, the wrist 7 at the tip of the 2-arm 4D
A door engaging unit 8 that engages with the door 2 is mounted. As shown in FIG. 3, the door engaging unit 8
Detects the glass storage groove 2a of the door 2 as described later.
Glass storage groove detection unit (sensor unit) 9
To engage with the door 2 by being displaced so as to fit into the storage groove 2a.
Rod (engaging member) 10 and glass storage groove detecting unit
9 and a drive unit 11 for driving the engagement rod 10;
Consisting of The glass housing groove detecting section 9 includes the drive unit 1
By a bracket 12 rotatably supported on one side surface
Supported, and a glass storage groove of the door 2 as described later.
Until 2a is detected, the glass as shown by the solid line in FIG.
It is located above the storage groove 2a. However, the glass storage groove 2
When the position detection of a is completed, the glass storage groove detection unit 9
To the standby position indicated by the dashed line in FIG.
Away from door 2. The engagement rod 10 has a tapered portion 10a.
Made of a round bar with a tapered shape and inserted into the glass storage groove 2a
It is easy to do. Then, the engagement rod 10
Are usually held in a laterally extending orientation,
As described above, the position of the glass storage groove 2a is detected.
And the door engaging position shown by the chain line in FIG.
And is inserted into the glass storage groove 2a. The engaging rod 10 is made of, for example, cast iron.
Formed of a relatively brittle material,
a groove 10b for breaking is provided on the outer periphery above
It has an pinned structure. That is, the engagement rod 10 is excessively large.
When a strong force is applied, the engaging rod 10 is broken in the groove 10b.
To prevent the door 2 from being damaged. The drive unit 11 is supplied with air pressure.
It has a driven actuator, as shown in FIG.
Compression from the air source 14 via the solenoid valve unit 13
Air is supplied. The solenoid valve unit 13 includes an air source 14
And each actuator provided in the drive unit 11
Is provided in the middle of the air pipe 16 for connecting
When the position of the glass storage groove 2a is detected, compressed air is supplied as needed.
The switching operation is performed so that the power is supplied. Reference numeral 17 denotes a control panel.
If it is detected that the robot has been transported to the entrance, the industrial robot 4
Is a program for opening the door. or,
The control panel 17 is provided with an engagement lock when the door 2 is opened and closed.
The glass storage groove detecting section 9 is turned around the pad 10 as a central axis.
Control program as a determining means for determining the presence or absence of the door 2
Grams have also been entered. Here, the configuration of the door engaging unit 8 will be described.
This will be described in detail. As shown in FIG. 5 to FIG.
The unit 8 is provided at the tip of the arm of the painting robot 3.
In order to approach the coating gun 3a, the glass storage groove detecting unit 9
It has a sensor storage case 18 and the drive unit 11
It has a tutor storage case 19. This sensor storage case
In the case 18 and the actuator storage case 19
Is an explosion-proof structure that can be used in flammable atmospheres.
In this embodiment, the gap between the openings is made of rubber
It has a hermetically sealed structure sealed by a gasket. The front surface 19 of the actuator storage case 19
The end of the shaft 20 that supports the engagement rod 10 protrudes from a.
The upper surface 19b of the actuator storage case 19
Is activated by the air pipe 16 from the solenoid valve unit 13.
It is inserted into the inside of the heater storage case 19. Only
Also, on the upper surface 19b of the actuator storage case 19,
Seal the inside and outside of the actuator storage case 19
A connection portion 21 is provided. The upper surface of the actuator storage case 19
19b, at the tip of the second arm 4D of the industrial robot 4
Coupling portion 2 for coupling shaft 7a of provided wrist portion 7
2 are provided. Therefore, the door engaging unit 8
Operation of the second arm 4D and the wrist 7 of the industrial robot 4
To move to the predetermined door engagement position,
It operates so that the posture at the time is horizontal. The actuator storage case 19
Connected to one end 12a of bracket 12 on left side 19c
The shaft 23 protrudes. In addition, the bracket 12
When viewed from above, it is formed in an L-shape.
The sensor storage case 18 is fixed. As shown in FIG. 8 and FIG.
The engaging rod 10 is supported inside the housing case 19.
First rotary actuator 24 that rotates a shaft 20
And a second pivoting shaft 23 connected to the bracket 12.
A rotary actuator (sensor driving means) 25;
Is stored. The first and second rotary actuators
The eater 24, 25 is supplied with air through the solenoid valve unit 13.
Driven by the supply of compressed air from a source 14
Therefore, even in highly flammable atmospheres such as painted areas
Driven safely. The first rotary actuator 24 is
With racket 26 in actuator storage case 19
The front of the actuator storage case 19 is fixed.
A shaft 20 protruding from 19a is provided as a drive shaft.
You. The first rotary actuator 24
When compressed air is supplied through the air pipe 16, the shaft
20 and the engagement rod 10 is rotated by about 75 °. Obedience
Therefore, the engagement rod 10 is connected to the first rotary actuator.
Disengaged position indicated by a dashed line in FIG.
B1 or to an engagement position B2 indicated by a solid line in FIG. The second rotary actuator 25 is
With racket 27 in actuator storage case 19
Fixed to the left side of the actuator storage case 19
The shaft 23 projecting from the surface 19c is provided as a drive shaft.
You. Further, the second rotary actuator 25 is provided with an air distribution
When compressed air is supplied through the pipe 16, the bracket 1
2 only at a preset angle between 90 ° and 180 °
Rotate. Therefore, the glass storage groove detecting section 9 is configured to perform the second
The bracket 1 is driven by the rotary actuator 25.
2 together with the detection position indicated by the solid line in FIG.
Move to the standby position indicated by the dashed line. As shown in FIG. 10 and FIG.
The groove detector 9 is provided inside the sensor storage case 18 with the door 2.
The optical sensor 28 that detects the glass storage groove 2a of
Become. The optical sensor 28 is separated by a transparent glass plate 29.
The vertical position is maintained by the bracket 31 in the enclosed closed chamber 30.
Is held. The optical sensor 28 is connected to the closed chamber 30.
Facing the glass plate 29 buried in the partition wall 32 forming
The glass storage groove 2a is fixed inside.
A light emitting unit and a light receiving unit (both not shown) for detection are provided.
I do. This optical sensor 28 is an automatic dimming type red laser type.
A sensor and a sensing surface (in this embodiment, the door 2
Detects the intensity of the light reflected from the edge
It has a function to adjust. Therefore, from the optical sensor 28
The distance to the glass storage groove 2a of the door 2 regardless of the paint color
It can be measured accurately. The optical sensor 28 is an industrial sensor as described later.
Rod 10 during opening and closing operation by the robot 4
Door 2 is detected to determine whether the door 2 is engaged.
Perform the operation. Therefore, without providing a sensor dedicated to door detection,
To prevent the configuration from becoming complicated.
In addition, the manufacturing cost can be kept low. The closed chamber 30 is provided in the sensor storage case 1.
8. Elbow joint 33 and tube 34 provided on the side of
A protective gas, such as nitrogen gas, is supplied through the
And is constantly pressurized to a pressure above atmospheric pressure. Follow
The closed chamber 30 has an internal pressure explosion-proof structure,
Even if holes or gaps are formed in the sensor storage case 18,
And the thinner are prevented from entering the optical sensor 28.
Electrical sparks can ignite the atmosphere during painting
Is prevented. The side of the sensor storage case 18 has a
A joint 28 for returning the protective gas in the closed chamber 30 to the exhaust side is provided.
A tube 29 is connected to the joint 28.
You. At the end on the exhaust side, air that is closed during normal use
A valve (not shown) is provided. Therefore, a closed room
The pressure of the protective gas in 30 is always kept constant. Further, the optical sensor 2 is provided in the tube 34.
8 for transmitting and receiving signals to and from the control panel 17
Cable 35 is inserted through the tube 3
Protected from the atmosphere during painting by the protective gas in 4
You. Below the glass plate 29, the glass plate 2
9 to prevent paint mist from adhering
An extending hood 36 is fixed to the bottom of the sensor storage case 18.
Is defined. Thus, the glass plate 29 is provided so as to cover it.
The shaved hood 36 is provided on the lower surface facing the glass plate 29.
An opening 36a through which light from the optical sensor 28 passes is formed.
It is provided on the side in the internal space 36b of the hood 36.
Air injection nozzle for purging paint mist that has entered
37 are provided. The air injection nozzle 37 is held by a holder 40.
The holder 40 has a solenoid valve unit as described above.
Joint 39 to which air pipe 38 branched from port 13 is connected
Is screwed. Therefore, the air is injected from the air injection nozzle 37.
Enters the inner space 36b of the hood 36 by the blasted air
Paint mist is discharged outside through the opening 36a, and
The paint mist is prevented from adhering to the plate 29. So
Therefore, the light from the optical sensor 28 is always
Pass through the opening 36a of the hood 36 and store the glass of the door 2
Irradiation is performed on the groove 2a. The glass plate 29 is provided with an opening 32 of the partition wall 32.
a from below. Also, gala
Gasket 41 and gasket pusher contacting the lower surface of the plate 29
Even 42 is fixed to partition 32 by tightening bolt 43
At the same time, the glass plate 29 is prevented from falling off. Therefore, when the glass plate 29 becomes dirty,
Remove the glass plate 29 by loosening the bolt 43
Because it can be cleaned,
A decrease in the amount of light from the optical sensor 28 is prevented. Next, the industrial robot 4 having the above configuration
The processing executed by the control panel 17 together with the operation will be described.
You. The control panel 17 has a body 1 as a work.
When transported to the painting area, the flow shown in FIGS.
-Perform chart processing. The flow chart of FIG.
14 is a process executed at the time of the door opening operation.
The flowchart shows the process executed when the door is closed.
You. Accordingly, the control panel 17 is provided with a conveyor (not shown).
The vehicle body 1 is located in front of the industrial robot 4
Arrival is detected by a start switch (not shown).
When it is issued, the door opening operation by the industrial robot 4 is started.
Step S1 in FIG. 13 (hereinafter, “step” is omitted)
), The position of the glass storage groove 2a of the door 2 is detected.
Do. That is, the industrial robot 4 is as shown in FIG.
The door engaging unit 8 is adjusted to the height of the
Move arms 4C, 4D and wrist 7 to move horizontally
You. The height position of the window of the door 2 is input to the control panel 17 in advance.
The door engaging unit 8 is engaged with the engaging rod 10
Position where the tip of the door does not contact the edges 2b and 2c of the door 2.
Approaching the door 2 while being held at As shown in FIG. 15, the door engaging unit 8
Passing over the glass storage groove 2a while moving in the Y direction
Then, the light beam emitted from the light emitting unit of the optical sensor 7 is
Light is reflected and reflected by the edges 2b and 2c on both sides of the lath housing groove 2a.
And the output of the optical sensor 7 is changed to the shape of the edges 2b and 2c.
It is obtained as an analog signal. And below the saturation value
It is converted into an ON / OFF signal with the above output value width. Follow
Between the first ON signal and the second ON signal.
This is the detection position of the groove 2a. As shown in FIGS. 16A to 16C, the door
The engagement unit 8 moves in the Y direction and passes through the edge 2b.
At this time, the first ON signal is output from the optical sensor 28, and the
When passing through the glass storage groove 2a, the output of the optical sensor 28 is turned off.
Become Further, the door engaging unit 8 moves in the Y direction.
When passing through the edge 2c, the second ON signal is
It is output from the server 28. As described above, the door engaging unit 8
The correct position of the glass storage groove 2a is
If detected by the sensor 28, the process proceeds to S2, where the engagement lock
The pivot 10 is rotated to the engagement position. That is, the engagement rod 10
Is located at a predetermined position in the Y direction with the optical sensor 28,
The edge 28 passes through the glass storage groove 2a and detects the edge 2c.
When the engagement rod 10 faces the glass housing groove 2a
Be placed. Therefore, the groove detection position by the optical sensor 28
After stopping the arms 4C, 4D and the wrist 7 with,
As described above, the compressed air from the solenoid valve unit 13 is
The shaft 20 is supplied to the rotary actuator 24 to move the shaft 20 in the B direction.
To rotate. Therefore, the first rotary actuator 2
4, when compressed air is supplied via the air pipe 16,
The engagement rod 10 is rotated about 75 ° together with the shaft 20 to
Disengagement position B1 of the mating rod 10 indicated by a dashed line in FIG.
To the engagement position B2 indicated by the solid line in FIG. Therefore, the engagement rod 10 is made of the glass of the door 2.
Because it is located above the storage groove 2a, it turns in the B direction.
And the tapered portion 10a is inserted into the glass accommodation groove 2a.
You. Thus, the engagement rod 10 is engaged with the door 2.
You. In the next S3, the turning base of the industrial robot 4 is set.
4B, arms 4C, 4D, and wrist 7 to operate
The engagement unit 8 is rotated in the direction C (see FIG. 3).
The engagement rod 10 of the door engagement unit 8 is
a, the door 2 is in the industrial
In the door opening direction (C direction) by the door opening operation of the robot 4
Rotate. However, while the body 1 is being conveyed.
May vibrate in the vertical direction during the door opening operation.
The rod 10 may come off from the glass storage groove 2a.
is there. Therefore, as shown in FIG.
The rod 10 has been inserted into the glass storage groove 2a.
If vertical vibrations occur during the opening operation,
(B) or (C) as shown in FIG.
It comes out of the groove 2a and is located inside or outside the door 2.
Sometimes. Therefore, in the next S4, the position shown in FIG.
The glass storage groove detector 9 is located at the detection position shown in FIG.
The door 2 is turned by a fixed angle and the door 2 is
Confirm that it is in the engaged state with the lock 10. That is, in S4, the engagement rod 10 is
As the center axis, the glass storage groove detecting section 9 turns.
Turning base 4B, arm 4C, 4 of industrial robot 4
D, The wrist 7 is operated. Therefore, the glass storage groove inspection
The optical sensor 28 housed in the protrusion 9 moves the engagement rod 10
Moves in an arc with the center as the center and passes above the glass storage groove 2a
Will be. Also, during this detection operation, the engagement rod 10
The door 2 is damaged by the engagement rod 10 because it is the central axis.
When the door is opened to prevent the
Is engaged with the glass storage groove 2a, or
If you are in contact with the inside of door 2, you can open door 2
it can. Therefore, as described above, the light is detected by the optical sensor 28.
The glass storage groove 2a and the edges 2b, 2c of (a) are detected.
Then, the door 2 is in the engaged state shown in FIG. 17 (A) or (B).
It is confirmed that there is. Therefore, in S5, the door detection signal is
When the output is performed, the process proceeds to S6, and the process of the industrial robot 4 is performed.
Continue the opening operation. Then, in S7, is the door opening operation completed?
Check if the door is being opened
Return to S4. Then, the process after S4
repeat. Therefore, the optical sensor 28 starts the door opening operation.
Door 2 opens with the engagement rod 10 from
Watch that you are. However, in S7, the door 2 is almost fully opened.
When the door opening operation is completed, the process proceeds to S8, where the solenoid valve unit is opened.
To the second rotary actuator 25
Is supplied, and the shaft 23 is moved upward between 90 ° and 180 °.
Rotate by a preset angle. The second rotary
The actuator 25 is connected to the compressed air via the air pipe 16.
Is supplied, the bracket 12 is turned about 90 ° to 180 °
Rotate by a preset angle between and store the glass
The groove detector 9 is moved from the detection position indicated by the solid line in FIG.
Move to the standby position indicated by the chain line. As a result, the glass storage groove detecting section 9
A from the position close to the edges 2b and 2c of the door 2
And at a position above the edges 2b and 2c of the door 2.
It will move and the painting gun 3a of the painting robot 3
Move to a position more separated and separated. For this reason,
Spray from the painting gun 3a even when the bot 3 starts painting work
Paint mist moved to the standby position
It is prevented from reaching the detection unit 9. Therefore, paint mistake
Can be prevented from entering the inside of the hood 36.
The opening 36a of the hood 36 of the glass storage groove detecting section 9 is
There is no need to provide a shutter mechanism or the like for closing. Further, the hood 36 invades the internal space 36b.
Air injection nozzle 3 for purging paint mist that has entered
7, the paint that has entered through the opening 36a
The mist can be prevented from adhering to the glass plate 29. So
Therefore, the optical sensor 28 is always detected by paint mist.
Without interrupting the operation, the position of the glass storage groove 2a
Can be detected accurately. The door 2 is in this state by the industrial robot 4.
Is kept in the open position. Subsequently, the painting robot 3 opens the door 2.
The paint gun 3a enters the body 1 from the
-1 Paint the inside. After painting, the painting robot 3
The coating gun 3a is retracted and separated from the body 1. At S5, a door detection signal is output.
If not, the engagement rod 10 is
It has been confirmed that it is in the disengaged state as shown in FIG. 17 (C).
It is. Then, proceed to S9, issue an alarm to the worker
Notifies that door opening operation is defective. Subsequently, in S10, the industrial robot 4
And the painting robot 3 is stopped.
A) to prevent collision with 2. After that, proceed to S11
Then, the engagement rod 10 is rotated to the engagement release position. That is, the control panel 17 includes the solenoid valve unit 13
To supply air to the rotary actuator 24
Switch direction. As a result, the engagement rod 10
5 in the direction opposite to the engagement operation, and the engagement indicated by the solid line in FIG.
From the position B2 to the disengagement position B1 indicated by a dashed line in FIG.
Displace. Thereafter, the process proceeds to S8, in which the rotary work is performed.
Switch the air supply direction to the heater 25 to detect the glass storage groove
The protruding portion 9 is moved from the detection position indicated by the solid line in FIG.
Move to the standby position indicated by the line. Next, the processing of the door closing operation in FIG. 14 will be described.
I do. The control panel 17 determines in S21 of FIG.
Switch air supply direction to rotary actuator 25
In addition, the glass storage groove detecting unit 9 is set to a standby position indicated by a dashed line in FIG.
It is moved from the machine position to the detection position indicated by the solid line in FIG. Subsequently, the door is closed by the industrial robot 4.
The operation is started (S22). In other words, the industrial robot 4 has the turning base 4
B, arm 4C, 4D, wrist 7 operated to engage the door
Rotate the unit 8 in the door closing direction (the direction opposite to the direction C)
You. Engagement rod 10 of door engagement unit 8 houses glass
When the door 2 is inserted into the groove 2a, the door 2 is
Is turned in the door closing direction by the door closing operation of the robot 4
You. However, when the painting robot 3 is in the body 1
Body 1 vibrates up and down while painting
During the door closing operation, the engagement rod 10
2a. Therefore, FIG.
As shown in (B), the rod 10 moves from the glass storage groove 2a.
When the robot is pulled out and positioned inside the door 2, the industrial robot 4
Door 2 is left in the fully open position even if
You. Therefore, in the next S23, the above-mentioned S4 and S4
Similarly, from the position shown in FIG. 18 to the detection position shown in FIG.
The lath storage groove detecting section 9 is turned by a predetermined angle to open the door closing operation.
The door 2 must be engaged with the engagement rod 10 halfway.
And confirm. That is, in S23, the engagement rod 10
With the center as a center axis, the glass storage groove detecting section 9 is turned.
The turning base 4B and the arms 4C and 4 of the industrial robot 4
D, The wrist 7 is operated. Therefore, the glass storage groove inspection
The optical sensor 28 housed in the protrusion 9 moves the engagement rod 10
Moves in an arc with the center as the center and passes above the glass storage groove 2a
Will be. Also, during this detection operation, the engagement rod 10
The door 2 is damaged by the engagement rod 10 because it is the central axis.
This is prevented. At the time of the door closing operation, the engagement rod 10
Engaging with the groove 2a or contacting the outside of the door 2.
If so, the door 2 can be closed. Therefore,
As described above, the glass of the door 2 is stored by the optical sensor 28.
When the groove 2a and the edges 2b and 2c are detected, the door 2
Confirm that it is in the engaged state shown in 17 (A) or (C)
Is done. Therefore, in S24, the door detection signal
Is output, the process proceeds to S25, and the industrial robot 4
The door closing operation of is continued. Then, in S26, the door closing operation is completed.
Whether the door is closed
If there is, the process returns to S23. And after S23
Repeat the process. Therefore, the optical sensor 28 performs the door closing operation.
Door 2 is closed with engagement rod 10 from the start to the end of
Monitor that it is working. However, in S26, the door 2 is fully closed.
When the door closing operation is completed, the process proceeds to S27, where the solenoid valve unit
From the slot 13 to the second rotary actuator 25
Air is supplied and the shaft 23 is moved upward between 90 ° and 180 °.
Is rotated by a preset angle. Second rotor
The re-actuator 25 is compressed air through the air pipe 16.
When air is supplied, the bracket 12 is turned 90 ° to 180 °.
Rotate by a preset angle between and store the glass
The groove detector 9 is moved from the detection position indicated by the solid line in FIG.
Move to the standby position indicated by the chain line. Thereafter, the flow advances to S28, where the engaging rod 10 is
Rotate to the disengaged position. That is, the control panel 17 includes the solenoid valve unit 13
To supply air to the rotary actuator 24
Switch direction. As a result, the engagement rod 10
5 in the direction opposite to the engagement operation, and the engagement indicated by the solid line in FIG.
From the position B2 to the disengagement position B1 indicated by a dashed line in FIG.
Displace. The turning base 4 of the industrial robot 4
B, arm 4C, 4D, wrist 7 operated to engage the door
The unit 8 is separated from the door 2 (S29). At S24, a door detection signal is output.
If not, the engagement rod 10 is
Confirmation of non-engagement state as shown in FIG. 17 (B)
Is done. Then, proceed to S30, issue an alarm and work.
To the user that the door closing operation is defective. Subsequently, in S31, the industrial robot 4 is
Stop and let the industrial robot 4 collide with the door 2
And the door engaging unit 8 contacts the body 1.
To prevent collision. Thereafter, the process proceeds to S32, and the engagement
The pad 10 is rotated to the disengaged position. That is, the control panel 17 includes the solenoid valve unit 13
To supply air to the rotary actuator 24
Switch direction. As a result, the engagement rod 10
5 in the direction opposite to the engagement operation, and the engagement indicated by the solid line in FIG.
From the position B2 to the disengagement position B1 indicated by a dashed line in FIG.
Displace. Thereafter, the flow advances to S29, where the industrial robot 4
Of turning base 4B, arms 4C and 4D, and wrist 7
Then, the door engaging unit 8 is separated from the door 2. As described above, after the painting operation is completed,
When the door 2 is closed, the control panel 17 moves the industrial robot 4 to the door.
Return to the position before opening and closing. As described above, the industrial robot 4 can open the door.
During the closing operation, the glass storage groove detecting section 9 is turned to open the door 2.
During opening operation or closing operation due to engagement with the engagement rod 10
Can be confirmed, the engagement rod 10 is attached to the door 2
Engage to open and close door 2 or engage rod
10 is removed from door 2 and door 10 is left?
Can be determined. Therefore, the engaging rod 10 should be
If it is out of the range, the industrial robot 4 and the painting robot
3 to prevent collision with door 2 or body 1.
Can be stopped. In the above-described embodiment, the glass storage groove detecting section is used.
9 is turned so that the door 2 is engaged with the engagement rod 10.
It was confirmed that the opening or closing operation was being performed.
However, the present invention is not limited to this.
By making it possible to slide against the side of
By moving the glass storage groove detecting section 9 linearly,
Nothing may be detected. Further, in the above embodiment, in the coating line,
An example of opening a car body door with a robot
However, the present invention is not limited to this.
It can be applied to open the door of
It can also be applied to external processes. In the above embodiment, the optical sensor 28 is used.
To detect the position of the glass storage groove 2a, but this is not a limitation.
For example, a high-frequency sensor or an ultrasonic sensor
Of course, you may use etc. Also, the door engaging unit 8 can be moved only in the horizontal direction.
To move and open the door, other than the above articulated robot
Robots of the type, for example scalars with a horizontal articulated structure
It can be applied to robots of the type. In the above embodiment, the engagement member as the engagement member is used.
The joint rod 10 and the glass storage groove detector 9 are moved by compressed air.
Driven by rotary actuators 24 and 25
However, the present invention is not limited to this.
Actuator (eg air cylinder or hydraulic cylinder
Etc.) may be used. [0094] As described above,Industrial robot according to the present invention
GAccording to the opening and closing operation of the door,Engage engagement member with door
Rotate the sensor section in the horizontal direction while keeping
Based on the outputMove the sensor part so that the engagement member
Increase the number of sensors to determine whether they are engaged.
The door is pivoting in the opening or closing direction with the
That the configuration is complicated
And reduce production costs.
it can. Also, during the opening and closing operation of the door,Engagement member out of door
IfWhen the door separatesSensor output changes
When the output of the sensor changes,Robot
It can be stopped to prevent the occurrence of a collision accident. According to the second aspect of the present invention, the sensor section
You can check the presence of the door by rotating around the engagement member
When closing the door with the engaging member engaged with the door,
Check that the door is pivoted in the closing direction with the engagement member.
Can be recognized.

BRIEF DESCRIPTION OF THE DRAWINGS FIG. 1 is a plan view for explaining a coating line to which an embodiment of an industrial robot according to the present invention is applied. FIG. 2 is a perspective view of an industrial robot. FIG. 3 is a perspective view for explaining a door opening operation by a door engaging unit. FIG. 4 is a plan view showing a schematic configuration of a coating line. FIG. 5 is a front view of the door engaging unit. FIG. 6 is a side view of the door engaging unit. FIG. 7 is a plan view of the door engaging unit. FIG. 8 is a longitudinal sectional view showing the internal configuration of the door engaging unit. FIG. 9 is a longitudinal sectional view of the door engaging unit taken along line IX-IX in FIG. FIG. 10 is a longitudinal sectional view of a glass storage groove detection unit. FIG. 11 is a longitudinal sectional view of the glass housing groove detecting section along the line XI-XI in FIG. 10; FIG. 12 is a cross-sectional view of a glass storage groove detection unit. FIG. 13 is a flowchart illustrating a process performed at the time of a door opening operation. FIG. 14 is a flowchart illustrating a process performed at the time of a door closing operation. FIG. 15 is a diagram for explaining an output signal when a glass housing groove is detected by an optical sensor. FIG. 16 is a longitudinal sectional view for explaining a detection operation of the optical sensor. FIG. 17 is a plan view showing a positional relationship between an engagement rod and a glass storage groove. FIG. 18 is a plan view showing a state where an engagement rod is engaged with a glass storage groove. FIG. 19 is a plan view for explaining an operation of detecting the presence / absence of a door by rotating the glass storage groove detection unit while the engagement rod is engaged with the glass storage groove. [Description of Signs] 1 Body 2 Door 2a Glass storage groove 4 Industrial robot 8 Door engagement unit 9 Glass storage groove detector 10 Engagement rod 11 Drive unit 12 Bracket 13 Solenoid valve unit 17 Control panel 18 Sensor storage case 19 Actuator Storage case 24 First rotary actuator 25 Second rotary actuator 28 Optical sensor

──────────────────────────────────────────────────続 き Continuing on the front page (72) Inventor Hiroshi Suzuki 1-3-6 Fujimi, Kawasaki-ku, Kawasaki City, Kanagawa Prefecture Inside Tokiko Co., Ltd. (72) Teruaki Nakayama 1-3-6 Fujimi, Kawasaki-ku, Kawasaki City, Kanagawa Prefecture No. Tokiko Co., Ltd. (72) Inventor Saburo Mutoh 1-3-6 Fujimi, Kawasaki-ku, Kawasaki-shi, Kanagawa Prefecture Tokiko Co., Ltd. (56) References Japanese Utility Model Hei 5-44484 (JP, U) (58) Investigated Field (Int.Cl. ⁷ , DB name) B25J 3/00-3/04 B25J 9/10-9/22 B25J 13/00-13/08 B25J 19/02-19/06

Claims (1)

(57) [Claim 1] An arm that engages an engaging member with the door based on a door detection signal from a sensor unit that detects a position of the door of the workpiece to open and close the door. An industrial robot that operates: engaging the engaging member with the door during the opening and closing operation of the door.
The sensor is turned horizontally while the sensor is
An industrial robot comprising: a determination unit configured to determine whether the engaging member is engaged with the door based on an output of a sensor unit.