JP2007160376A - Controller - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide a controller which is free from any erroneous operation by spatter caused during welding, and by which the control can be simplified. <P>SOLUTION: The controller controls other operational equipment such as a work attitude changing device by the welding torch 3 of a welding robot. In a casing 31, there are provided an operational detecting member 32 detecting the welding torch in a plurality of places and also a detecting member 33 for confirmation detecting the operation for the confirmation purpose. A plurality of air feed pipes are provided, each one end side of which is connected to an air source and the other end side of which has an air feed port to feed operational air to the other operational equipment, and a solenoid valve is provided in the middle of these air feed pipes. A control circuit part is provided to output a control signal to the predetermined solenoid valve only when a detection signal is input from both detecting members 32, 33, wherein limit switches 41, 47 are used in the respective detecting members 32, 33. <P>COPYRIGHT: (C)2007,JPO&INPIT

Description

  The present invention relates to an automatic assembly apparatus, for example, a control apparatus that can control an operation device for changing the posture of an object to be welded (workpiece) using air pressure when welding is performed by a welding robot.

  In general, in an automatic assembling apparatus, for example, an automatic welding apparatus, a workpiece which is an object to be welded is held by a holding device, and welding at a predetermined location is automatically performed by a welding robot. At the time of welding, for example, when it is necessary to weld a predetermined portion around the workpiece, the rotary table that holds the workpiece provided on the holding device side is rotated by a predetermined angle so that, for example, downward welding can be performed. In addition, the welding point is always positioned on the upper side.

  This type of holding device operates in conjunction with the welding robot. Specifically, the control data of the rotary table on the holding device side is input to the operation program of the welding robot, and the welding robot side And the holding device side are connected to each other by a large number of control lines.

For this reason, it is necessary to lay a large number of control lines between the welding robot side and the holding device side, but a workpiece holding device that can eliminate the troublesome laying work has been proposed.
This work holding device has an electric motor for rotating a work holding body and a casing provided with a plurality of holes into which a welding torch of a welding robot can be inserted, and can detect a welding torch in each of these holes. An optical sensor is arranged. By inserting a welding torch into a predetermined hole and operating the predetermined optical sensor, the electric motor is controlled to rotate the work holding body at a predetermined angle. Yes (for example, see Patent Document 1).
JP 2000-288786 A

  According to the above configuration, the workpiece holding body is rotated at a predetermined angle according to the position of the hole into which the welding torch is inserted, but an optical sensor is used to detect the welding torch. Therefore, during welding, there is a risk that spatter that jumps into the hole is mistakenly detected as a welding torch and malfunctions, and it is necessary to control a rotary table driven by an electric motor, which complicates the control mechanism. At the same time, there was a problem that the cost was high.

  Therefore, an object of the present invention is to provide a control device that does not malfunction due to spatter generated during welding and that can simplify the control mechanism.

In order to solve the above-described problem, a control device according to claim 1 of the present invention is a control device capable of controlling another operating device by an operation member of an automatic assembly device,
A plurality of detection members that can detect the operation member are provided on the apparatus main body side,
A plurality of air supply pipes that are connected to an air source at one end and supply operating air to the other operating device are provided at the other end.
While providing an electromagnetic on-off valve in the middle of each air supply line,
A control unit is provided for inputting a detection signal from each of the detection members and outputting a control signal to an electromagnetic on-off valve provided in each of the air supply pipes,
Further, as each of the detection members, a contact type detector capable of detecting a contact operation by the operation member is used.

Further, the control device according to claim 2 is a control device capable of controlling another operating device by an operation member of the automatic assembly device,
On the apparatus main body side, a plurality of operation detection members that can detect the operation member are provided, and a confirmation detection member that can detect that the operation is performed by the operation member is provided.
A plurality of air supply pipes that are connected to an air source at one end and supply operating air to the other operating device are provided at the other end.
While providing an electromagnetic on-off valve in the middle of each air supply line,
Provided with a control unit for inputting a detection signal from each of the operation detection member and the confirmation detection member and outputting a control signal to an electromagnetic on-off valve provided in each air supply line,
A contact-type detector capable of detecting contact by the operation member is used as each operation detection member, and the confirmation detection member is arranged in parallel with each operation detection member and can be moved in the contact direction by the operation member. And a contact type detector capable of detecting the movement of the movable plate in contact with the movable plate,
Furthermore, the control unit performs predetermined control only when a detection signal from each contact type detector in each operation detection member and a detection signal from the contact type detector in the confirmation detection member are input simultaneously. It is configured to output a signal.

  Further, a control device according to a third aspect uses a limit switch as a contact detector in the control device according to the first or second aspect.

  According to the first aspect of the present invention, the operation device is operated by the operation member via the contact type detection member provided on the apparatus main body side, so that the conventional optical sensor is used. In addition, it is possible to prevent the spatter from being erroneously detected as an operating member, and the operating device is operated by operating air. For example, when a pneumatic cylinder is used, the driving member Positioning (control) is performed at the stroke end of a certain piston, and the configuration of the control unit can be simplified as compared with the case where the rotation angle is controlled by, for example, an electric motor, and thus the cost can be reduced. Can be achieved.

  Further, according to the configuration of the second aspect, in addition to the effect of the configuration according to the first aspect, the operation device is operated by the operation member via the contact-type operation detection member provided on the apparatus main body side. In addition, since the contact type detection member for confirmation that can confirm that the operation is performed by the operation member is provided, it is possible to prevent malfunction (erroneous operation) due to contact with work equipment other than the operation member.

[Embodiment]
Hereinafter, a control device according to an embodiment of the present invention will be described with reference to FIGS.
In the present embodiment, a description will be given of a control device that controls an attitude changing device or the like that can change the attitude of a workpiece that is an object to be welded by an automatic assembly apparatus such as a welding robot.

  As shown in FIG. 1, a welding robot 1 has, for example, an articulated robot arm 2, and a welding torch (an example of an operation member) 3 is attached to the tip of the robot arm 2. At a position corresponding to the welding robot 1, a posture changing device (an example of an operating device) 4 for holding the workpiece W as a workpiece and changing its posture and another component W ′ are set. And a control device 6 for controlling, that is, operating the posture changing device 4 and the article mounting device 5 by the welding torch 3 of the welding robot 1.

  The posture changing device 4 includes a rotary actuator 11 having a rotary shaft portion that is rotationally driven by air pressure, and a holding table 12 that is attached to the rotary shaft portion of the rotary actuator 11 and holds a workpiece W. Yes.

  As shown in FIG. 2, the rotary actuator 11 includes a casing 22 in which two pneumatic cylinder chambers 21 (21A, 21B) elongated in a predetermined direction are formed in parallel to each other, and between the cylinder chambers 21 and A rotary output shaft (rotating shaft portion) 23 provided rotatably at an intermediate position in the longitudinal direction (also a stroke) via a bearing and having pinion teeth 23a formed on the outer peripheral surface thereof, and each cylinder chamber 21 It is composed of a pair of pistons 24 formed with rack teeth 24a which are arranged so as to be movable in the longitudinal direction thereof and mesh with the pinion teeth 23a of the rotation output shaft 23. An air inlet / outlet 25 is formed in the casing 22 corresponding to one end side of each cylinder chamber 21, and the holding table 12 is fixed to the upper end portion of the rotary output shaft 23.

  Therefore, by supplying or discharging air (air pressure) from each air inlet / outlet 25 and moving both pistons 24 in opposite directions, the rotation output shaft 23, that is, the holding table 12 can be rotated in the forward and reverse directions.

  As shown in FIG. 1, a normal single rod type pneumatic cylinder 26 is used as the article mounting device 5. For example, when mounting the component W ′ on the workpiece W, the component W ′ is moved. Positioning with respect to the workpiece W is performed. Further, in the pneumatic cylinder chamber 27 of the pneumatic cylinder 26, first and second position detectors (for example, magnetic sensors) for detecting that the piston portion 28a of the piston rod 28 is located at the stroke end. 29 (29A, 29B) is provided.

  Since the rotary actuator 11 and the pneumatic cylinder 26 are operated by air pressure, positioning (control) is performed at the stroke end of each piston (drive member). As compared with the case where the control is performed, the configuration of the control unit can be simplified.

  As shown in FIGS. 1 and 3 to 5, a plurality of, for example, six control devices 6 are arranged in a row on the upper surface of a casing 31 in the shape of a vertical box that is a main body of the control device 6. The operation detection member 32 (32 </ b> A to 32 </ b> F) operated by 3, and the operation by the welding torch 3 provided on the side surface (surface) of the casing 31 at a position lower than the operation detection member 32 by a predetermined height. A detection member 33 for confirmation for detecting the pressure, and one end side provided in the casing 31 and connected to an air source (for example, an air compressor) 34, and the other end Six empty sides connected to air supply ports (specifically, couplings or the like) 35 provided on the outer surface of the casing 31 in a plurality, that is, six corresponding to the number of the operation detecting members 32. Detection signals from a supply pipe (an example of an air supply pipe) 37, an electromagnetic on-off valve 38 provided in the middle of each of the air supply pipes 37, and each of the operation detection members 32 and the confirmation detection members 33 are input. And a control circuit unit (an example of a control unit) 39 that outputs an open / close signal (control signal) to each electromagnetic open / close valve 38.

Each of the detection members 32 and 33 is operated by the welding torch 3, and a contact type detector is used for each.
That is, each motion detection member 32 instructs a motion device such as the posture changing device 4 and the article mounting device 5, and specifically, a limit switch 41 is used.

  The limit switch 41 includes a switch body 41a provided with a detection signal output circuit, and a detection part 41b provided at the end of the switch body 41a so as to be freely retractable. A rectangular contact plate (which is also a plate-like contact portion or abutment portion) 42 having a predetermined size is attached to the tip of the plate so that the welding torch 3 can easily come into contact therewith.

  The detection member 33 for confirmation is a side surface (hereinafter also referred to as a front surface, provided with a contact plate on the operation detection member) that is lower than the upper surface of the casing 31 by a predetermined height h. The side view is called an end face), and the plan view provided in a frontal manner is freely accessible via a pair of guide portions 45 provided on the left and right end faces (indicated by an arrow a). Movable plate member 46 and a limit switch 47 for confirmation that is disposed on the front surface of the casing 31 corresponding to the central horizontal portion 46a of the movable plate member 46 and is connected to the movable plate member 46 and can detect its movement. ing. The confirmation limit switch 47 is also composed of a switch main body 47a provided with a detection signal output circuit and a detection part 47b provided at the end of the switch main body 47a so as to be freely retractable. Of course, the limit switches 41 and 47 are attached to the casing 31 such that the detection portions 41 b and 47 b protrude from the front surface of the casing 31.

  Each of the guide portions 45 holds the bent portions 46b bent rearward from the end portions on both sides of the central horizontal portion 46a of the movable plate member 46, and further the limit switch 47 for confirmation. Is provided on the casing 31 side at a substantially central position of the central horizontal portion 46a of the movable plate member 46, and the central horizontal portion 46a is connected to the detection portion 47b of the confirmation limit switch 47. That is, when the central horizontal portion 46 a is pressed by the welding torch 3, a detection signal is output from the confirmation limit switch 47. In FIG. 5, the confirmation limit switch 47 is shown on the side for easy understanding.

  The vertical distance between the operation limit switch 41 and the confirmation limit switch 47, that is, the separation distance h between the contact plate 42 and the movable plate member 46 is determined when the contact plate 42 is contacted by the vertical position welding torch 3. The distance is relatively short so that the movable plate 46 can be contacted simultaneously with the contact plate 42.

In other words, at the time of operation by the welding torch 3, when the contact plate 42 is pushed in a state where the welding torch 3 is in the vertical posture, the movable plate member 46 is always pushed.
The other end side of the collecting pipe portion 36 is connected to a connection port 51 such as a coupling, and the air source 34 is connected to the connection port 51 via an air connection tube 52.

  By the way, each of the air supply ports 35 (35A to 35F) is connected to each operating device in pairs, for example, and in this embodiment, two of the rotary actuators 11 of the attitude changing device 4 are connected. Are connected to the air inlet / outlet port 25 and the pneumatic cylinder 26 of the article mounting device 5 via air connection pipes 53 and 54, respectively. Of course, other pneumatic operating devices can be connected to the remaining set of air supply ports 35 (35E, 35F).

  Furthermore, when the air pressure supplied from the connection port 51 (or the air supply port 35) has dropped for some reason, or any of the operating devices, for example, a failure such as a failure has occurred on the article mounting device 5 side. A safety device 61 is provided for stopping the welding operation in the welding robot 1 when the operation is stopped in the middle of operation or when the power supply on the control device 1 side is stopped.

  In particular, in order to stop the next operation of the welding torch 3 when the above-described inconvenience occurs in the middle of the operation by the welding torch 3, that is, in the middle of instructing the operation to the operation equipment, By mechanically restricting the movement of the welding torch 3, vibration due to contact is given to the torch itself and the safety device of the welding robot 1 itself is operated.

  That is, as shown in FIGS. 1, 3, and 4, the safety device 61 is similar in shape to the contact-type movable plate member 46 of the casing 31, that is, has a U shape in plan view, and below the movable plate member 46. A lifting member 63 for restriction provided at a position via a lifting guide mechanism 62 and a lifting member 63 for raising and lowering the lifting member 63 at a predetermined height H provided on the casing 31. And an operating circuit section 65 for operating the pneumatic cylinder 64.

  The restriction elevating member 63 is composed of a central horizontal portion 63 a and bent portions 63 b at both ends thereof, like the contact type movable plate member 46, and the elevating guide mechanism 62 is vertically arranged on each end surface of the casing 31. It comprises a guide member 66 provided in a direction, and an elevating body 67 having a guide groove 67a attached to each of the bent portions 63b and guided by the guide member 66.

  The pneumatic cylinders 64 are respectively disposed on both end faces of the casing 31 (only one is shown in FIG. 5) so as to raise and lower both bent portions 63b of the elevating member 63, respectively. In some cases, the pneumatic cylinder 64 may be disposed only on one end surface of the casing 31, and the lifting member 63 may be moved up and down through the one bent portion 63b.

  Further, as the pneumatic cylinder 64, for example, a single rod type cylinder with a built-in spring is used, and the rod portion of the piston rod of the cylinder protrudes to raise the elevating member 63 and is formed inside thereof. The welding torch 3 is positioned in the regulating space S.

  With respect to the lift amount of the elevating member 63, the upper limit position of the elevating member 63 is set higher than the moving path of the tip (lower end) at the time of operation by the welding torch 3, and therefore the elevating member 63 is raised. In some cases, the welding torch 3 always comes into contact with the elevating member 63 when moving to the next operation.

  As shown in FIG. 4, the pneumatic cylinder 64 is disposed in a cylindrical cylinder body 72 having a pneumatic cylinder chamber 71, and in the pneumatic cylinder chamber 71 of the cylinder body 72, and the rod portion 73a is outward. And a spring body (coil spring is used for biasing the piston rod 73 outwardly, and is disposed in the piston-side cylinder chamber 71a of the pneumatic cylinder chamber 71. The piston rod protrudes by its spring force when it comes off, and the air supply port 75 to the rod side cylinder chamber 71b of the pneumatic cylinder chamber 71 and the middle portion of the collecting pipe portion 36 are air. They are connected via an introduction pipe 76.

  Therefore, in a state where air is normally supplied from the air source 34, air pressure is supplied into the rod side cylinder chamber 71 b and the piston rod 73 is retracted against the spring body 74. When the air pressure from is lost, the rod portion 73a of the piston rod 73 protrudes by the spring force to raise the elevating member 63. In this state, when the robot arm 2 of the welding robot 1 moves, the welding torch 3 contacts (contacts) the elevating member 63, so that the safety device on the welding robot 1 side (for example, when vibration occurs in the torch) The device itself is activated and the robot itself stops.

Next, the operation circuit unit 65 of the safety device 61 will be described.
The operating circuit unit 65 is provided with the safety device 61 when there is a problem with the operating device, for example, on the article mounting device 5 side, or when the air pressure is reduced or the supply of power on the control device 1 side is stopped. For example, based on signals from two first and second position detectors 29A and 29B that detect the stroke end of the piston rod 28 provided in the pneumatic cylinder 26 of the article mounting device 5, Alternatively, the safety device 61 is activated by detecting a decrease in air pressure or by a power failure.

  For this reason, an open pipe 77 for allowing air to escape to the atmosphere is provided in the middle of the air introduction pipe 76, and an electromagnetically operated three-way switching valve 78 is provided at a connection portion of the open pipe 77. The three-way switching valve 78 supplies air pressure to the pneumatic cylinder 64 when power is supplied to the control device 1, but as described above, when the air pressure is lost or when power is not supplied, In this case, the pneumatic cylinder 64 side is configured to be connected to the open pipe 77, and the pneumatic pressure is released from the pneumatic cylinder 64 even when the operation of the operating device, for example, the article mounting device 5, is abnormal. It is configured as follows.

  In an electric control circuit for controlling the three-way switching valve 78 (not shown, for example, provided in the operating circuit portion), the operating device, for example, the piston rod 28 of the pneumatic cylinder 26 of the article mounting device 5 is used. The safety device 61 is activated when the operation becomes abnormal or when it stops in the middle.

  That is, when the pneumatic cylinder 26 is actuated, the raising / lowering pneumatic cylinder 64 is actuated by the detection signal from one of the position detectors 29A (29B) to raise the restricting elevating member 63, and the welding is performed. The torch 3 is prevented from moving. Then, when the pneumatic cylinder 26 operates normally and a detection signal from the other position detector 29B (29A) is detected, the regulating elevating member 63 is lowered by the pneumatic cylinder 64, and the welding torch 3 is next. Will be allowed to move to other operations. At this time, the welding torch 3 is controlled by the control on the robot side so that the welding torch 3 moves to the next operation after a predetermined time (for example, 5 seconds) necessary for the normal operation of the pneumatic cylinder 26 has elapsed. Yes.

  However, when the pneumatic cylinder 26 does not operate normally, that is, when the normal operation time (for example, 5 seconds) is exceeded, the welding is performed after the normal time has elapsed (for example, 6 seconds) under the control of the robot. Since the torch 3 is configured to move, the torch 3 naturally collides with the regulating elevating member 63, so that the operation of the welding robot 1 is stopped. That is, the operation time of the pneumatic cylinder 26 of the article attachment device 5 has exceeded a preset normal operation time, and it is recognized that an abnormality (error) has occurred in the article attachment device 5.

  Of course, when raising the regulating elevating member 63, the three-way switching valve 78 is connected to the open pipe 77 side (in other words, eliminating the command to the three-way switching valve), and the raising / lowering pneumatic cylinder 64. In contrast, when the air pressure is lowered, the three-way switching valve 78 guides the air pressure into the rod side cylinder chamber 71b through the air introduction pipe 76.

  As for the rotary actuator 11, by providing a detection switch at the movement limit position, similarly to the case of the pneumatic cylinder 26, when an abnormality occurs in its operation, the regulating elevating member 63 is operated. Also good.

  In the electric control circuit, for example, a detection signal is input from a pressure switch 79 provided in the middle of the collecting pipe portion 36 (for example, a detection signal is output when the pressure is 0.3 MPa or less). When the power is not supplied to the control device 1 side, the instruction to the three-way switching valve 78 is lost, and the pneumatic cylinder 64 side is automatically connected to the open pipe 77 side so that the air pressure is reduced to atmospheric pressure. Is done.

  As a result, when a malfunction occurs on the operating equipment side or the air piping system side, or when a failure occurs in the electrical system and a power failure occurs, the safety device 61 is activated and the operation of the welding robot 1 is stopped. Is done.

  Further, in the control circuit unit 39 of the control device 6, an angle corresponding to the operation limit switch 41 is only provided when both detection signals detected by the operation limit switch 41 and the confirmation limit switch 47 are input. Is provided to the electromagnetic on-off valve 38 that operates the rotary actuator 11. Of course, the control circuit unit 39 determines which operation limit switch 41 the detection signal is from, and outputs a control signal to the operating device corresponding to the operated (operated) limit switch 41. The

  Therefore, when there is a detection signal from the confirmation limit switch 47, the control device 6 outputs a rotation operation signal to the rotation actuator 11 according to the detection signal of the operated operation limit switch 41, In addition to the function of changing (controlling) the posture of the workpiece W held on the holding table 12, a function of controlling the pneumatic cylinder 26 of the article mounting device 5 is also provided.

  In the above configuration, when a predetermined welding operation is performed on the workpiece W placed on the holding table 12, for example, when changing the posture of the workpiece W, the welding torch 3 of the welding robot 1 is After moving to the front of the limit switch 41 of the first motion detection member 32A that issues an instruction to change the posture to a predetermined direction, the contact plate 42 is pushed.

  At this time, the welding torch 3 is in a vertical posture, and at the same time, the movable plate member 46 is also pushed by the lower portion of the welding torch 3, so that the welding torch 3 is detected by the operation limit switch 41 and the confirmation limit switch 47. A signal is input to the control circuit unit 39.

  In the control circuit unit 39, only when both detection signals are detected at the same time, an operation signal corresponding to the operation limit switch 41, for example, an operation signal (control signal) for rotating the holding table 12 by a predetermined angle. ) Is output to the rotary actuator 11.

  By the way, when another operating device, work equipment, or the like erroneously presses only the contact plate 42 of the operation limit switch 41, the detection signal from the confirmation limit switch 47 is not input to the control circuit unit 39. In addition, no control signal is output to the posture changing device 4 or the article mounting device 5, so that an accident or the like can be prevented.

  Further, when the position of the welding torch 3 of the welding robot 1 is tilted and moved, the contact plate 42 of the operation limit switch 41 may be accidentally contacted. Since only the detection signal is input and the detection signal from the confirmation limit switch 47 is not input, the control signal is not output again, which is safe.

  Furthermore, when the operation of the pneumatic cylinder 26 of the article attachment device 5 is strange, the regulation elevating member 63 of the safety device 61 remains raised, and the next operation of the welding torch 3 is stopped. Can be prevented.

When only the movable plate member 46 is pushed by the welding torch 3, it is recognized as an error and the restriction elevating member 63 is raised, and also in this case, an erroneous welding operation can be prevented.
As described above, the posture of the workpiece W is automatically changed only by contacting the contact plate 42 disposed in the casing 31 and the movable plate member 46 disposed below the contact plate 42. In other words, when it is necessary to change the work posture to the workpiece W, an instruction can be given to the posture changing device 4 or the article mounting device 5 by an operation on the welding robot side, and the movable plate and the contact plate 42 are movable. As long as the plate material 46 is not pressed (not touched) at the same time, a control signal is not output, so that malfunction can be prevented.

  Further, since the rotary actuator 11 and the pneumatic cylinder 26 are operated by air pressure (operating air), positioning (control) is performed at the stroke end of each piston. Compared with the case where the rotation angle is controlled by, for example, the configuration of the control unit can be simplified, and of course, the cost can be reduced.

  Furthermore, since the safety device 61 is provided, the welding operation by the welding robot 1 is stopped even if a problem occurs on the control device 6 side, so that the safety of the operation can be ensured.

  By the way, in the said embodiment, although demonstrated as what provided the contact part which can be moved in and out on a switch main-body part as a limit switch, what has a tilting part which can tilt, for example can also be used.

  In the above embodiment, the lifting / lowering pneumatic cylinder 64 is arranged at the lower part of the end face of the casing 31 and the rod part 73a is at the upper position. Conversely, the pneumatic cylinder 64 is placed at the upper part of the end face of the casing 31. And it can also arrange | position in the reverse direction so that the rod part 73a may become a low order. However, in this case, the spring body 74 is disposed in the rod side cylinder chamber 71b.

Moreover, in the said embodiment, although the case where it applied to the welding operation by a welding robot was demonstrated, of course, it can apply also to assembly operations other than welding.
In the above-described embodiment, the case where six motion detection members are arranged has been described. However, for example, the number of motion detection members disposed can be increased or decreased according to the increase or decrease of work on the workpiece.

  Further, in the above-described embodiment, the rotation axis of the holding table is described as being arranged in the vertical direction, but is not limited to the vertical, and is appropriately inclined with respect to the vertical plane according to the welding posture. Of course, they may be arranged in the horizontal direction.

It is a perspective view which shows schematic structure of the welding robot which concerns on embodiment of this invention, the attitude | position change apparatus of a workpiece | work, and its control apparatus. It is a horizontal sectional view showing the structure of the holding table of the posture changing apparatus for the workpiece. It is a perspective view of the control device. It is a side view of the control device. It is a block diagram which shows the structure of the same control apparatus.

Explanation of symbols

W Work 1 Welding robot 2 Robot arm 3 Welding torch 4 Posture change device 5 Article mounting device 6 Control device 11 Rotating actuator 12 Holding table 26 Pneumatic cylinder 31 Casing 32 Operation detection member 33 Confirmation detection member 34 Air source 37 Air supply pipe 38 Electromagnetic on-off valve 39 Control circuit part 41 Operation limit switch 41b Detection part 42 Contact plate 46 Contact type movable plate material 47 Confirmation limit switch 47b Detection part 61 Safety device 62 Elevating guide mechanism 63 Elevating / lowering member 64 Pneumatic cylinder 65 Actuating circuit Part 76 Air introduction pipe 77 Open pipe 78 Three-way switching valve

Claims (3)

A control device capable of controlling other operating devices by an operation member of an automatic assembly device,
A plurality of detection members that can detect the operation member are provided on the apparatus main body side,
A plurality of air supply pipes that are connected to an air source at one end and supply operating air to the other operating device are provided at the other end.
While providing an electromagnetic on-off valve in the middle of each air supply line,
A control unit is provided for inputting a detection signal from each of the detection members and outputting a control signal to an electromagnetic on-off valve provided in each of the air supply pipes,
Furthermore, a control device using a contact detector capable of detecting a contact operation by an operation member as each detection member. A control device capable of controlling other operating devices by an operation member of an automatic assembly device,
On the apparatus main body side, a plurality of operation detection members that can detect the operation member are provided, and a confirmation detection member that can detect that the operation is performed by the operation member is provided.
A plurality of air supply pipes that are connected to an air source at one end and supply operating air to the other operating device are provided at the other end.
While providing an electromagnetic on-off valve in the middle of each air supply line,
Provided with a control unit for inputting a detection signal from each of the operation detection member and the confirmation detection member and outputting a control signal to an electromagnetic on-off valve provided in each air supply line,
A contact-type detector capable of detecting contact by the operation member is used as each operation detection member, and the confirmation detection member is arranged in parallel with each operation detection member and can be moved in the contact direction by the operation member. And a contact type detector capable of detecting the movement of the movable plate in contact with the movable plate,
Furthermore, the control unit performs predetermined control only when a detection signal from each contact type detector in each operation detection member and a detection signal from the contact type detector in the confirmation detection member are input simultaneously. A control device configured to output a signal.   The control device according to claim 1, wherein a limit switch is used as the contact detector.

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