JP2518204B2 - Robot for transport - Google Patents
Robot for transportInfo
- Publication number
- JP2518204B2 JP2518204B2 JP61045901A JP4590186A JP2518204B2 JP 2518204 B2 JP2518204 B2 JP 2518204B2 JP 61045901 A JP61045901 A JP 61045901A JP 4590186 A JP4590186 A JP 4590186A JP 2518204 B2 JP2518204 B2 JP 2518204B2
- Authority
- JP
- Japan
- Prior art keywords
- robot
- light
- mounting table
- robot controller
- robot hand
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
Links
Landscapes
- Numerical Control (AREA)
- Manipulator (AREA)
Description
【発明の詳細な説明】 〔産業上の利用分野〕 この発明は搬送用ロボツトに係り、特に製造ラインに
おいて、搬送物が載置されている載置台の上に、搬送用
ロボツトのロボツトハンドが更に別の搬送物を置こうと
した時の重ね置き防止に関するものである。Description: BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a transport robot, and more particularly, in a manufacturing line, a robot hand of the transport robot is further provided on a mounting table on which a transported object is mounted. The present invention relates to prevention of stacking when another object is to be placed.
従来の搬送用ロボツトに於る重ね置き防止方法は、載
置台に設置されたリミツトスイツチによつて検出された
搬送物の有無信号を、ロボツトコントローラに入力する
ことによつて行われていた。従来の搬送用ロボツトの概
略図を第２図に示す。図において、（１）は載置台、
（２）はロボツトハンド、（３）はリミツトスイツチ、
（８）と（９）は搬送物、（10）はロボツトコントロー
ラ、（11）はホストCRU、（12）はロボツト全体、（1
4）はリミツトスイツチ信号である。The conventional stacking prevention method in the transfer robot has been performed by inputting the presence / absence signal of the transfer object detected by the limit switch installed on the mounting table to the robot controller. A schematic view of a conventional transfer robot is shown in FIG. In the figure, (1) is a mounting table,
(2) is a robot hand, (3) is a limit switch,
(8) and (9) are goods to be transported, (10) is a robot controller, (11) is a host CRU, (12) is the entire robot, (1
4) is the limit switch signal.
次に動作について説明する。加工物（８）が載置台
（１）に置かれると、リミツトスイツチ（３）が働き、
リミツトスイツチ信号（14）がロボツトコントローラ
（10）に入力される。この時にホストCPU（10）からロ
ボツトコントローラ（10）に対して、載置台（１）に別
の加工物（９）を置く動作命令が出たとしても、ロボツ
トコントローラ（10）は置台（１）に加工物は置かれて
いるのを認識しているので、このような動作命令を実行
しない事によつて重ね置きを防止していた。Next, the operation will be described. When the work piece (8) is placed on the mounting table (1), the limit switch (3) works,
The limit switch signal (14) is input to the robot controller (10). At this time, even if the host CPU (10) issues an operation command to the robot controller (10) to place another workpiece (9) on the mounting table (1), the robot controller (10) still mounts on the mounting table (1). Since the work piece is recognized to be placed on the machine, it was prevented from overlapping by not executing such an operation command.
従来の搬送用ロボツトは以上のように構成されている
ので、ロボツトコントローラ（10）が加工物を置く動作
命令を実行する前に人間又は加工装置が置台（１）の上
に別の加工物を置いた時は、重ね置きを防止できるもの
の、ロボツトコントローラ（10）が動作命令を実行して
いる途中で人間又は加工装置が置台（１）の上に別の加
工物を置いた時は、ロボツトハンド（２）が運んでくる
加工物との重ね置きを防止できないという問題点があ
り、また、置台の個数増加によつてロボツトコントロー
ラ（10）へのリミツトスイツチ信号（14）の入力点数も
増加しロボツトコントローラ（10）のハード及びソフト
を変更しなければならないという問題があつた。この発
明は上記のような問題点を解消する為に、なされたもの
で、ロボツトコントローラ（10）が動作命令を実行して
いる途中においても重ね置きを防止できるとともに、置
台の個数が増加されても、ロボツトコントローラ（10）
のハード及びソフトの変更がない搬送用ロボツトを得る
事を目的とする。Since the conventional transfer robot is configured as described above, before the robot controller (10) executes the operation command for placing the workpiece, the human or the processing device places another workpiece on the table (1). When the robot controller (10) puts another workpiece on the table (1) while the robot controller (10) is executing the operation command, it can prevent the robot from overlapping. There is a problem that it is not possible to prevent the hand (2) from overlapping with the work carried by it, and the number of input of the limit switch signal (14) to the robot controller (10) also increases due to the increase in the number of mounting bases. There was a problem that the hardware and software of the robot controller (10) had to be changed. The present invention has been made in order to solve the above-mentioned problems, and it is possible to prevent stacking even while the robot controller (10) is executing an operation command and to increase the number of mounting bases. Also, robot controller (10)
The purpose is to obtain a transport robot without any changes in hardware and software.
この発明に係る搬送用ロボツトは載置台近傍に搬送物
が載置されている時に発光する発光器を設置し、かつロ
ボツトハンドに光センサーを設置して上記光センサーが
発光器からの光を受けた時ロボツトコントローラによつ
てロボツトハンドを停止するようにしたものである。The transporting robot according to the present invention has a light emitting device which emits light when a load is placed near the mounting table, and an optical sensor is installed in the robot hand so that the light sensor receives light from the light emitting device. In this case, the robot hand is stopped by the robot controller.
この発明における搬送用ロボツトは、載置台の近くに
設置された発光器からの光によつて載置台に既に搬送物
が置いてある事をロボツトハンドが別の搬送物を載置台
に置こうとする直前にロボツトコントローラに認識させ
ることによつてロボツトコントローラが動作命令を実行
している途中においても重ね置きを防止できる。The transport robot according to the present invention uses the light from the light emitting device installed near the mounting table to detect that the transported object has already been placed on the mounting table and the robot hand tries to place another transported object on the mounting table. By causing the robot controller to recognize immediately before the operation, overlapping can be prevented even while the robot controller is executing the operation command.
この発明の一実施例による搬送用ロボツトの概略図を
第１図に示す。図において、（１）は載置台、（２）は
ロボツトハンド、（３）はリミツトスイツチ、（４）は
発光器用電源、（５）は発光器、（６）は発光器の光、
（７）は光センサー、（８）と（９）は搬送物、（10）
はロボツトコントローラ、（10）はホストCPU、（12）
はロボツト全体、（13）は光センサー信号を示す。FIG. 1 shows a schematic view of a transport robot according to an embodiment of the present invention. In the figure, (1) is a mounting table, (2) is a robot hand, (3) is a limit switch, (4) is a power source for a light emitter, (5) is a light emitter, (6) is light from the light emitter,
(7) is an optical sensor, (8) and (9) are conveyed goods, (10)
Is a robot controller, (10) is a host CPU, (12)
Shows the entire robot and (13) shows the optical sensor signal.
次に動作について説明する。載置台（１）に搬送物
（８）が置かれると、リミツトスイツチ（３）は発光器
（５）を発光させる。載置台（１）に搬送物（９）を置
きに来たロボツトハンド（２）は、光センサー（７）に
よつて光（６）を検知する。光センサー信号（13）によ
つて、ロボツトコントローラ（10）は載置台（１）に加
工物が置いてある事を認識し、直ちにロボツトコントロ
ーラ（10）はロボツトハンド（２）に対して、停止命令
を出し、ロボツトハンド（２）は即座に停止する。但
し、ロボツトハンド（２）が載置台（１）の搬送物
（９）を取り上げる動作の為に近づいてきた時は重ね置
きとはならないので、ロボツトハンドの光センサー
（７）が検知されても停止命令を出さないように、ロボ
ツトコントローラ（10）自身が判断を行う。Next, the operation will be described. When the transported object (8) is placed on the mounting table (1), the limit switch (3) causes the light emitter (5) to emit light. The robot hand (2), which has placed the transported object (9) on the mounting table (1), detects the light (6) by the optical sensor (7). Based on the optical sensor signal (13), the robot controller (10) recognizes that the work piece is placed on the mounting table (1), and immediately the robot controller (10) stops the robot hand (2). The command is issued and the robot hand (2) immediately stops. However, when the robot hand (2) approaches because of the operation of picking up the conveyed object (9) of the mounting table (1), the robot hands are not overlaid, so even if the optical sensor (7) of the robot hand is detected. The robot controller (10) makes its own judgment so as not to issue a stop command.
このようにして重ね置きを防止する。In this way, stacking is prevented.
なお、上記実施例に於ては、搬送物（８）を載置台
（１）に搬送するときのロボツトハンド（２）の動作経
路に発光器（５）を設置したが、これに関連するものと
して、ロボツトハンド（２）が重ね置き防止の他に、予
想しない方向へ移動した時を考え、破損されては困る重
要な機器の近くに常時発光している発光器（５）を設置
しても良い。In the above embodiment, the light emitter (5) is installed in the operation path of the robot hand (2) when the object (8) is conveyed to the mounting table (1). As an example, in addition to preventing the robot hand (2) from overlapping, install a light-emitting device (5) that constantly emits light near an important device that should not be damaged in case of moving in an unexpected direction. Is also good.
このようにすればロボツトハンド（２）が機器に近づ
いても光を検知して停止するので機器が保護されるとい
う効果が得られる。By doing so, even if the robot hand (2) approaches the device, the robot hand detects the light and stops, so that the device is protected.
以上説明したようにこの発明によれば、加工物の載置
台近傍に発光器を設け、この発光器からの光をロボツト
アームに設けられた光センサーで認識させてロボツトア
ームを加工物を載置する直前で停止させる様にしたの
で、加工物の重ね置きを防止できるという効果が有る。As described above, according to the present invention, a light emitter is provided in the vicinity of the work table, and the light from this light emitter is recognized by the optical sensor provided on the robot arm to mount the work arm on the robot arm. Since the process is stopped immediately before, there is an effect that it is possible to prevent the work pieces from being stacked.
第１図は発明の一実施例を示す搬送用ロボツトの概略
図、第２図は従来の搬送用ロボツトを示す概略図であ
る。 図において、（１）は載置台、（２）はロボツトハン
ド、（５）は発光器、（７）は光センサー、（８）と
（９）は搬送物、（10）はロボツトコントローラ、（1
1）はホストCPUである。 なお、各図中同一符号は同一または相当部分を示す。FIG. 1 is a schematic view of a carrying robot showing an embodiment of the invention, and FIG. 2 is a schematic view showing a conventional carrying robot. In the figure, (1) is a mounting table, (2) is a robot hand, (5) is a light emitter, (7) is an optical sensor, (8) and (9) are conveyed objects, (10) is a robot controller, ( 1
1) is the host CPU. In the drawings, the same reference numerals indicate the same or corresponding parts.
Claims (1)
傍に設けられて載置台に上記搬送物が載置されている時
に発光する発光器、この発光器からの光を受光するため
の光センサー、この光センサーが設けられた上記搬送物
搬送用のロボツトハンド、この光センサーにより発光器
からの光を受けた時上記ロボツトハンドを停止するロボ
ツトコントローラ、このロボツトコントローラを介して
上記ロボツトハンドに所定の動作命令をするホストCPU
とを備えたことを特徴とする搬送用ロボツト。1. A mounting table on which a transported object is mounted, a light emitter provided near the mounting table and emitting light when the transported object is mounted on the mounting table, and light from the light emitter is received. A light sensor for, a robot hand for carrying the conveyed object provided with the light sensor, a robot controller for stopping the robot hand when receiving light from a light emitter by the light sensor, and the robot controller through the robot controller. Host CPU that issues a predetermined operation command to the robot hand
A transport robot characterized by having and.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61045901A JP2518204B2 (en) | 1986-03-03 | 1986-03-03 | Robot for transport |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP61045901A JP2518204B2 (en) | 1986-03-03 | 1986-03-03 | Robot for transport |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPS62203209A JPS62203209A (en) | 1987-09-07 |
| JP2518204B2 true JP2518204B2 (en) | 1996-07-24 |
Family
ID=12732143
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP61045901A Expired - Fee Related JP2518204B2 (en) | 1986-03-03 | 1986-03-03 | Robot for transport |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2518204B2 (en) |
Families Citing this family (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| GB8820780D0 (en) * | 1988-09-02 | 1988-10-05 | Valiant Technology Ltd | Programmable robot device |
| JP2008266848A (en) * | 2007-04-24 | 2008-11-06 | Ｊａｐｃｏｎ Ｅｎｔｅｒｐｒｉｓｅ有限会社 | Brassiere |
| US9055771B2 (en) | 2011-12-16 | 2015-06-16 | Asahi Kasei Fibers Corporation | Brassiere with excellent vibration resistance |
-
1986
- 1986-03-03 JP JP61045901A patent/JP2518204B2/en not_active Expired - Fee Related
Also Published As
| Publication number | Publication date |
|---|---|
| JPS62203209A (en) | 1987-09-07 |
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Legal Events
| Date | Code | Title | Description |
|---|---|---|---|
| LAPS | Cancellation because of no payment of annual fees |