JPH01183388A - Robot moving device - Google Patents

Abstract

PURPOSE:To quickly evacuate a robot from a carrying passage of a work carrying device without damaging the work by a robot arm or the like, when a working robot is in an abnormal condition, by providing the second movable carriage, which is used to move the working robot to the outside of the carrying passage of a work carrying device, and the carrying mechanism for the carriage. CONSTITUTION:When an abnormality detecting part detects that a working robot 6 is in abnormal condition, the second carrying mechanism 5 is operated according to this detection signal, so that the second movable carriage 4, which is placed on the first movable carriage 1, is moved. Owing to the movement of the second movable carriage 4, the working robot 6 is evacuated from the carrying passage of the work carrying device 12 in the direction intersecting with the work carrying direction. With this contrivance, when the robot is in an abnormal condition, the working robot 6 can be evacuated from the carrying passage without damaging the work by an arm or the like of the robot 6, which is projected into the space over the carrying device.

Description

[Detailed Description of the Invention] [Object of the Invention] (Industrial Application Field) The present invention relates to a robot moving device, and in particular, a robot moving device that moves a robot to a workpiece on a workpiece transfer device such as a conveyor at the same speed as the transfer device. The present invention relates to a robot movement device used for industrial robots that perform work.

(Prior Art) In the conventional technology, a workpiece is placed on a workpiece conveyance device such as a conveyor, and an industrial robot is provided on a moving device that can move parallel to the workpiece conveyance device. Such industrial robots move the moving device at the same speed as the workpiece, thereby reducing the relative speed between the workpiece and the robot to zero, and work on the workpiece transport device.

(Problem to be Solved by the Invention) In the industrial robot as described above, when an abnormality occurs during work, the arm of the robot remains at the position where it intersects with the workpiece, as shown by the solid line in Figure 3. It was put away. In such cases, when the robot stops, the moving device in the same operation system also stops, causing damage to the workpiece. Furthermore, even if the moving device operates, it is fine within the range in which the moving device can move the robot, but if the moving device reaches its limit of movement, it will work to return the robot to its initial position, and as a result, the workpiece will be moved. It had hurt me.

The present invention is designed to prevent abnormalities from occurring in such robots.
The robot is quickly moved out of the workpiece transport path to prevent the robot's arm from damaging the workpiece.

[Structure of the Invention] (Means for Solving the Problems) A first moving platform for moving the working robot a predetermined distance along a moving rail in a direction parallel to the workpiece conveyance direction; A first moving mechanism is provided to move the platform. A second moving table capable of moving the working robot out of the conveying path of the workpiece conveying device in a direction perpendicular to the workpiece conveying direction on the first moving table, and a second moving mechanism. establish. Furthermore, an abnormality detection section is provided that detects an abnormality in the working robot and operates the second moving mechanism. Further, the second moving mechanism is operated by a different operation system from the first moving mechanism.

(Function) By configuring the robot moving device as described above, if an abnormality occurs in the robot, the robot can be quickly moved out of the workpiece conveyance path.

This means that when the abnormality detection unit detects an abnormality in the robot, the second
The moving mechanism is activated to move the robot out of the workpiece transport path. At this time, the control system for controlling the second moving mechanism is different from the control system for controlling the robot.

This is a measure to prevent the second moving mechanism from being involved in robot abnormalities when the same control system of the robots is used.

(Example) An embodiment of the present invention will be described with reference to the drawings.

FIG. 1 is a block diagram showing the configuration of an industrial robot using the robot moving device of this embodiment, and FIG. 2 is a control system diagram of the robot moving device and the industrial robot. Base (1
The rail (10) provided on the conveyor (12)
) is installed parallel to the A first moving platform (1) that moves on this rail (10) is arranged. Also,
This first moving table (1) is connected to a ball screw (13) by a nut (2) attached to the lower part of the first moving table (1).
can be slid in the same direction as the conveyance direction of the conveyor (12) by operating the servo motor (14). Furthermore, a rail (3
) is provided in a direction perpendicular to the conveyance direction of the conveyor (12). A second moving platform (
4), and this second moving table (4) has one end of an air cylinder (5) fixed to the upper surface of the first moving table (1) parallel to the rail (3). It is possible to slide the second movable table (4) by extending the air cylinder (5). A working robot (6) is fixedly mounted on this second movable table (4). Further, as shown in Fig. 2, the servo motor (14) and the working robot (8) are connected to and controlled by the robot controller (7), and the air cylinder (5) is controlled by the main controller (8).
connection is controlled. In addition, the main controller (8
) is equipped with an abnormality detection section (9) that sends work commands to the robot controller (7), receives feedback signals from the robot controller (7), and monitors the state. Further, the servo motor (14) and the industrial robot (6) constantly feed back their states to the robot controller (7) by encoders (15) and (16), which are not shown in FIG. 1, respectively. Furthermore, the robot controller (7) is the main controller (8)
It is possible to receive work commands from the servo motor (1
4) and the working robot (8) obtained from the signals of the encoders (15) (18) attached to the industrial robot (8).
6) is connected to the main controller (8) so as to be able to output the status.

The operation when using the robot moving device of this embodiment will be explained below with reference to the state diagram in FIG. 3 and the flowchart in FIG. 4.

While the robot is in operation, the abnormality detection unit (9) constantly checks whether the work robot (8) and servo motor (14) are constantly operating based on signals fed back from the robot controller (7) to the main controller (8). being monitored. If some kind of abnormality occurs in the work robot (6) and the work robot (6) stops operating, the abnormality detection unit (9) in the main controller (8)
recognizes an abnormality, operates the air cylinder (5), and moves the working robot (6) to the position indicated by the imaginary line.

By performing such movements, the working robot (6
) from the conveyor (12).

Note that this embodiment uses a conveyor (12
), but this is not limited to the conveyor (12), and any conveyance device, such as a hanger type or one that moves the number of pallets, will have no effect on the effects of the present invention. Further, the working robot used for this is not particularly limited.

[Effects of the Invention] As described above, when the robot moving device of the present invention is used, when an abnormality occurs in the working robot, the workpiece can be prevented from being damaged by the robot arm, etc., which conventionally protrudes above the transfer device. This allows the work robot to be quickly removed from the transport path of the workpiece transport device.

[Brief explanation of the drawing]

FIG. 1 is a configuration diagram showing the configuration of an industrial robot using a robot moving device according to an embodiment of the present invention, FIG. 2 is a control system diagram of the robot moving device and industrial robot, and FIG. 3 is a diagram showing the configuration of an industrial robot using a robot moving device according to an embodiment of the present invention. FIG. 4 is a flowchart showing the operation of an industrial robot using the robot moving device of the present invention. 1... First moving table, 4... Second moving table, 5...
・Air cylinder, 6... Working robot, 7... Robot controller, 8... Main controller, 9... Abnormality detection unit, 1
4...Servo motor

Claims (2)

[Claims] (1) A workpiece conveyance device that conveys the workpiece is provided parallel to the conveyance direction, and a work robot is movably mounted.
In a robot moving device in which a work robot performs work, a first robot moves the work robot a predetermined distance along a movement rail parallel to a workpiece conveyance direction.
a moving table; a first moving mechanism for moving the first moving table; and a moving mechanism provided on the first moving table to move the work robot along the transport path of the workpiece transport device in a direction intersecting the workpiece transport direction. a second moving platform that is movable to the outside of the robot; a second moving mechanism that moves the second moving platform; and an abnormality detection section that detects an abnormality in the working robot and operates the second moving mechanism. A robot moving device comprising: (2) The robot moving device according to claim 1, wherein the second moving mechanism is operated by a control system different from that of the first moving mechanism.