JPH01257586A - Cooperating device for robot and conveyer - Google Patents

Abstract

PURPOSE:To always transport a work at the most suitable speed for the kind of the work, to completely accomplish work and to eliminate loss time by providing a control device for controlling a robot according to a stored work program and controlling the drive of a conveyer in such a manner as to reach the corresponding stored conveyer speed. CONSTITUTION:A work program and a conveyer speed corresponding to works A1, A2, A3 are stored by storage means 6. At the time of operating a robot 8 according to the work program, the drive of a conveyer 2 is controlled in such a manner as to reach the corresponding stored conveyer speed by control means 3. Accordingly, the conveyer speed at the time of conducting work for works A1, A2, A3 of every kind is always most suitable for the works A1-A3. Further, it is most suitable speed corresponding to work portions of the works A1-A3 and work breakdown. Accordingly, work can be completely conducted and the generation of loss time can be prevented.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to a cooperation device between a robot and a conveyor, and more specifically to a robot that performs work on a workpiece while the workpiece is moved by a conveyor. and conveyor cooperation devices.

[Prior Art] A conventional cooperation device for a robot and a conveyor will be described with reference to FIG.

In this robot-conveyor cooperation device II, works A, A2, . A is being transported by the conveyor 2 so as to pass through the work space α of the robot 8.

The conveyor 2 is driven by a drive device 4, and its speed V is set by a user operating a speed setting means 13.

When the detection means 5 detects that the workpiece A has arrived at a predetermined position, the control means 16 calls a work program corresponding to the workpiece A, monitors the operation of the conveyor 2 with the synchronization sensor 7, and controls the movement of the conveyor 2. The current position of the workpiece A1 is estimated from the current position, and a work program is sent to the robot 8 at a timing compatible with the current position. In this way, while the workpiece A1 is being driven by the conveyor 2, the robot 8 performs work on the workpiece A1.

Work A2. Work is performed on work A3 in the same manner.

As related prior art, Utility Model Application No. 62-165882
There is a technology disclosed in the publication.

[Problems to be Solved by the Invention] The conveyor speed (■) is determined by the size of the robot's work space, the content of the work, the type of work, etc.

Therefore, for example, different workpieces require different appropriate conveyor speeds.

However, in the conventional apparatus 11, the conveyor speed (2) is manually set by the user and cannot be changed flexibly. Therefore, when different types of workpieces are continuously conveyed, the slowest speed suitable for the workpieces is adopted and set as the conveyor speed (■).

However, when the speed is set to the slowest speed, all the workpieces can be sufficiently worked on, but there is a problem that loss time occurs for the workpieces for which the appropriate speed is fast, resulting in poor productivity.

On the other hand, even if the work is the same, the appropriate conveyor speed will be different if the work area is different.

However, conventional equipment cannot handle this at all, and there is a problem in that some parts cannot be worked on depending on the speed of the conveyor.

Therefore, an object of the present invention is to automatically control the speed of the conveyor so that it is at an appropriate speed corresponding to the workpiece entering the robot's work space, to eliminate loss time, and to adjust the conveyor speed to the appropriate speed for the workpiece entering the robot's workspace. To provide a cooperating device for a robot and a conveyor, which automatically controls the speed of the conveyor so that it is at an appropriate speed, and allows complete work to be performed.

[Means for Solving the Problems] The robot-conveyor cooperation device of the present invention is a robot-conveyor cooperation device in which the robot performs work on the work while the work is moved by the conveyor. a storage means for storing a work program and a conveyor speed corresponding to the work program; and a control means for controlling the robot according to the stored work program and controlling the drive of the conveyor so as to correspond to the stored conveyor speed. This feature is a structural feature.

(Operation) In the robot-conveyor cooperation device of the present invention, the conveyor speed is stored together with the work program corresponding to the workpiece.When operating the robot according to the stored work program, the speed of the conveyor is stored in correspondence with the work program. The drive of the conveyor is controlled to achieve the conveyor speed that was previously set.

Therefore, the conveyor speed when the workpiece is processed is
The speed is always the optimum speed for the workpiece. In addition, the speed is optimal depending on the work part of the workpiece and the work content. Therefore, the work can be completed completely and loss time is prevented.

[Example] Hereinafter, the present invention will be explained in more detail based on the example shown in the drawings. Here, FIG. 1 is a schematic configuration diagram of a cooperation device of a robot and a conveyor according to an embodiment of the present invention, and FIG. 2 is a diagram corresponding to FIG. 1 at a time a predetermined time after the time shown in FIG. 1. . It should be noted that the present invention is not limited to the examples shown in this section.

In the robot-conveyor cooperative device 1 shown in FIG. 1, the works AI, A2, and A3 are of different types, and their appropriate speeds are V, , V.

, ■.

The conveyor 2 is driven by a drive device 4 under the control of a conveyor control means 3.

When a work approaches the work space α of robot l-8, it is detected by the detection means 5, and due to the dirt, the control means (3) calls a work program for the work, monitors the operation of the conveyor 2 with the synchronization sensor 7, and controls the conveyor. The current position of the workpiece is estimated from the movement of step 2, and a work program is sent to the robot 8 in synchronization with this.

The basic operation described above is the same as the conventional one, but it differs from the conventional one in that a speed command is output from the control means 6 to the conveyor control means 3.

That is, the control means 6 records the work program for the work and the appropriate conveyor speed for the work. I'm l.

When operating the robot 8 with a certain work program, the correspondingly stored conveyor speed is output to the conveyor control means 3. Therefore, the speed of conveyor 2 is
The speed is controlled to be appropriate for the work being processed.

This operation will be explained more specifically.

First, when there is no workpiece approaching the work space α of the robot 8, the control means 6 sets the conveyor speed V to a preset relatively high speed. is output to the conveyor control means 3. Therefore,
The conveyor 2 conveys the work at a relatively high speed.

The first work A1 approaches the work space α of the robot 8,
When the detection means 5 detects this, the control means 6 prepares a work program for the truck A1 and adjusts the stored conveyor speed 1 corresponding to the work program.
is called and output to the conveyor system 1ffi means 3. Therefore, the speed of the conveyor 2 becomes ①, which is the appropriate speed for the workpiece A.

FIG. 1 represents this state.

In this way, the robot 8 performs work on the workpiece A1, which is transported at the speed .

Next, the work on work AI is finished, and the next work A
When the approach of 2 is detected by the detection means 5, the control? 1 means 6 prepares a work program for workpiece A2, and sends a speed instruction to conveyor control means 3 so that the corresponding conveyor speed becomes 2. Therefore, the conveyor speed is work A2
The appropriate speed is ■ri. FIG. 2 represents this state.

In this way, the robot 8 performs work on the workpiece A2, which is transported at the appropriate speed (2).

In this way, the working space α of the robot 8 always has an appropriate speed for the workpiece passing through the working space α, so that the work can be done sufficiently and there is no loss time.
Productivity can be improved.

In addition, since the conveyor speed can be freely controlled by the control means 6 in this way, the conveyance speed can be made relatively high during the period when there is no workpiece in the work space α of the robot 8, which also minimizes loss time. You can.

In addition, even when working on a single workpiece, it is possible to adjust the conveyor speed according to the work area and work content, so in extreme cases, it is also possible to perform work by stopping the workpiece. It becomes like this.

(Effects of the Invention) According to the present invention, in a collaborative device between a robot and longhair, in which a robot performs work on a workpiece while the workpiece is moved by a conveyor, a work program and conveyor speed corresponding to the workpiece are stored. A robot and a conveyor, characterized in that they are equipped with a storage means for controlling the robot according to a stored work program and a control means for controlling the drive of the conveyor so that the conveyor speed is correspondingly stored. With this, even when different types of workpieces are conveyed by one conveyor, they are always conveyed at the optimal speed for the workpieces during the period in which the workpieces are being worked on.

Additionally, the conveyor speed can be increased or decreased or the movement can be stopped depending on the workpiece location. Therefore, sufficient working time can be secured, and productivity can be improved without causing loss time.

Also, you will be able to work completely.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of a cooperation device of a robot and a conveyor according to an embodiment of the present invention, FIG. 2 is a diagram corresponding to FIG. 1 at a time a predetermined time after the time shown in FIG. 1, and FIG. 1 is a schematic configuration diagram of an example of a conventional cooperation device of a robot and a conveyor. [Explanation of symbols] 1... Robot and conveyor cooperation device 2... Conveyor 3... Conveyor control B means 4... Drive device 5... Detection means 6... Control means 7... - Synchronous sensor 8...Robot α...Robot work space A,, A2...Workpiece V,,V,...Conveyor speed.

Claims (1)

[Scope of Claims] 1. In a robot-conveyor cooperation device in which a robot performs work on a workpiece while the workpiece is moved by a conveyor, a storage means for storing a work program and conveyor speed according to the workpiece. and a control means for controlling the robot according to a stored work program and correspondingly controlling the drive of the conveyor to achieve the stored conveyor speed.