JPH02167690A - Industrial robot - Google Patents

Abstract

PURPOSE:To omit the trouble of adjusting the exchanging time of all parts of a robot main body by an operator, etc., and to reduce the labor of operator by providing a means for informing of the part changing time, when the operation time becomes larger than the part changing time. CONSTITUTION:The operation time when the movable part(e.g. a revolving table 3, column 4, arm 5 and write mechanism 6) of a robot main body 1 is driven is measured by an operation time measuring circuit 17A of a control means 17. Then, the part changing time of the movable part read from a memory 21 and the operation time measured by this circuit 17A are compared by a changing time informing circuit 17B and at the time when the operation time becomes larger than the part changing time it is informed that it is the part changing time.

Description

DETAILED DESCRIPTION OF THE INVENTION Field of the Invention The present invention relates to an industrial robot, and more particularly to an industrial robot configured to ensure stable operation of its movable parts.

BACKGROUND ART For example, in a multi-rIA playback type industrial robot used as a painting robot, a rotating table,
A plurality of movable parts such as a column, an arm, a wrist mechanism, etc. are operated, and when the workpiece is transported, each of the movable parts is operated to perform the work as taught in advance. In this type of industrial robot, various parts such as an actuator and a point meter (position detector) are assembled for each movable part.

In the industrial robot described above, in order to operate each movable part stably and accurately, the replacement period for each part is determined. Conventionally, the replacement timing of each part has been managed by the operator who operates the robot or the maintenance staff in charge of maintenance of the robot, and the operator or maintenance staff performs parts replacement work as appropriate when it is time to replace each part. Ta.

However, the above-mentioned industrial robot has a large number of parts, and each part has a different replacement period, so it is troublesome for operators etc. to manage the parts replacement period, and sometimes it is difficult to manage the parts replacement period. There were problems such as forgetting and often having to replace parts after the replacement period had passed.

In addition, in conventional industrial robots, not only may parts not be replaced appropriately at the predetermined replacement time as described above, but also the movements of each movable part are tuned depending on the shape of the workpiece, etc. The usage time of each movable part varies depending on the content of the work. Previously, the replacement period for each part was managed based on the operating time of the entire robot, but in reality, the operating time of the robot and the operating time of each movable part are not necessarily the same, so it may not be time to replace it yet. There was waste in that parts that did not meet the requirements were sometimes replaced.

Therefore, an object of the present invention is to provide an industrial robot that solves the above problems.

Means and Effects for Solving the Problems The present invention provides a robot body having a movable part, a drive means for driving the movable part, and an operating time g1 measuring means for measuring the operating time during which the movable part is driven by the drive means. , the storage means for storing the parts replacement time of the movable part compares the parts replacement time stored in the storage means with the operating time r1 measured by the operating time measuring means, and determines that the operating time is longer than the parts replacement time. In addition to streamlining the management of each part's replacement period and reducing the burden on operators, it also allows the replacement of winter parts to be determined based on the operating hours of each moving part. This allows for proper parts replacement.

Embodiment FIG. 1 shows the present invention. An example of an industrial robot will be shown.

In FIG. 1, a robot body 1 of an industrial robot is an articulated robot having a plurality of movable parts, and is a playback type robot configured to execute predetermined taught movements.

The robot main body 1 of the industrial robot includes a turning table 3 provided on a base 2, a support 4 supported in an upright position on the rotation table 3, and a support 4 extending horizontally from the upper end of the support 4 as shown by arrow A. It consists of an arm 5 supported rotatably in the direction 7J, and a wrist mechanism 6 provided at the tip of the arm. The turning table 3 is rotatably supported by two bases, and is driven by a motor 7.
It rotates in the horizontal direction within an angular range of approximately 200 degrees due to the rotational driving force of.

The support column 4 is a bracket 3a on the turning table 3.

The brackets 3a and 3b are rotatably supported in the direction of arrow B, and a motor for driving the arm (not visible in Figure 1) and a motor 8 for driving the column are provided on the sides of the brackets 3a and 3b. There is. Further, the support column 4 is balanced with the tensile force of the coil spring 9 that is engaged with the brackets 3a and 3b, and is held at its rotational position.

At the rear of the column 4 is a motor 10.1 that drives the wrist mechanism 6.
1. A drive mechanism 14 is provided which has a speed reduction mechanism 12, 13 (both shown in broken lines in FIG. 1). Furthermore, motor 1
The rotational driving force of 0.11 is transmitted to the deceleration mechanism 12.13 via a chain (not shown), and further to the deceleration R mechanism 12.13.
The driving force decelerated in step 13 is transmitted to the wrist mechanism 6 via a transmission I1m (not shown) provided in the support column 4 and the arm 5. Further, a work jig (not shown) corresponding to the work is attached to the tip of the wrist mechanism 6.

Rotating table 3 of the robot main body 1. Each of the movable parts such as the 4° support column, arm 52, wrist mechanism 6, etc. is driven by each motor as a driving means, and the operating angle of each movable part during driving is detected by a respective potentiometer (1' shown in the figure). .

16 is a robot control panel, which includes a control circuit 17 and a clock 18 connected to this control circuit 17. Keyboard 19. C
RT display 20. Memory 21, motor υ1111
It has a section 22. The υ11m1 circuit 17 includes an operating time measuring circuit 17A that measures the operating time during which the movable part of the robot body 1 is driven, and a component receiver 112 of the movable part! and a replacement time notification circuit 17B that compares the operating time measured by the time measurement circuit 178 and notifies that it is time to replace the component when the operating time is longer than the component replacement time. to the right. The motor control section 22 is connected to the robot body 1 and supplies drive signals to each motor 7.8, 10.11 of the robot body 1 in response to a command from the control circuit 17.

In the robot control '1l116, before the robot main body 1 operates, the parts replacement time for each part is input in advance. As for this input operation, by operating the keyboard 19, as shown in FIG.
3 is displayed on the CRT display 20, and further, by operating the keyboard 19, this replacement time data 23 is stored in the memory 21. Note that the memory 21 stores the operating time of each component together with the component replacement time.

In the above-mentioned industrial robot, the working operation is taught according to the shape of the workpiece, for example, so each movable part of the robot body 1 repeats the taught operation. Therefore, the rotating table 3. Pillar 4.
The arm 51, wrist mechanism 6, etc. do not operate constantly while the robot body 1 is driven, but only the movable parts corresponding to predetermined operations are sequentially driven. Therefore, the operating time for one workpiece is different for each movable part.

Therefore, in the present invention, as will be described later, the operating time of each movable part is measured by X1, and the replacement timing of each part is managed based on this operating time.

Here, the operation of the robot body 1 and the processing executed by the control circuit 17 will be explained.

When the power switch (not shown) of the robot control 5J16 is turned on, the control circuit 17 executes the process shown in FIG. 3. In this embodiment, the process shown in FIG. 3 is executed at the end of the day when the day's work is finished.

In FIG. 3, when the workpiece is conveyed to the working position of the robot body 1 by a conveyor device (both not shown) or the like, an operation command signal based on teaching is output to the motor control section 22, and this motor control section 22 A drive signal is supplied to motors 7, 8, 10° 11, etc. that drive each movable part.

In this way, the robot main body 1 drives each movable part as taught and executes a predetermined work. For example, assume that a drive signal is supplied to the motor 8 for driving the column. In step S1 shown in FIG. 3, whether or not the motor 8 is being driven is monitored. When the support column 4 is driven in the direction of arrow B by the driving force of the motor 8, step S
2, the clock pulse output from the clock 18 is input. Based on this clock pulse, the operating time of the column 4 and each component related to the operation of the column 4 (for example, a motor, a potentiometer, etc.) is counted up, and this is added to the previous operating time stored in the memory 21. (Step S3).

Then, the time for replacing the parts for the pillar 4 and the pillar 4 stored in the memory 21 is read out, and this part replacement time is compared with the operating time calculated in step S3 (step 34). Here, if the time t13 has not yet exceeded the predetermined parts replacement time, the process returns to step S1 and returns to step 8.
Repeat steps 1 to S4.

However, when the operating time becomes longer than the predetermined parts replacement time in step S4, at that point, step S5
Then, a fingernail display will be displayed indicating that it is time to replace the part.

Specifically, as shown in FIG. 4, for example, the names of the parts (pole motor, strut potentiometer, etc.) are displayed on the screen of the CRT display 20 to inform the operator of the time to replace the parts. Then, the operation name displayed on the CRT display 20 immediately replaces only the parts whose replacement time has been reached. Alternatively, the operator can connect with a maintenance company and arrange for parts to be replaced after the job is completed or the next morning. As a result, parts replacement work can be carried out quickly, and there is no loss caused by interrupting work to replace parts during work.

Therefore, the operator does not have to constantly manage the replacement timing of all parts of the robot body 1, and the labor required for this management is reduced. In addition, since the industrial robot 1 monitors the operating time of each movable part, it is possible to prevent relatively infrequently used parts from being replaced together with other parts whose replacement period has passed, and to avoid actually replacing them. Since the parts replacement display can be performed only for the parts that have been used up to the time, each part can be used without wasting it, and only the parts whose replacement time has been reached can be appropriately replaced. Therefore, it is ensured that the robot main body 1 always operates in a stable and accurate manner, which further increases reliability.

Further, in step S1, when the predetermined work on the workpiece is completed and the drive of the motor 8 for driving the column is stopped, the column 4 is in a non-operating state, so this process ends.

In the above embodiment, the case where the support column 4 is operated is explained as an example, but the above-mentioned process can also be applied when other movable parts, such as the turning table 3.7-arm 5 and the wrist mechanism 6, are driven. Similar processing is performed.

Further, in the above description, the CRT display 20 is used to notify the time for parts replacement, but the notification is not limited to this, and it is of course possible to notify by audio, for example.

In addition, in the above embodiment, the multi-jointed play pack mouth! Although the description has been given using an industrial robot as an example, it goes without saying that the present invention is applicable not only to this type of robot but also to other types of robots.

Effects of the Invention As described above, according to the LT robot of the present invention, when it is time to replace a part, the operator can be automatically notified, so that the operator etc. can check all the parts of the robot body. It not only saves you the trouble of managing replacement timing, but also reduces the labor of the bamboo handlers.
There is no problem if the operator forgets when to replace parts. Moreover, since the time that the moving parts are actually driven is measured and the operating time is compared with the time required to replace parts, there is no waste in replacing parts that can still be used, and when the time for replacement is reached. By accurately replacing only the parts that have been damaged, the stability and accuracy of the robot body's movements can always be ensured.
It has the feature of blue that can further increase the trust PI towards the robot.

[Brief explanation of the drawing]

FIG. 1 is a schematic configuration diagram of an embodiment of an industrial robot according to the present invention, FIG. 2 is a diagram showing replacement timing data stored in a memory, and FIG. 3 is a flowchart showing processing executed by a control circuit. FIG. 4 is a front view of a CRT display that displays parts replacement timing. 1...Robot body, 7.8, 10.11...Motor, 16...Robot 1-control panel, 17...Control circuit, 17A...Operating time measurement circuit, 17B...Replacement Timing notification circuit, 18...clock, 19...''-board, 20...CRT display, 21...memory. Figure 1 Patent applicant: Tokiko Co., Ltd. Figure 2 Figure 3 Figure 4

Claims (1)

[Scope of Claims] A robot body having a movable part; a driving means for driving the movable part; an operating time measuring means for measuring the operating time during which the movable part is driven by the driving means; a storage means for storing parts replacement time; and comparing the parts replacement time stored in the storage means with the operating time measured by the operating time measuring means, and when the operating time becomes longer than the parts replacement time, the An industrial robot characterized by a means for notifying that it is time to replace parts, and more.