JPH0256390A - Industrial robot device - Google Patents

Abstract

PURPOSE:To facilitate a preparatory task related to differently shaped and sized work by providing the first detecting means to detect the position of the first robot for the running path of the first robot and the second detecting means to detect the position of the second robot corresponding to the first robot. CONSTITUTION:With the operation of the detecting means 7 provided on the first robot 2 for an index 8 installed on the first running path 1, the position of the first robot 2 is detected, while with the operation of the second detecting means 9 provided on the first robot 2 for an index 10 installed on the second robot 4, the position of the second robot 4 is detected. Therefore, the less number of the indexes 8, 10 is necessary, and a simple constitution of a device permits the positions of the first, the second robot 2, 4 to be detected and also a simple preparatory task to be applied to the robot operation time of a differently shaped and sized work 6 with ease.

Description

[Detailed Description of the Invention] [Industrial Application Field] The present invention relates to an industrial robot device in which a plurality of moving industrial robots cooperate to perform robot work on one workpiece, and in particular, to detect the robot work position. It is related to.

[Conventional technology]

For example, as disclosed in 2% Japanese Patent Publication No. 61-109106, a technique is known in which the working position of an industrial robot is compared with the position of a workpiece and the working movement is corrected.

However, when the industrial robots that move individually perform robot work in cooperation with each other, the respective industrial robots must be positioned with respect to their respective travel paths.

[Problem to be solved by the invention J] In an industrial robot device using a plurality of industrial robots as described above, it is necessary to arrange positioning indicators etc. on the travel path of each industrial robot. There is a problem in that a large amount of preparation is required when the robot works on workpieces of different sizes and shapes.

The present invention was made to solve such problems, and an object of the present invention is to provide an industrial robot device that can easily set the working position for robot work performed by a plurality of industrial robots. There is.

[Means to solve the problem]

In the industrial robot device according to the present invention, the first detection means detects the position of the first robot with respect to the travel path of the first robot, and the second detection means detects the position of the second robot with respect to the first robot. will be provided.

[Effect]

In the industrial robot device configured as described above, the first robot is moved to a specified position and detected by the first detection means, and the second detection means detects the position of the second robot with respect to the first robot at the predetermined position. Detection.

〔Example〕

An embodiment of the present invention will be described below with reference to FIGS. 1 to 4.

Figure 1 is an overall configuration diagram, in which (1) is the first running path consisting of rails, (2) is the first robot running on the first running path fil, (2a) is the first robot (2 ), and (3) is a second running path consisting of a rail provided parallel to and apart from the first running path (1).

(4) is the second robot running on the second running path (3), (
4a) is a tool installed on the tip arm of the second robot (4), (5) is a support stand installed between the first travel path +11 and the second travel path (3), and (6) is a support The workpiece is fixed by a table (5), (7) is a first detection means consisting of a vision camera installed on the first robot (2), and (8) is a suitable position along the length of the first running path (1). The first Yokota means (indicator placed at the position corresponding to 7), (9) is the second detection means consisting of a vision camera installed on the first robot (2), α1 is installed on the second robot (3) The index αυ is located at a position corresponding to the second detection means (9).
0) (21°) As shown in Figure 3, which conceptually shows the electrical connection circuit in Figure 1, the control device of the second robot (4)
RAM.

OPr:I, computer with ROM (t 1a)
, x7a port 1- (11b), drive means (11c
) and a control means (Ha). α2
is a command device that instructs the first robot (2) and the second robot (4) to perform work.

The industrial robot device configured as described above operates as shown in the flowchart shown in FIG.

That is, the running command in step 20 causes the 10th box H to
21. The second robot (4) is activated and moves to a predetermined position on the travel path in step 21. Then, in step 22, the first detection means (7) is energized, and the first detection means (7) is activated.
is stopped correctly at the predetermined position, step 23
The first detection means (7) facing the index (8) operates and the process moves to the secondary step 24. Also, the first robot (
When the robot (2) deviates from the predetermined position and stops, the first detection means (7) does not operate, and the first robot (2) (in steps 23 to 25) performs a correction operation at a slow speed, and in step 22. Step 23 is performed again. Next, in step 24, if the second detection means (9) is energized and the second robot (4) has stopped correctly at the predetermined position, the second detection means (9) facing the index α1 is activated in step 26.
9) is operated and the process moves to the 9th step 2T. Also the second
When the robot (4) is out of position, the second
The detection means (9) does not operate, and the second robot (4) performs a correction operation at a slow speed from step 26 to step 2a.

Step 24. Step 26 is performed again.

Then, the first robot (2) and the second robot (4) cooperate with each other according to the work command in step 2T.
), robot operations such as machining and assembly are performed.

After that, if there is a command for the next work in step 29, the travel command in step 2G causes the 10th rejection) +21. The second robot (4) starts to move to the predetermined position for the next work, and step 2
1 and subsequent operations are performed. Further, if there is no instruction for the next work in step 29, the first robot (2) and the second robot (4) return to the starting point in step 30.

In this way, the first detection means (7) provided on the first robot (2) is operated with respect to the index (8) provided on the first travel path (1), and the first detection means (7) provided on the first robot (2) is operated. a second detection means (9) provided on the first robot (2) for detecting the position and with respect to an index Q provided on the second robot (4);
The position of the second robot (4) is detected by operating the robot. Therefore, the number of indicators (8) α [is small, and the 10th drop H2) can be achieved with a simple device configuration.
No. 20) (4) (7) The position can be detected,
Further, even when the robot works on workpieces (6) having different shapes and dimensions, it is possible to easily cope with the robot work by simple preparation work.

Note that in the embodiments shown in FIGS. 1 to 4, even if the second robot (4) is an industrial robot device that moves along the first travel path away from the first robot (2), First detection means (force to the first robot (2), indicator (8) to the first
By providing the second detection means (9) on the first robot (2) and the index α1 on the second robot (4), the same as the embodiment shown in FIGS. 1 to 4 can be achieved. It is clear that the effect is obtained.

〔Effect of the invention〕

As explained above, the present invention includes the first detection means for detecting the position of the first robot with respect to the traveling path of the first robot, and the second detection means for detecting the position of the second robot with respect to the first robot. .

Detecting the position of the first robot with respect to a predetermined position.

The position of a second robot that performs robot work in cooperation with the first robot is detected relative to the first robot. As a result, there are fewer members such as indicators facing the detection means, and a simple device configuration allows the first robot to
The second robot can work cooperatively, and the second robot can
This has the effect of making it possible to easily handle workpieces with different dimensions with simple preparation work.

[Brief explanation of the drawing]

FIG. 1 is a conceptual overall configuration diagram of an embodiment of an industrial robot device according to the present invention, FIG. 2 is a left side view of FIG. 1, and FIG.
1 is a conceptual circuit diagram showing the electrical connections of the embodiment shown in FIG. 1, and FIG. 4 is a flowchart explaining the operation of the embodiment shown in FIG. (1)...First running path (running path) i21...First robot. (3)...Second traveling route (traveling route), (4)...Second running route
robot. (7)...first detection means, (8)...indicator, (9)
...Second detection means. H...Indicator. In addition, the same parts and corresponding parts in the two figures are indicated by the same reference numerals.

Claims (1)

[Claims] a first robot that travels on a travel path and performs robot work at a designated position; a second robot that travels on a travel path close to the travel path of the first robot and performs robot work in cooperation with the first robot at a designated position; a first detection means provided on the first robot and activated when the robot faces an indicator placed on the travel path; An industrial robot device comprising a second detection means that operates when facing each other.