JPH03106701A - Industrial robot - Google Patents

Abstract

PURPOSE:To shorten the stand-by time of a robot by detecting a working condition of a robot so as to change the rotational speed of a servo-motor. CONSTITUTION:After completion of a robot body 10, a servo-motor control circuit 53 does not deliver a servo-motor control signal when a sensor 5 does not issue a workpiece detection signal, and accordingly a servo-motor drive circuit 54 delivers a normal large power to a servo-motor which is therefore rotated at a high rotational speed. Further, when the sensor 5 detects a workpiece, a counter circuit 52 operates the robot body 50 in accordance with a number of pulses delivered from a pulse transmitter 4. Then, the servo-motor control circuit 54 regulates the speed of the motor 3 by way of the drive circuit 53. Thereby, it is possible to shorten the stand-by time.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to an industrial robot device comprising a conveyor that automatically and continuously conveys a workpiece, and a robot body that performs work on the workpiece.

[Conventional technology]

Conventionally, a conveyor is installed in a factory to transport workpieces, and a robot body is installed along the conveyor to perform work such as painting on the workpieces that are being transported.These are called industrial robot devices. Ru. The conveyor used in this industrial robot device is composed of a workpiece conveyor made of a chain or belt for conveying the workpiece, and a motor that drives the workpiece conveyor at a constant speed. The workpiece is then subjected to, for example, painting work, etc., by the robot body while being transported by the conveyor.

[Problem to be solved by the invention]

The above-mentioned conveyor is configured such that the workpiece conveyor, which is powered by the rotation of the motor, is driven at a constant speed proportional to this rotational speed, and the speed at which the conveyor conveys the workpiece is determined by the speed at which the robot body performs work on the workpiece. The speed is set so that it completes. Therefore, even if there is a gap between a workpiece being moved by the conveyor and the next workpiece, the conveyor always transports the workpiece at a constant speed, so the robot body moves from the end of one workpiece to the next. The time until the work starts is the waiting time during which no work is done. Reducing this waiting time as much as possible was the key to increasing the operating rate of the robot body and improving the operating rate of the workpiece per hour. One way to shorten this waiting time is to increase the rotational speed of the motor that drives the workpiece conveyor, thereby increasing the workpiece conveyance speed. However, when shortening the waiting time using such a simple method, there was a problem in that the work carried out by the robot itself, which performs work on the workpiece carried by the workpiece carrier, was not completed while the workpiece was being moved. [Means for Solving the Problems] In order to solve the above problem, the industrial robot device according to the present invention includes a workpiece transporter that transports a workpiece, a servo motor that drives the workpiece transporter, and a workpiece transporter that transports the workpiece. a robot body that performs work on a carried workpiece; a robot operating state determining means that determines whether or not the robot body is performing work on the workpiece and outputs a robot work signal based on the determination result; The present invention is characterized in that it includes a control circuit that changes the rotational speed of the servo motor by determining whether or not the robot work signal is output from the robot operation state determining means. [Function] With the above means, the industrial robot device of the present invention has the following features:
It works as follows. First, when a workpiece is carried by a workpiece carrier, the robot body performs work on the workpiece carried by the workpiece carrier. Further, the robot operating state determining means outputs a robot sorting work signal indicating whether or not the robot body is working on the workpiece to the control circuit. The control circuit changes the rotation speed of the servo motor depending on whether or not a robot operation signal is input from the robot operation state determining means.

[First example]

Below, an industrial robot device to which the present invention is applied will be explained using the 11th ffl and the second meat. (Structure) The IWJ is a diagram of the overall structure of this embodiment, and will be explained below using this diagram. Reference numeral 1 denotes a belt conveyor, which is composed of a work transport body, an endless belt 2, and a servo motor 3.
Further, the belt 2 uses a servo motor 3 as its driving power source, and transports the workpiece 6 at a speed proportional to the rotational speed of the servo motor 3. Further, the servo motor 3 is connected by an electric wire 30 to a control circuit 51 (not shown) built into a robot main body 50 (described later), and rotates at a speed according to drive power supplied from the control circuit 51. A pulse transmitter 4 emits pulses proportional to the rotational speed of the servo motor 3 (in this embodiment, one pulse per rotation), and these pulses are supplied to the control circuit 51 via an electric wire 31.

5 is a sensor for detecting the workpiece 6. This sensor 5 is composed of a light emitting element 5a and a light receiving element 5b, and a work 6 is interposed between the light emitting element 5a and the light receiving element 5b. The sensor 5 outputs a workpiece detection signal indicating that the workpiece 6 has been detected to a control path 51 (described later) via the electric wire 32; It is provided. The robot body 50 is provided to carry out work on the workpiece 6, and the robot operation start signal output from the control circuit 5l built into the robot body 50 is transmitted to the tlIIft1 circuit (not shown) of the robot body 50. 6), the user starts working on the workpiece 6. Further, the robot main body 50
When the robot is performing work (during operation), a robot operation signal is output to the control circuit 5l. Next, the structure of the control circuit vII51 will be explained using FIG. 2.

52 is a counting circuit, which has two input terminals and one output terminal. A workpiece detection signal output from the sensor 5 is input to one of the two input terminals,
The pulse output from the pulse generator 4 is input to the other input terminal. Then, the counting circuit 52
When the workpiece detection signal output from the pulse transmitter 4 is input, the pulses output from the pulse generator 4 are counted, and when the predetermined number of pulses (described later) and the counted number of pulses are the same, the workpiece is detected. 6 moves a predetermined distance (distance from the point where the workpiece 6 is detected by the sensor 5 to the range where the robot body 50 can perform work on the workpiece 6!) and moves the belt into the operating range of the robot body 50. 2 outputs a robot operation start signal to the main body 50 of the robot 7, and resets the counted pulses to zero. Here, the predetermined number of pulses means the workpiece 6
When the pulse transmitter 4 is moved by the predetermined distance,
It is the number of pulses emitted from a To explain specifically, if the moving distance of the belt 2 when the servo motor 3 makes one rotation is 0.1 m, and the predetermined distance is 1 m, then
The number of pulses that the pulse transmitter 4 transmits 10 times while the workpiece 6 is moving a predetermined distance 1i1tlm is referred to as the predetermined number of pulses.

The servo motor control circuit 53 operates only when the robot operation signal output from the robot body 50 is not input, that is, when there is no workpiece 6 within the working range of the robot.
A servo motor control signal is output to the servo motor drive circuit 54.

The servo motor drive circuit 54 is the servo motor control circuit 5
When the servo motor control signal output by the servo motor 3 is being input, large driving power is supplied to the servo motor 3 via the electric wire 30 in order to increase the rotational speed of the servo motor 3. Therefore, since a large driving power is supplied to the servo motor 3, the conveyance speed of the workpiece 6 by the belt 2 becomes a speed (high speed) at which it is impossible for the robot main body 50 to perform work on the workpiece 6. . Further, when no servo motor drive signal is input from the servo motor control circuit 53, the servo motor drive circuit 54 supplies normal drive power to the servo motor 3. Therefore, when the servo motor control circuit 53 is not outputting the servo motor' control signal, the workpiece 6 is moved at the standard speed at which the robot body 50 can perform work on the workpiece 6. is capable of performing work on the workpiece 6 and completing this work.

(Operation) First, the state shown in FIG. 1 will be explained. FIG. 1 shows a state in which the robot main body 50 has finished working on the workpiece 6, and the next workpiece 6 has not yet arrived at the workpiece detection point of the sensor 5.

In this state, the sensor 5 is not outputting a workpiece detection signal, and the robot body 50 is not outputting a robot work signal. The servo motor control circuit 53 to which no robot work signal is input from the robot body 50 outputs a servo motor control signal to the servo motor drive circuit 54. Therefore, the servo motor drive circuit 54 to which the servo motor control signal is input from the servo motor control circuit 53 supplies power larger than normal power to the servo motor 3 in order to rotate the servo motor 3 at high speed.

Next, a state in which the sensor 5 detects the workpiece 6 after a certain period of time has passed since the state shown in FIG. 1 will be described. When the sensor 5 detects the workpiece 6 conveyed by the belt 2, the sensor 5 outputs a workpiece detection signal to the control circuit 51. The 8f number circuit 52 of the control circuit 51 to which the workpiece detection signal is manually input counts the pulses inputted from the pulse generator 4 from the point in time when the workpiece detection signal is inputted, and calculates this number of pulses and a predetermined number of pulses. When becomes the same,
That is, when the workpiece 6 detected by the sensor 5 reaches the workable range of the robot soto main body 50. A robot operation start signal is output to the robot soto main body 50 (the counting circuit 52 does not count the number of pulses counted by the counting circuit 52 even if the workpiece detection signal output from the sensor 5 is input to the counting number 11852 of the control circuit 51). (The robot operation start signal is not output to the robot body 50 until the number of pulses reaches the predetermined number of pulses.) When the robo-soto operation start signal output from the counting circuit 52 is input to the robot body 50, the robot body 50 starts working on the workpiece 6, and while performing the work on the workpiece 6. outputs a robot operation signal to the servo motor control circuit 53 of the control circuit 51. Next, when the servo motor control circuit 53 receives the robot operation signal output from the robot body 50, it stops outputting the servo motor control signal to the servo motor drive circuit 54 of the control circuit 5l,
While the robot operation signal is being input, the output of the servo motor control signal to the servo motor drive circuit 54 is maintained in a stopped state. When the servo motor control signal output from the servo motor Ilm circuit 53 is no longer input, the servo motor drive circuit 54 operates the servo motor 3 at the standard speed (a speed at which the robot body 50 can complete the work on the workpiece 6). The power supplied to the servo motor 3 is adjusted so as to rotate the belt 2. Therefore, the servo motor 3 drives the belt 2 at a speed that allows the robot body 50 to complete the work on the workpiece 6. In this way, In the first embodiment of the industrial robot device according to the present invention, the workpiece conveyance speed of the belt 2 is at the standard speed only when the robot main body 50 is outputting the robot operation signal, and the workpiece conveyance speed is high at other times. As described above, the belt 2 of the industrial robot device according to the first embodiment of the present invention is configured to transport the workpiece 6 at the standard speed only when the robot main body 50 is performing work on the workpiece 6. As a result, the operating rate of the robot body 50 is improved and the production performance is improved.In addition, in the first embodiment, the point where the sensor 5 detects the workpiece 6 and the robot body 50 are located at the point where the workpiece 6 is detected. However, a sensor that detects the workpiece 6 within the operating range of the robot body 50 may be used.In this case, the counting circuit 52 and the pulse generator The device 4 is no longer required, and the workpiece detection signal output from the sensor 5 can be supplied to the robot body 50 as a robot operation start signal. The pulse transmitter 4 is attached to the servo motor 3 and the pulses output in proportion to the rotation speed of the servo motor 3 are used.As mentioned above, this pulse transmitter 4 is used to measure the moving distance of the workpiece 6. Since the pulse transmitter 1!4 can be attached to the belt 2 to detect the workpiece conveyance speed of the belt 2 without being attached to the servo motor 3, the pulse transmitter 1!4 may be attached to the belt 2 as a workpiece detection means in this embodiment. Although the sensor 5 consisting of a light emitting element 5a and a light receiving element 5b is used, the sensor 5 is not limited to this, but may be an ultrasonic sensor or a limit switch that can output a signal when the workpiece 6 is at a predetermined position. It goes without saying that any workpiece detection means may be used as long as there is one. [Second Embodiment] An industrial robot device to which the present invention is applied will be explained below using FIG. 1 and FIGS. 3 to 8. (Structure) The structure of the industrial robot device of this embodiment has many parts that are the same as the structure of the industrial robot device of the first embodiment, and is different from the structure of the industrial robot device of the first embodiment. The structure is different from that of the robot body 90 and the $4 lock 100. Therefore, in the overall configuration diagram of the industrial robot device of this embodiment, the robot body 50 in FIG. I will only explain about.

The robot main body 90 receives a work movement signal output from a work movement distance measuring circuit 101 of a control circuit 100, which will be described later, and work data output from a work discrimination circuit 103. The robot main body 90 is first inputted with the work data. Next, when the workpiece movement signal is input, work on the workpiece 6 is immediately started based on the workpiece data that was input before the workpiece movement signal was inputted. Next, the internal structure of the control circuit 101 will be explained using FIGS. 3 to 8.

Reference numeral 101 denotes a workpiece movement distance measuring circuit, which will be explained using the flowchart shown in FIG.

First, it is determined whether a workpiece detection signal output from the sensor 5 has been input (STRP Ll). ST
In EP 1, 1, if the workpiece detection signal is not input, the above STEP Ll is repeated. Furthermore, if a workpiece detection signal is input, the pulses output from the pulse generator 4 from the time the workpiece detection signal is inputted are counted (STEP L2). Next, it is determined whether the number of pulses (pulse number) counted in STEP L2 has reached a predetermined number of pulses (STE
P L3). Here, the predetermined number of pulses means that the distance between the robot body 90 and the point where the workpiece 6 is detected by the sensor 5 is
is the total number of pulses that the pulse generator 54 outputs while moving to the operating range of .

If the number of pulses (number of pulses) counted in STEP L2 in STIEP 1 and 3 is not the predetermined number of pulses, STEP L2 and STEP
Repeat L3. Also, in STEP L3, STE
When the number of pulses (pulse number) counted in P L2 reaches a predetermined number of pulses, a workpiece movement signal is output to the robot main body 90 described above and the servo motor@control circuit 105 described later (STEP L4). , STI'! P1.
Reset the pulse number obtained in step 2 to zero (STEP L5),
Processing ends.

Reference numeral 102 denotes a workpiece width measuring circuit, which will be explained using the flowchart shown in FIG.

First, it is determined whether a workpiece detection signal output from the sensor 5 has been input (STEP Wl). STf!
If the workpiece detection signal is input at p hi, the pulses output from the pulse generator 4 start counting from the time the workpiece detection signal is inputted (STI!
PW2). Then, in the above STEP Wl, the pulse transmission ri4 is continued until the workpiece detection signal is no longer input.
Continue to hit the pulses being output from (STEP
Wl, STFP W2). In addition, the above STEP WH:
When the workpiece detection signal is no longer input, STF!
It is determined whether the number of pulses counted in P W2 is zero (STEP W3). If the number of pulses is zero in STEP W3, the process ends. Also, S
If the number of pulses is not zero in TEP W3, S
The number of pulses counted by TEP W2 is sent to the workpiece discrimination circuit 1.
03 (STEP W4), and reset the number of pulses counted in STEP W3 to zero (STEP W5).
, the process ends.

The workpiece discrimination circuit 103 will be explained using the flowchart shown in FIG.

First, it is determined whether the number of pulses output from the work width measuring circuit 102 described above has been input (STHP DI
). In the above STEP DI, if the number of pulses is not input, STEP DI is repeated. Also, S
In TEP Di, when the number of pulses is input, the work data corresponding to this number of pulses is read out from the work type discrimination data storage section 104 (described later) (
STEP D2), this work data is output to the robot main body 90 described above and the servo motor control circuit 105 described later (STEP D3). And finally, the above STEP
The work data read in D2 is deleted from the work discrimination circuit 103 (STEP D4), and the process ends. Here, the work type discrimination data storage unit 104 is
As shown in FIG. 7, workpiece width data for determining the type of workpiece 6 based on the width of the workpiece 6 and workpiece work data indicating the working time of the robot body 90 corresponding to this workpiece width data are stored as workpiece data. It is a memory circuit that In this embodiment, the number of pulses is used for the workpiece width data and the workpiece operation data.

The servo motor control circuit 105 will be explained using the flowchart shown in FIG.

First, it is determined whether or not work data is input from the work discrimination circuit 103 (STEP Sl).

If no work data has been input in STEP Sl, the determination in STEP Sl is repeated.

Furthermore, if the workpiece data is manually input in STRP Sl, it is determined whether or not the workpiece movement signal output from the workpiece movement distance measurement circuit 101 described above is input (STEP S2). STEP S2 If the workpiece movement signal is not input, proceed to STEP
Repeat the judgment in S2. Further, when a workpiece movement signal is input in STEEP S2, the pulses output from the pulse generator 4 mentioned above are started counting from the time when the workpiece movement signal is inputted. ) (STF.P
S3). Next, f - ho% - evening control circuit 10
51; l: Number of pulses counted in STEP S3 - h<, workpiece discrimination same path 10 in STEP 51
It is determined whether or not the number of pulses is within a predetermined number of pulses of the workpiece work data that corresponds to the workpiece data inputted from step 3 (S↑t!P S4). STEP S4
! The number of pulses counted by P S3 is
If the workpiece data inputted from the workpiece discrimination circuit 103 at Sl falls within the predetermined pulse number range of the workpiece work data, the robot operation indicates that the robot main body 90 is processing the workpiece 6. A signal is output to the servo motor drive circuit 106 (described later) (STI!
PS5) and ST[! In P S4, the number of pulses is within the predetermined (7) Hals ll [I range (indicating that the robot body 90 is performing work on the workpiece 6), STEP S3, STEP S4, S
Repeat TRP 35. Therefore, if the number of pulses counted in STEPS 3 is within the predetermined pulse number range, the servo motor control circuit 105 continues to output the robot operation signal to the servo motor drive circuit 106. Also, STI! STI in P S4! P
If the number of pulses counted in S3 is not within the predetermined pulse number range of the workpiece work data that constitutes the workpiece data input from the workpiece discrimination circuit 103 in STEP St (when the robot main body 90 ), the robot operation signal output to the servo motor drive circuit 106, which will be described later, is stopped (STf!P S6). Next, the servo motor control circuit l05 determines whether the number of pulses counted in STEP S3 is greater than the number of pulses included in the workpiece width data that constitutes the workpiece data output from the workpiece width measuring circuit. (STEP 5?)
). Then, in STEP S7, if the number of pulses counted in STEP S3 is not greater than the number of pulses included in the workpiece width data, the above-mentioned STI! P
Return to processing in S3. Also, in S↑HP 37, S
If the number of pulses counted in TEP 53 is larger than the number of pulses included in the workpiece width data,
The number of pulses counted in STEP S3 is reset to zero (STEP S8), and the process ends.

The servo motor drive circuit 106 is the servo motor am described above.
A robot operation signal output from circuit 105 is input. When the robot operation signal is not input, a large drive power is inputted to increase the rotational speed of the servo motor 3 in order to promptly transport the workpiece 6 within the workable range of the robot body 90. We will supply it once it runs out. Therefore, when the robot operation signal is not input from the servo motor control circuit 105, a large drive power is supplied to the servo motor 3, so that the conveyance speed of the workpiece 6 on the belt 2 is lower than the robot main body 90.
reaches a speed (high speed) that makes it impossible to complete the work on workpiece 6. In addition, the servo motor drive circuit 106
When a robot operation signal is input to the servo motor 3, normal driving power is supplied to the servo motor 3. Therefore, when the servo motor control circuit 105 is outputting the robot operation signal, the servo motor 3 rotates at a rotation speed (standard rotation) that allows the robot body 90 to complete the work on the workpiece 6. (Function) The function of the industrial robot device according to the present invention configured as described above will be explained below. First, when the sensor 5 detects the workpiece 6 carried by the conveyor 1, the sensor 5 outputs a workpiece detection signal to the workpiece movement distance measuring circuit 101 and the workpiece width measuring circuit 102. Then, the workpiece moving distance measuring circuit 10
1 receives the work detection signal output from the sensor 5, so the work movement distance measuring circuit 101 starts counting the pulses input from the pulse transmitter 4 from the moment the work detection signal is input (STEP L1). .STEP
1,2). Then, when the number of pulses calculated by the number of stitches reaches a predetermined value, a workpiece movement signal indicating that the workpiece 6 has been carried to the workable range of the robot body 90 is output to the robot body 90 and the servo motor control circuit 105. do(
STI! P L3. STHP L4).

Further, when the workpiece detection signal output from the sensor 5 is input, the workpiece width measurement circuit 102 starts counting the pulses inputted from the pulse generator 84 from the time when the workpiece detection signal is inputted (STI!P W1 .STf!P!
A2) When the workpiece detection signal is no longer input, pulse counting is stopped. If this number of pulses is not zero, this number of pulses is calculated as the workpiece discrimination time vs 103 output t.
(STEP W3, STEP W4).

Next, in the workpiece discrimination time vs103, the workpiece width measurement circuit 10
When the number of pulses outputted from CST 2 is input, the work discrimination circuit 103 reads work data corresponding to the above number of pulses from the work type discrimination data storage B 104.
EP DI, STEP D2), output work data to the servo motor control circuit 105, the robot body 90, and the dent (STEP D3).

Here, the workpiece 6 when the sensor 5 detects the workpiece 6
Since the width of the workpiece 6 is shorter than the distance from the point to the working range of the robot body 90 that performs work on this workpiece 6, the workpiece movement distance measurement circuit 101 outputs an output when one workpiece 6 moves. The timing of outputting the workpiece movement signal and the number of pulses output by the workpiece width measuring circuit 102 is such that the workpiece movement signal is output after the counted number of pulses is outputted from the workpiece width measuring circuit 102. Therefore, the timing of the workpiece data and workpiece movement signal regarding one workpiece 6 inputted to the robot main body 90 is such that the workpiece movement signal is inputted after the workpiece data is inputted.

Immediately after the workpiece movement signal is inputted after the workpiece data is inputted, the robot main body 90 starts working on the workpiece 6 based on the workpiece data inputted before the workpiece movement signal is inputted.

The servo motor control circuit 105 receives work data from the work discrimination circuit 103 (STRP Sl), and when a work movement signal is manually input from the work movement distance measurement circuit rtsioi (STEP S2), it is input from the pulse generator 4. Start counting pulses from the time the workpiece movement signal is input (STEP S3). Next, ST
The number of pulses counted by fEP S3 is
P S1 If the workpiece data inputted from the workpiece discrimination circuit 103 at 41m is within the predetermined number of pulses of the workpiece work data, the robot operation signal continues to be output to the servo motor drive circuit 106 (StEP
S3 STEP S4, STEP S5) If the number of pulses is not within the predetermined number, the robot operation signal ? H
Stop the force (STf!P S6). And STEP
If the number of pulses counted in S3 is not larger than the number of pulses indicating the width of the workpiece included in the workpiece width data, STRP S3 to STEP S6 17
) Repeat the process (STEPS 3, STEP S4, S
TEP S5, STEP S6, STEP S7).
In addition, if the number of pulses counted in STEP S3 is larger than the number of pulses indicating the width of the workpiece included in the workpiece width data, the number of pulses counted in STEP S3 is reset to zero, and the process ends. Do (S
TEP S7, STF. P S8). Therefore, the servo motor control lpl path 105 allows the robot main body 90 to
Servo motor drive circuit 106 only when working on
Outputs the hero robot activation signal.

The servo motor drive circuit 106 receives the robot operation signal output from the servo motor control circuit 105, and when the robot operation signal is input, the servo motor drive circuit 106 operates the servo motor to enable the robot body 90 to perform work on the workpiece 6. Adjust the power supplied to 3. Therefore, the servo motor 3 is supplied with normal driving power (standard power), so the servo motor 3 rotates at the normal rotational speed (standard rotation), and the workpiece conveyance speed of the belt 2 is such that the robot body 9o The speed becomes the standard speed at which work can be performed on 6. In addition, when the robot operation signal is not input from the servo motor control circuit 105 to the servo motor drive circuit 106, the servo motor drive circuit 106 uses a power larger than the standard power in order to increase the rotational speed of the servo motor 3 above the standard speed. (large electric power) is supplied to the servo motor 3. Therefore, when the servo motor control circuit 105 is not outputting the robot operation signal, the servo motor 3 rotates at high speed, making it impossible for the robot body 9o to complete the work on the workpiece 6.

In the second embodiment, the sensor 5 is installed at a predetermined distance from the robot body 90 in the direction opposite to the conveyance direction of the workpiece 6, but this is because the robot body 90 performs work on the workpiece 6. This is to determine the type of workpiece 6 before starting.

Therefore, if an object identification device for determining the type of workpiece 6 is provided and the type of workpiece 6 is determined before the robot body 90 performs work on the workpiece 6, the sensor 5 Needless to say, it is possible to provide the pulse transmitter 4 nearby, and the pulse generator 4 does not need to be used.

〔effect〕

As described above, the industrial robot device of the present invention is configured to change the rotational speed of the servo motor using the robot work signal output by the robot work state determining means, so the servo motor is used as the power source. The workpiece carrier is capable of quickly transporting the workpiece within the robot workable range (the range in which the robot body can perform work on the workpiece), and that allows the robot body to perform work on a single workpiece. The application time can be set in the same way as conventional ones.Therefore, by using this industrial robot device, waiting time can be shortened, and production capacity can be improved by increasing the operating rate of the robot body.

4. Brief Description of the Drawings Fig. 1 is a diagram showing the overall structure of an industrial robot device of a first embodiment and a second embodiment to which the present invention is applied, and Fig. 2 is a control circuit of the first embodiment. 3 is a diagram showing a control circuit of a second embodiment to which the present invention is applied, and FIG. 4 is a flowchart showing a control structure of a workpiece movement distance measuring circuit used in the second embodiment. 5 is a flowchart showing the control structure of the workpiece width measuring circuit used in the second embodiment, and FIG. 6 is a flowchart showing the control structure of the workpiece discrimination circuit used in the second embodiment. FIG. 7 is a diagram showing the internal structure of the workpiece type data storage unit used in the second embodiment, and FIG. 8 is a diagram showing the control of the servo motor control circuit used in the second embodiment. It is a figure which shows the flowchart which shows a structure. l…●●●…belt conveyor

Claims (1)

[Claims] A workpiece transporter that transports a workpiece, a servo motor that drives the workpiece transporter, a robot body that performs work on the workpiece carried by the workpiece transporter, and a robot body that performs work on the workpiece. a robot operation state determining means for determining whether or not the robot is performing work based on the determination result and outputting a robot work signal based on the determination result; An industrial robot device comprising: a control circuit that changes the rotational speed of the servo motor;