JPH04217490A - Safety device for industrial robot - Google Patents

Abstract

PURPOSE:To prevent the linear guide of a travel base mounted with a robot from breaking due to the collision with a foreign mater left as it is on a travel base. CONSTITUTION:A supporter 17 is fitted to the both sides of the upper face front part of a travel base 7, a rod 18 equipped with an oil spring 20 is inserted freely reciprocatably into this supporter 17, at the tip of this rod 18, a scraper 19 actuating a limit switch 21 on a dog 22 with its retreat according to the collision with a foreign matter is fitted. When the scraper 19 located at the front part of a linear guide 11 is retreated with its collision with the foreign mater, the limit switch 21 stops the travel base 7, and the linear guide 11 is not broken with its collision with the foreign matter.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention detects foreign objects such as workpieces that have fallen onto a traveling base due to a mistake by an operator or a robot.
This invention relates to a safety device for industrial robots that prevents collisions between this foreign object and a running robot.

0002

2 and 3 show a conventional industrial robot. In the figures, reference numeral 1 denotes a traveling base. This traveling base 1 is provided with stoppers 2 at both ends of its upper surface, and longitudinal direction A pair of guide rails 3 oriented in the longitudinal direction are installed, and a rack 4 oriented in the longitudinal direction is attached to approximately the center of the upper surface via a mounting member. Further, a plurality of U-shaped support members 5 are placed on the upper surface of the traveling base 1, and are placed between the guide rail 3 and the mounting member. ) are installed horizontally in the longitudinal direction.

On the other hand, reference numeral 7 denotes a traveling platform located on the traveling base 1, and this traveling platform 7 is equipped with a horizontally articulated robot 8 and a traveling shaft 9 located behind the robot 8. Guide shoes 10 that loosely fit into the side edges of the footboard 6 through gaps are respectively attached to the four corners of the treadle 6, and the lower surfaces of the plurality of guide shoes 10 are provided with the guide rails 3
A linear guide 11 that fits into each is disposed. As shown in FIG. 2, the running shaft 9 is composed of a drive motor 12 and a reducer 13 that transmits the driving force of the drive motor 12 while decelerating it. A pinion 14 that meshes with the rack 4 is fitted. Note that 15 is a cable carrier that protects the control cable of the traveling shaft 9, and 16 is a bracket that supports this cable carrier 15.

However, when the traveling shaft 9 is driven, the rack 4
The pinion 14 meshed with the robot 8 rotates, and the traveling base 7 on which the robot 8 is mounted travels in the longitudinal direction of the traveling base 1 while being guided by the pair of guide rails 3.

[0005]

[Problems to be Solved by the Invention] The conventional industrial robot is constructed as described above, and since the linear guide 11 is not protected in any way, foreign objects such as workpieces may fall onto the traveling base 1 and be left as they are. In this case, there is a problem in that foreign matter is caught between the bracket 16 and the linear guide 11 and the linear guide 11 is damaged.

The present invention has been made in view of the above, and an object of the present invention is to provide a safety device for an industrial robot that can prevent damage to a linear guide.

[0007]

[Means for Solving the Problems] In order to achieve the above-mentioned object, the present invention provides a guide that fits into a rail laid on a traveling base at the bottom of a traveling base on which a robot is mounted. Moreover, the above-mentioned traveling platform is characterized in that a scraper is disposed in front of the guide to stop the traveling platform upon collision with a foreign object present on the traveling base.

[0008]

[Operation] According to the present invention, before the linear guide collides with a foreign object, the scraper located in front of the linear guide collides with the foreign object and detects the presence of the foreign object, and also stops the traveling platform. Damage to the linear guide due to collision can be prevented.

[0009]

[Embodiment] Hereinafter, the present invention will be described in detail based on FIG. 1. Supports 17 are attached to both sides of the top front of the traveling platform 7, and the plurality of supports 17 are provided in the direction of the guide rail 3. Horizontally oriented shafts 18 are each inserted so as to be able to reciprocate, and a substantially horizontal E-shaped scraper 19 that collides with foreign objects (not shown) is attached to the tips of the plurality of shafts 18. .

A coil spring 20 interposed between the support 17 and the scraper 19 is fitted into the shaft 18, and this coil spring 20 always elastically biases the scraper 19 in front of the linear guide 11. , to absorb the impact when the scraper 19 collides with a foreign object. Further, a dog 22 is horizontally attached to the upper center of the back of the scraper 19 and is operated by contacting the pin of the limit switch 21.
When the foreign object comes into contact with the pin, the limit switch 21 detects the presence of the foreign object and stops the traveling base 7. The other parts are the same as the conventional example.

Therefore, if a foreign object exists in front of the traveling table 7 while the traveling table 7 is traveling, the scraper 19 collides with the foreign object before the linear guide 11 collides with the foreign object, and the scraper 19 collides with the foreign object.
9 compresses the coil spring 20 while moving in the direction of the traveling platform 7 (Fig. 1
upper right) and move the dog 22 to the limit switch 21.
The limit switch 21 detects the presence of a foreign object and stops the traveling base 7 before it collides with the foreign object.

As described above, according to the present invention, the scraper 19 is located in front of the linear guide 11 to thickly protect it, and also detects foreign matter and closes the limit switch 21.
Since the traveling base 7, in other words, the robot 8, is stopped, even if a foreign object such as a work falls onto the traveling base 1 due to a mistake by the operator or the robot 8 and is left as it is, the linear guide 11 will stop. It is possible to reliably prevent damage caused by collision with foreign objects. Furthermore, since the structure is simple, it can be manufactured at low cost.

[0013] In the above embodiment, the limit switch 21
The impact surface of the scraper 19 (
Even if a piezoelectric element is attached to the front surface), the same effects as in the above embodiment can be obtained.

[0014]

As described above, according to the present invention, the scraper is positioned in front of the linear guide to thickly protect it, and detects foreign objects to set the limit switch on the running platform, in other words, the robot. Since the linear guide is stopped, even if a foreign object such as a work falls onto the traveling base due to a mistake by the worker or robot and is left unattended, the linear guide can be reliably prevented from colliding with the foreign object and being damaged. There is an effect. Furthermore, since the structure is simple, it can be manufactured at low cost.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing an embodiment of a safety device for an industrial robot according to the present invention.

FIG. 2 is a cross-sectional explanatory diagram showing a traveling axis of a conventional industrial robot.

FIG. 3 is an overall view showing a conventional industrial robot. 1 Traveling base 3 Guide rail 7 Travel platform 8 Robot 9 Travel axis 11 Linear guide 19 Scraper 21 Limit switch 22 Dog

Claims (1)

[Claims] Claim 1. A safety device for an industrial robot, in which a guide that fits on a rail laid on the traveling base is disposed at the lower part of a traveling base on which the robot is mounted, wherein the traveling base is equipped with a guide that fits on a rail laid on the traveling base. 1. A safety device for an industrial robot, characterized in that a scraper is disposed in front of the guide to stop the traveling platform upon collision with a foreign object present in the guide.