JPH04266316A - Control system for robot conveyer - Google Patents

Abstract

PURPOSE:To improve working efficiency by effectively utilizing the operation function of the articulated robot arranged in the side of a conveyer for conveying workpieces in a control system to perform work on a workpiece by means of the above mentioned robot while transferring the workpiece by means of the conveyer. CONSTITUTION:In the workable area 4a of a painting robot 3, for example, for a workpiece 1 conveyed by a conveyer 2, when the painting robot 3 reaches the home H2(the limit position in the up stream side in the transferring direction of the above mentioned conveyer 2 in the workable area 4a) while applying painting to the workpiece 1, the speed of the conveyer 2 is switched to the high speed side. When the painting robot 3 reaches the home H3(the limit position in the down stream side in the transferring direction of the conveyer 2 in the workable area 4a) while applying painting to the workpiece 1, the speed of the conveyer 2 is switched to the low speed side. That is, the speed of the conveyer 2 is controlled according to the working speed of the painting robot 3.

Description

[Detailed description of the invention]

0001

[Industrial Application Field] The present invention relates to a control system for a robot conveyor in which a robot performs work such as painting on a workpiece conveyed by a conveyor. The present invention relates to a control system equipped with a control system.

0002

[Prior Art] Generally, in this type of system, one or more articulated robots are disposed on the side of a conveyor that conveys a workpiece, and while the workpiece is being moved by the conveyor, the robot is attached to the workpiece. The structure is configured so that, for example, work such as painting can be performed at the machine. In this case, the robot is controlled to follow the conveyance speed of the conveyor (the moving speed of the workpiece) to carry out the painting work.

0003

[Problem to be Solved by the Invention] In the above-mentioned system, the speed at which the robot can operate is usually higher than the workpiece conveyance speed by the conveyor.
The reality is that this robot's functionality cannot be utilized effectively, resulting in unnecessary waiting time. Therefore, an object of the present invention is to provide a robot conveyor equipped with a function that can improve work efficiency by effectively utilizing the movement functions of a robot that performs work on workpieces conveyed by a conveyor. The purpose is to provide a control system.

0004

[Means for Solving the Problems] In order to achieve the above object, the main means adopted by the present invention is that an articulated robot is disposed on the side of a conveyor that conveys workpieces. , in a control system for a robot conveyor, in which the work is moved by the conveyor and the robot performs work on the work, the robot is controlled so that the robot can operate within an area in which the robot can work on the work. This is a control system for a robot conveyor, in which the speed of the conveyor is variable-speed controlled according to the work speed.

[0005]

DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples of embodying the present invention, and are not intended to limit the technical scope of the present invention. Here, FIG. 1 is an explanatory diagram of a control system for a robot conveyor according to an embodiment of the present invention, FIG. 2 is a side view of main parts when viewed from the direction of arrow A in FIG. 1, and FIG. 3 is an illustration of the control system described above. 3 is a flowchart showing a processing procedure of main parts in the system. In the control system according to this embodiment, as shown in FIGS. 1 and 2, an articulated painting robot 3, for example, is installed on the side of a conveyor 2 that conveys a relatively large, cubic-shaped workpiece 1. . In this embodiment, although not shown in the figure, another painting robot 3 is placed opposite to the work 1. The operating range 4 of the painting robot 3 has a substantially fan-like shape when viewed from above as shown in FIG. 1, but when viewed in side section, it has a substantially crescent-moon shape as shown in FIG. From this, from the relationship with the relatively large workpiece 1 and the operation range 4 of the other painting robot 3, which is not shown in the figure, the workable area of the painting robot 3 for this workpiece 1 is as shown in Figure 1. As shown in the figure, it is limited to the range shown by the two-dot chain hatching in a plan view. Hereinafter, this workable area will be referred to as 4a. Then, while the workpiece 1 is moved by the conveyor 2, the painting robots 3 apply coating to the workpiece 1. In the following description, since the two painting robots 3 are controlled in the same way, only one of the painting robots 3 will be described.

In this system, in the relationship between the conveyor 2 and the workable area 4a of the coating robot 3 for the workpiece 1, the workable area 4a is located upstream of the conveyor 2 in the transport direction (arrow 5 direction). The limit position on the downstream side in the transport direction of the conveyor 2 in the workable area 4a is set as the home H3. Above platform H2,
H3 is defined using data from the detectors of each axis representing the attitude of the painting robot 3 as a parameter, and when the signal of the platform H2 is output, the speed of the conveyor 2 is switched to the high speed side, and the speed of the conveyor 2 is switched to the high speed side, When the H3 signal is output, the speed of the conveyor 2 is switched to the low speed side. In this case, at the same time, the home H1 as a standby position for the painting robot 3 is also defined at an appropriate position within the workable area 4a as described above. That is, in the control system, the painting robot 3 is controlled so that the painting robot 3 can be effectively operated at all times to perform painting work within the workable area 4a of the painting robot 3.
The speed of the conveyor 2 is controlled in accordance with the working speed. Continuing on, based on FIGS. 1 and 3, specific procedures for performing painting work using the control system will be described. Note that S1, S2, . . . in FIG. 3 indicate each processing step. First, in S1, when the program number corresponding to the workpiece 1 is set and the start button is turned on, the conveyor 2 is started on the premise that the painting robot 3 is present at the standby position of the platform H1. The speed V2 of the conveyor 2 in this case is a normal speed for painting work. Then, the workpiece 1 conveyed by the conveyor 2 is
When it is detected by, for example, a limit switch that the paint robot 3 is approaching the workable area 4a of the painting robot 3 (S2), the painting robot 3 moves from the platform H1 toward the upstream side in the conveyance direction of the conveyor 2. Start. Then, the painting robot 3 paints the workpiece 1 while moving at high speed, and the conveyor 2
(S3).

[0007] When the painting robot 3 approaches the platform H2 (S4), the speed of the conveyor 2 decreases because the painting robot 3 cannot move upstream any further and perform painting work. Switched to high speed V3. In this case, the conveyance speed V3 of the conveyor 2 is faster than the movement speed of the painting robot 3 involved in the painting operation, so the painting robot 3 follows the workpiece 1 and moves downstream in the conveyance direction of the conveyor 2. While doing so, the work 1 is painted (S5). If the painting robot 3 approaches the platform H3 before the work completion signal is output to notify that the painting work has been completed in S6, the painting robot 3 cannot move further downstream and perform painting. Therefore, the speed of the conveyor 2 is switched to the low speed V1 (S7). Since this speed V1 is lower than the moving speed of the painting robot 3 during the painting operation, it is fully possible for the painting robot 3 to perform the painting operation on the work 1. As described above, the speed of the conveyor 2 is controlled in accordance with the working speed of the painting robot 3, and the painting robot 3 can effectively perform painting work without waiting time. When the output of the work completion signal is detected in S6, the painting work by the painting robot 3 is completed (S8), and the painting robot 3 is returned to the home H1 and stopped. The conveyor 2 is switched to speed V2 and driven, and is stopped after the workpiece 1 is discharged to a predetermined position (S9). Therefore, in this control system, the operation functions of the painting robot 3 can be effectively utilized to perform painting work effectively. In addition, in the above-mentioned procedure, when painting also the front end surface and the rear end surface of the work 1, when the front end surface and the rear end surface of the work 1 are located within the workable area 4a, apply the above coating as appropriate. Conveyor 2 is stopped. In this state, the painting robot 3 performs the painting work.

[0008]

[Effects of the Invention] As described above, the present invention has an articulated robot installed on the side of the conveyor that conveys the workpieces.
In a control system for a robot conveyor, in which the robot performs work on the work while the work is moved by the conveyor, the robot performs the work so that the robot can operate within the range in which the robot can work on the work. This robot conveyor control system is characterized in that the speed of the conveyor is controlled in a variable manner according to the speed, so that the operating function of the robot that performs work on the workpiece conveyed by the conveyor is effectively utilized. can improve work efficiency.

[Brief explanation of the drawing]

FIG. 1 is an explanatory diagram of a control system for a robot conveyor according to an embodiment of the present invention.

FIG. 2 is a side view of main parts when viewed from the direction of arrow A in FIG. 1;

FIG. 3 is a flowchart showing a processing procedure of main parts in the control system.

[Explanation of symbols]

1...Work 2...Conveyor 3...Painting robot 4...Operating range 4a...Workable area H2, H3...Home S1 to S9...processing steps

Claims (2)

[Claims] Claim 1. A control system for a robot conveyor, in which an articulated robot is disposed on the side of a conveyor that conveys a workpiece, and the robot performs work on the workpiece while the workpiece is moved by the conveyor. , a control system for a robot conveyor, characterized in that the speed of the conveyor is controlled in a variable manner according to the working speed of the robot so that the robot can operate within an area in which the robot can work on the workpiece. . 2. The speed of the conveyor is switched to a high speed side when the robot reaches a limit position on the upstream side in the transport direction of the conveyor in the workable area, and the robot switches the speed of the conveyor in the workable area to a high speed side. 2. The control system for a robot conveyor according to claim 1, wherein when a limit position on the downstream side in the conveyance direction is reached, speed change control is performed by switching to a lower speed side.