JPH05116093A - Industrial robot - Google Patents

Abstract

PURPOSE:To prevent the careless drop and breakage of a tool or a work by keeping the drive source of a robot main body in a nonmagnetized status at the same time when the drop of a tool installation shaft beyond a prescribed range is detected, in the case of the release of an electro-magnetic break. CONSTITUTION:A chuck 1 holding an object is installed on the top end of a tool installation shaft 7 capable of turning around the shaft 6 and moving upward/downward. When the power source of a controller 9 is off, for example, a tool installation shaft 7 is held by an electro-magnetic break 8 and the breakage of a product 10 and the like by the drop of a chuck 1 is prevented. Meantime, the electro-magnetic break 8 is released by the operation of the switch 12 of a battery 11. In the case of the release of the electromagnetic break 8, when the tool installation shaft 7 is dropped beyond a prescribed range, this is detected by a sensor 13. At the same time, the contact point of a switch 12 and the connection wire of the controller 9 are maintained in an insulated status and the drive source is held in a non-magnetized status by the controller 9.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to releasing a brake of a robot equipped with a brake that holds its posture when the power of a controller is turned off.

[0002]

2. Description of the Related Art A conventional industrial robot will be described below with reference to FIG.

In FIG. 2, 1 is a chuck for gripping an object, 3 is a first arm which rotates about an axis 2, and 5 is an axis 4.
The second arm 7 which rotates about the axis is a tool mounting shaft which is rotatable around the shaft 6 and moves up and down. The chuck 1 is mounted on the tip of the tool mounting shaft for positioning. Reference numeral 8 is an electromagnetic brake for preventing the tool mounting shaft 7 from falling. Normally, when the controller 9 is powered on, the electromagnetic brake 8 is released and the tool mounting shaft 7 is held by a vertical drive motor (not shown). When the power of the controller 9 is turned off, the tool mounting shaft 7 is held by the electromagnetic brake 8, and the product 10 caused by the chuck 1 dropping.
Alternatively, it prevents damage to the parts to be assembled. Reference numeral 12 is a switch for releasing the electromagnetic brake 8, and 11 is a battery that serves as a power source for releasing the electromagnetic brake 8 by the switch 12 when the controller 9 is powered off. This battery 11 is used when the controller 9 is powered on. Be charged.

[0004]

However, in the above-mentioned conventional configuration, some trouble occurs in the robot,
After releasing the electromagnetic brake, turn off the power of the controller while the robot is working with the brake release switch still activated due to the operator's carelessness.
When set to FF, the switch for releasing the brake operates regardless of the state of the controller and the electromagnetic brake is in the released state, so unexpectedly the tool or work falls and is destroyed. There was a problem that there is a possibility.

The present invention solves the above-mentioned conventional problems, and an object of the present invention is to provide an industrial robot capable of preventing the operation while the electromagnetic brake is released.

[0006]

In order to achieve the above object, the industrial robot of the present invention has a detecting means for detecting that the tool mounting shaft has descended beyond a predetermined range in a state where the electromagnetic brake is released. In addition, the controller for controlling the robot main body sets the drive source to the non-excited state based on the information from the detection means.

[0007]

With the above structure, when the operator attempts to operate the robot with the electromagnetic brake release switch turned on due to carelessness or the like, the motor, which is the drive source of the robot, is kept in a non-excited state and the electromagnetic brake release switch is turned on. By providing a means for transmitting the fact that the robot is in this state to the operator, the operation of the robot in the state where the electromagnetic brake is released is prevented in advance.

[0008]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An industrial robot according to an embodiment of the present invention will be described below with reference to the drawings.

FIG. 1 is a front view of the industrial robot of this embodiment.

Here, in the configuration of the conventional industrial robot, the same components are designated by the same reference numerals, and the description thereof will be omitted.

The difference between the present invention and the conventional example will be described below. That is, in the figure, the switch 12 has two contacts, one of which is a contact for releasing the electromagnetic brake 8 and the other is a contact which is in an insulating state when the electromagnetic brake 8 is released. .

Reference numeral 13 is a sensor for detecting that the tool mounting shaft 7 has descended beyond a predetermined range, and 14 is a display means for notifying an operator that the tool mounting shaft 7 is in an insulated state.

The operation of the industrial robot configured as described above will be described below. If the tool mounting shaft 7 descends beyond a predetermined range while the electromagnetic brake 8 is released due to some trouble, the sensor 13
Detects that, and the wirings connected to the contacts of the switch 12 and the controller 9 become insulated. As a result, the controller 9 deenergizes the motor that is the drive source. Therefore, the robot does not operate, and the controller 9 transmits the information to the operator through the display means 14, so that the operator can prevent the operator from operating the switch 12 while operating the switch 12.

[0014]

As described above, in the industrial robot of the present invention, when the electromagnetic brake is released, when the robot is attempted to operate, the downward movement of its axis is detected, and the controller deactivates the drive source. This prevents the operator from inadvertently operating the robot while releasing the electromagnetic brakes on the robot's vertical axis, and at the time of an emergency, by operating the switch, the robot can be stopped safely. It is also possible to release the electromagnetic brake on the vertical axis.

[Brief description of drawings]

FIG. 1 is a front view of an industrial robot according to an embodiment of the present invention.

FIG. 2 is a front view of a conventional industrial robot.

[Explanation of symbols]

 7 Tool mounting shaft 8 Electromagnetic brake 9 Controller 10 Product 12 Switch 13 Sensor 14 Display means

 ─────────────────────────────────────────────────── ─── Continuation of the front page (72) Inventor ▲ Yoshi ▼ Mutsumi Ta, 1006 Kadoma, Kadoma City, Osaka Prefecture Matsushita Electric Industrial Co., Ltd.

Claims (2)

[Claims] 1. A robot main body, a gripping means for gripping an object, a tool mounting shaft for mounting the gripping means, a controller for controlling the robot main body, and a drop of the tool mounting shaft when the controller is powered off. In a robot that can release the brake regardless of the state of the controller by a brake to prevent and a switch provided in a part of the robot body, when the brake is released by the switch, the tool mounting shaft exceeds a predetermined range. Equipped with a detection means for detecting that the controller has descended, and the controller uses this detection means to
An industrial robot, characterized in that the drive source is kept in a non-excited state when the lowering of the tool mounting shaft is detected. 2. The industrial robot according to claim 1, further comprising display means for displaying to a worker that the drive source is in a non-excited state.