JPH0569356A - Industrial robot device - Google Patents

Abstract

PURPOSE:To provide an industrial robot, which can easily set the point of origin for works on movable parts provided in a stationary part. CONSTITUTION:A stationary part 1 is equipped with a light emitting device 4 to emit a laser beam, while movable parts 2, 3 are provided with indeces 5, 6, 7 which indicate the point of origin according to the situation of the laser beam received. Prior to the robot works, the movable parts 2, 3 are moved so that the indeces 5, 6, 7 can receive the laser beam in a certain specified situation, and thereby the point of origin is set. This enables preparation for robot works with lesser processes to ensure that an industrial robot is used effectively.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot apparatus which works by a movable section provided on a fixed section.

[0002]

2. Description of the Related Art In an industrial robot apparatus for performing work by a movable section provided in a fixed section of a conventional horizontal articulated robot apparatus or the like, a work origin of the movable section is set prior to robot work. Then, the required robot work is performed by the operation of the movable part according to the program.

[0003]

In the conventional industrial robot apparatus as described above, the origin position can be set by temporarily deciding the origin position manually and moving the industrial robot apparatus to test the locus of the movable part. It is carried out. For this reason,
There is a problem that it takes a lot of trouble to prepare for robot work.

The present invention has been made to solve such a problem, and an object thereof is to obtain an industrial robot apparatus in which the origin can be easily set.

[0005]

In the industrial robot apparatus according to the present invention, a fixed portion is provided with a light emitting device for emitting a laser beam, and a movable portion is provided with an index indicating the origin depending on the situation.

[0006]

In the industrial robot apparatus configured as described above, the movable part is moved prior to the robot work, and the laser beam is received via the index.

[0007]

1 to 4 are views showing an embodiment of the present invention, in which 1 is a fixed portion which is a base of an industrial robot, and 2 is a fixed portion which is vertically movable. A first movable part 3 which is a joint of the tip of one arm, 3 is a second movable part which is a hand attached to the tip of a second arm connected to the first movable part 2, and 4 is a laser beam provided on the fixed part 1. A light emitting device for emitting 5 is a first index fixed to the first movable part 2 and having a through hole, and 6 is a fixed to the second movable part 3 and has a through hole smaller than the through hole of the first index 5. The second index 7 is a third index fixed to the second movable portion 3 and arranged closer to the tip than the second index 6 and having an index point 71 on the surface facing the light emitting device 4.

The industrial robot apparatus configured as described above is biased, the first arm is moved, and the laser beam is arranged at a position where the laser beam passes through the through hole of the first index 5. Next, the second arm is moved to be placed at a position where the laser beam passes through the through hole of the second index 6, and further the hand is turned to be placed at a position where the laser beam hits the index 71 of the third index 7. The work origin can be set by such an operation, and the robot work preparation is completed with a small number of steps, so that the industrial robot apparatus can be efficiently used.

[0009]

As described above, the present invention is provided with a light emitting device which emits a laser beam on the fixed part and an index which indicates the origin depending on the situation of the laser beam received on the movable part. Then, the movable part is moved prior to the robot work, and the index is set to receive the laser beam in a predetermined condition to set the origin. As a result, the robot work can be prepared with a small number of steps, and the use of the industrial robot apparatus can be efficiently used.

[Brief description of drawings]

FIG. 1 is a front view conceptually showing one embodiment of the present invention.

FIG. 2 is a side view of the first index shown in FIG.

FIG. 3 is a side view of the second index shown in FIG.

FIG. 4 is a side view of the third index shown in FIG.

[Explanation of symbols]

 1 Fixed Part 2 Movable Part 3 Movable Part 4 Light Emitting Device 5 Index 6 Index 7 Index

Claims (1)

[Claims] 1. A light emitting device for emitting a laser beam, which is provided on a fixed part of an industrial robot, and a light receiving means, which is provided on a movable part of the industrial robot and is opposed to the laser beam, for receiving the laser beam. An industrial robot device equipped with an index that displays the origin depending on the situation.