JPH0737824Y2 - Robot conveyor synchronizer - Google Patents

Description

[Detailed Description of the Invention] (Industrial field of application) The present invention relates to a work carried by a continuous conveyor.
The present invention relates to a conveyor synchronizing device for a robot that controls a robot and its traveling device in relation to movements of the traveling device of the robot and a conveyer in a robot performing work such as painting or mounting parts.

(Prior Art) As shown in FIG. 4, when the robot 1 performs painting work or assembly work of parts on a work 3 (for example, an automobile body) conveyed by a continuous conveyor 2, the robot 1 It is necessary to synchronize with the movement of the conveyor 2. In that case, as shown in FIG. 4, the robot 1 is mounted on the traveling device 4, and the traveling device 4 travels in parallel with the conveyor 2. Moreover, the two are synchronized with each other, the robot 1 is taught while the work 3 is stopped, and the robot running device 4 is run so that the relative position between the work 3 and the robot 1 is maintained at the same position as when the teaching was performed. in this case,
The movable range 10 of the robot 1 is the shaded area in FIG. The robot 1 is fixedly arranged as shown in FIG.
In some robots, the operating arm of the robot body synchronizes with the conveyor on all axes of three-dimensional movement and rotation, and the robot functions according to the traveling of the conveyor. In this case, the movable range 10 of the robot 1 is a shaded area, and it is difficult to perform a predetermined work on the work 3 because it is limited to an extremely narrow range.

(Problems to be Solved by the Invention) When the robot 1 is to perform the painting work and the assembly work of the parts on the work 3 conveyed by the conveyor 2 as described above, the robot 1 is mounted on the traveling device 4. When the traveling device 4 is synchronized with the conveyor 2, the traveling device 4 becomes very long, the process length of the robot 1 becomes long, and there are problems in terms of space and cost.

The present invention has been made in order to minimize the traveling distance of the robot traveling device so that the robot can work on a workpiece conveyed by the conveyor 2 in a small space.

(Means for Solving Problems) As a means for solving the above problems, the present invention uses a robot mounted on a robot traveling device that moves in parallel to a work conveyed by a conveyor. In a robot system for performing work, an encoder attached to the conveyor for detecting a moving distance of a work on the conveyor and a work on the conveyor have reached a specific position corresponding to one end of a moving range of the robot traveling device. Detecting means for generating a signal for causing the encoder to start counting, and taking in the count number of the encoder, until the count number reaches a predetermined value, move the robot traveling device within its movement range. Stop at one end and let the robot work on the work in synchronization with the conveyor. When the counted number exceeds the predetermined value, the robot traveling device is caused to travel in synchronization with the conveyor to cause the robot to perform work on the work, and the robot traveling device reaches the other end of the movement range. Then, a conveyor synchronizing device for the robot is provided, which comprises a controller for controlling the robot to perform work on the work while synchronizing with the conveyor.

(Operation) With this configuration, the robot is synchronized with the conveyor at one end and the other end of the movement range of the robot traveling device. The moving distance can be shortened.

(Embodiment) An embodiment of the present invention will be described below with reference to the drawings. In FIG. 1, the robot 1, the conveyor 2, the work 3 (for example, an automobile body), and the robot traveling device 4 have the same functions as those in FIG. 4, and therefore the same members are designated by the same reference numerals. The encoder 5 is installed in the drive unit of the conveyor 2.
Is attached, and the conveyor 2 has a certain small distance (the distance differs depending on the encoder, but in this example 0.5 mm)
The encoder 5 counts by 1 bit each time when moving through. Therefore, the encoder 5 displays the integrated value of the traveling distance of the conveyor 2. Further, a limit switch 6 is mounted on the conveyor 2 near the robot 1, and when the work 3 placed and conveyed on the conveyor 2 approaches the robot 1, it contacts the limit switch 6. It is supposed to do. Further, there is a robot control panel 7 which receives signals from the encoder 5 and the limit switch 6 and controls the driving of the robot. There is a robot traveling device driving device 8 which is driven by a command from the robot control panel 7, and the robot traveling device 4 travels by this. An encoder 9 for detecting the movement and feeding it back to the robot control panel 7 is also attached to the robot traveling device 4.

The flow of input / output signals of the robot control panel 7 is shown in FIG.
Referring to FIG. 3, when the work 3 (for example, an automobile body) is conveyed on the conveyor 2 and reaches the position of the work 3a, the limit switch 6 is hit. As a result, the robot starts operating and the encoder 5 attached to the conveyor starts counting. When the count of the encoder 5 is from 1 bit to 1000 bits, it is the first zone where the robot traveling device 4 is stopped. In this case, the control panel is set so that the main body of the robot 1 synchronizes with the movement of the conveyor 2 on all axes. A command is issued by 7 and a predetermined work is performed on the work 3. During this work, the work 3 is at the position of the work 3b.

From the 1001 bit (position of the work 3b) to 5000 bits (position of the work 3c) of the encoder 5 in the second zone where the robot traveling device 4 synchronizes with the conveyor 2,
This is a section where the work reaches the position of the work 3b from the work 3b. Here, the position signal from the encoder 9 of the robot traveling device is fed back to the robot control panel 7,
In synchronization with the movement of the conveyor 2, synchronization is achieved only by the control of the drive unit 8 of the robot traveling unit 4. The robot body does not perform the work for synchronizing with the conveyor 2, but only the movement taught initially.

When the count of the encoder 5 is from 5001 bits to 6000 bits, it is the third zone, and the robot traveling device 4 is stopped as in the first zone. Here, as in the first zone, the control panel 7 issues a command so that the main body of the robot 1 synchronizes with the movement of the conveyor 2 on all axes, and the robot 1 performs a predetermined work on the work 3. Then, the work comes from the work 3c to the position of the work 3d. When the encoder 5 count reaches 6000 bits, this work 3
The work of the robot 1 is completed.

In this way, the robot 1 can perform work within the robot movable range 10 indicated by the hatch line, and the work 3 conveyed on the conveyor 2 is operated as a robot.

(Advantages of the Invention) Since the present invention has the above-described configuration and operation, the traveling length of the robot traveling device can be made considerably shorter than before, and the robot process length can be shortened accordingly. Also, the work space can be reduced, and in the case of a painting robot,
We were able to shorten the length of the painting booth. Therefore, the factory space can be reduced, and the investment amount and operating cost of the booth temperature control equipment can be reduced. In addition, the robot can spend a lot of work time, and the robot work efficiency is improved.

[Brief description of drawings]

FIG. 1 is a plan view of an embodiment of the present invention, FIG. 2 is a block diagram of a robot control panel, FIG. 3 is a plan view of an embodiment of the present invention, which shows the operation of a robot, and FIG. FIG. 5 is a plan view in which the robot traveling device of FIG. 5 is synchronized with the conveyor, and FIG. 5 is a plan view showing a state in which the robot follows the conveyor when the robot does not move. 1 ... Robot 2 ... Conveyor 3 ... Work 4 ... Robot traveling device 5 ... Encoder 7 ... Robot control panel

Claims (1)

[Scope of utility model registration request] 1. A robot system for performing work on a work conveyed by a conveyor by a robot mounted on a robot traveling device that moves in parallel with the conveyer, the moving distance of the work on the conveyer being mounted on the conveyer. And a detection means for detecting that the work on the conveyor has reached a specific position corresponding to one end of the movement range of the robot traveling device, and generating a signal for causing the encoder to start counting. And taking the count number of the encoder, and stopping the robot traveling device at one end of its moving range until the count number reaches a predetermined value, and the robot performs work on the work while synchronizing with the conveyor. When the count exceeds the predetermined value, the robot traveling device is The robot to perform work on the work, and when the robot traveling device reaches the other end of the movement range, causes the robot to perform work on the work while synchronizing with the conveyor. A conveyor synchronization device for a robot, comprising: