JPS59201793A - Stop device for robot - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to a robot stopping device that stops the operation of the robot when an external force such as a collision is applied to the wrist.

Conventionally, this type of stopping device has a structurally weak part between the arm and the wrist, and when the wrist collides with an interfering object, the weak part is destroyed, and a limit switch is activated to stop the wrist. There is one that detects when a part falls off and also causes the robot to come to an emergency stop.

If such a structurally weak part is to be inspected and destroyed, it will take time to repair the destroyed part, and especially if the painting robot is designed to be explosion-proof from a disaster prevention perspective, there will be limits. The switch is also explosion-proof, and in order to prevent the switch from blowing up, it is generally not equipped with a collision damage prevention device (114), and a separate emergency stop means is used.

The present invention allows the wrist portion on which a painting gun, etc. is attached, to move slightly relative to the arm portion, prevents the wrist portion from being damaged by an interfering object, and also allows the robot to make an emergency stop. The arm side member and the wrist side member are attached so that the contact between the opposing surfaces can be released, and the arm side member and the wrist side member are attached by the opposing surface side portions of each of the arm side member and the wrist side member. This robot stopping device is characterized in that the formed air chamber is communicated with the outside air through a gap created by releasing the contact between the opposing surfaces, and the V-robot is brought to an emergency stop.

Next, embodiments of the present invention will be described with reference to the drawings.

Referring to FIGS. 1 and 2, an arm side member 3 is fixed to an arm 2 of a robot 1, and a wrist side member 6 serving as a wrist 5 equipped with a painting gun 4 is attached to the arm member 3. It is installed on.

The arm side member 3 and wrist side member 6 are attached as shown in FIGS. 5a5 and 6.

That is, the opposing surface 3a is formed on the upward surface side of the arm side member 3,
A truncated cone-shaped four part 7 having a slight height is formed in the center of the opposing surface 3a, and an opposing surface 6a is formed on the lower high surface side of the wrist side member 6, and the opposing surface 6a is A circular four part 8 having a slight depth is formed in the center, and when the convex part 7 enters the concave part 8 and is completely fitted, the opposing surfaces 3a and 5a are completely in close contact with each other. Concave portion 7 and convex portion 8
It is formed so as to define an air chamber 9.

In other words, when the convex part 7 and the concave part 8 are in an incompletely fitted state, as shown by the imaginary line in FIG.
, 13a are not in close contact, forming a slight gap S, and the air chamber 9
The inside and outside air are communicated through a gap S.

In addition, the opposing surfaces 3 of each of the arm side member 3 and the wrist side member 6
a Through holes 10.11 are placed on each of the four corners of 15a II.
, and screw the nut 13 into the threaded part of the bolt 12 with the head inserted downward into the through hole 11, 11...
The nut 15, which fixes the lower end of the spring 14 whose upper end is fixed to this nut 13, is inserted upward into the through hole 10.10.
ffl L. Screw into the threaded part of the bolt 16, screw the nuts 1 to 17 onto the protruding end of this bolt 16, and then tighten these springs 14.
．． 14. Attach the wrist side member 6 to the arm side member 3 via 14.14. The elasticity of the spring 1 brings the opposing surfaces 3a and 6a into close contact to form an air chamber 9. When the wrist portion 5 side collides with an interference object (not shown), the spring 1
4. Resisting the elasticity of 14..., the wrist side member 6 floats up from the arm side member 3, forming a gap S between the opposing surfaces 3a and 15a, and the air chamber 9 is able to separate the gap S from the outside air. connected via jmv
It is shaped like this.

The wrist side member 6 is provided with an introduction guide 19 that has an opening 18 in the recess 8 and an opening on the upper surface 61).
The other end of the conduit 21 with one end fixed to the tube end fixture 20 is connected to the air leak detector 22.

As shown in Fig. 1, the air leak detector 22 has an air leak circuit consisting of the small E1 to stone bridge circuit of the electric circuit, and the variable orifice (RV) of the air circuit and the bridge between the nozzle and the specimen. Distance (X) changes and air resistance (RX)
When this changes, the back pressure of the nozzle changes, creating a pressure difference between A and B in the pneumatic bridge circuit, which causes the float (M), which contains a permanent magnet, to move up and down, and is made up of two reed switches. N of switch 23.

It is formed to switch the contact (Ca) and the Nc contact (, Cr), and the pressure nozzle J in the air quality 9 and the float (M)
The switch 23 is actuated by the imbalance with the pressure in the room. Air flows into the air circuit via an air intake 24. In the figure, R1 and R2 are fixed orifices.

The robots 1 to 1 are operated by control signals from the robot controller 25, and an emergency stop signal from the switch 23 of the air leak detector 22 is sent to the robot controller 25 to stop the robot 1. The emergency stop signal sent to is sent to the transport conveyor control device 26, which controls the transport conveyor 27 by stopping it, etc., and stops the traveling of the object to be coated 28 being suspended and transported.

Paint is supplied to the painting gun 4 through a supply pipe 3° from a paint reservoir 29, and compressed air for spraying the paint is supplied from a compressed air source 31 to the painting gun 4 through a supply pipe 32. It is formed.

Since the device of the present invention is configured as described above, when the five wrist parts collide with an interfering object, for example, a workpiece due to an error in the selection of a paint pattern, the wrist part side The member 6 is lifted up, and the opposing surface 3a,
A gap S is formed in the space 6a, and the air in the air chamber 9 flows through the gap S.
It leaks to the outside air through.

This air leak is detected by the air leak detector 22 via the conduit 21, and the float (M) activates the switch 23 to send an emergency stop signal to the control device 2.
Send to 5.

Upon receiving the emergency stop signal, the robot controller B 25 immediately stops the operation of the robot 1, and also stops the conveyor controller A 227 via the conveyor controller 2G, thereby stopping the traveling of the object 28 to be coated.

At this time, the supply of paint and compressed air to the coating gun 4 is also stopped by appropriate means.

In this way, the wrist 5 side collides with an interfering object and the wrist side member 6 is lifted up from the arm side member 3, thereby preventing damage to the wrist side member 6 and the coating gun 4 on the wrist 5 side. The robot 1 can be stopped immediately.

After the robot 1 has stopped, the interfering object is removed (by the spring 14, the facing surface 6a of the wrist side member 6 is brought into close contact with the facing surface 3a of the arm side member 3, and a convex part is formed in the recessed part 8. 7 enters and re-forms the air sensor 9, the posture is corrected, the robot 1 is immediately controlled by the robot control device 25, and the supply of coating, l'IIJ5 and compressed air to the coating gun 4 is restarted, The conveyor 27 is actuated via the conveyor control device 26 to cause the device 28 to travel, and the coating operation can be performed again using the coating gun 4.

In this example, the robot moves in a floating manner from either the wrist side or the arm side within the elastic deformation of the spring.This prevents damage to the wrist side and damage to interfering objects, causes the robot to make an emergency stop, and prevents the wrist from moving upward. The robot can be repaired by restoring the side members to their normal state.

In place of the means 1 for attaching the wrist side member and the arm side member consisting of the springs 1 to 1-1 in the above embodiments,
As shown in the figure, a curled part 33a is formed at the middle part of the lower neck of one open-head bolt 33, and the diameter of this curled part 33a is selected so as to be cut at the collision surface of an interfering object. 34 to the wrist side member and the arm side member (A) (=I can be removed). In this case, the bolt cuts and the opposite surface 3a
, 6a are released, a gap S is formed, and the robot 1
It stops. Next, the wrist side member and the arm side member are attached using a new port 1~ having a prefabricated portion, and the robot 1~ is repaired.

The present invention prevents damage caused by collisions between wrist side members, working tools, etc., and interfering objects, and also allows Rohotsu 1 to 7 to be stopped without damaging main parts such as the wrist. Repairs can be done in a short time because there is no need to cause damage.1q
1 By using an air leak detector, the robot can be miniaturized without the need for special explosion-proof measures, and is equipped with a safety device, which also prevents damage caused by collisions with workpieces caused by mistakes in the robot's selection of work patterns. The present invention is useful and has the effect of reducing the non-operating time of a production line using robots as much as possible, and can also be applied to manipulators for manipulators, loaders, and unloaders equipped with work tools such as spray guns and grippers.

[Brief explanation of drawings]

Fig. 1 is a system diagram showing an example of a working system of a painting robot to which the present invention is applied, Fig. 2 is a plan view of the main part of the present invention, and Fig. 3 is a main part seen from the direction of arrow A in Fig. 2. A side view, FIG. 4 is a side view of the main part seen from the direction of the arrow in FIG. 2, FIG. 5 is a sectional view taken along v-vtfA in FIG. 2, and FIG. 6 is a wrist side member in the present invention. FIG. 7 is a cross-sectional view of a main part showing another example of how the wrist side member and arm side member are attached. 1... Robot 1~. 2... Arm part, 3... Arm side part (Δ, 3a... Opposing surface, 4... Painting gun, 5...
Wrist part, 6... Wrist part side part a Δ, 6a... Opposing surface,
9... Air chamber 14... Spring, 22... Air leak detector, 25... Robot control device, 26... Conveyor control fal+ device. 2nd Figure 5 3rd Eye 5 Question 6 Figure' No. 71

Claims (1)

[Claims] The arm side member and the wrist side member are removed so that the close contact between their opposing surfaces can be released, and the arm side member is
Stopping a robot, characterized in that the air chamber formed by the opposing surface side portions of each of the wrist side members is communicated with the outside air through a gap created when the opposing surfaces are released from each other to bring the robot to an emergency stop. Device.