JPS60131176A - Stop device for operation - 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 an actuation stop device that can stop an object, for example, a robot base, at a predetermined position without impact when it is moved by a pneumatic cylinder.

Move objects such as robot bases using pneumatic cylinders,
For example, in a transfer robot, etc., in which the object is stopped at a predetermined position by colliding with a stop member provided at a predetermined position on the movement path of the object, air pressure is applied to a pneumatic cylinder before the stop member. Without proper control of supply,
The object collides with the stop member with an extremely large impact force, which is undesirable. By the way, when simply controlling the supply of air pressure to the pneumatic cylinder before the stop member without taking any measures,
When a change in the mass of an object occurs, for example, a change in the weight of the robot base caused by gripping a workpiece by a gripping arm installed on the robot base, the object may sometimes move at an extremely low speed before the stop member and may not be able to reach a predetermined position. In some cases, the object may not be able to be placed in the specified position in a short period of time, or in some cases, the object may not be able to be placed in the specified position in a short period of time due to the reaction of hitting a stop member, or the object may be damaged. This will lead to an embarrassing situation.

The present invention has been made in view of the above-mentioned points, and its purpose is to set the object at a predetermined position in a short time by causing an object moved by a pneumatic cylinder to collide with a stop member in good condition. It is possible to eliminate damage to objects etc. due to collisions4.
The purpose is to provide a secrecy stopping device.

According to the present invention, the object is to provide a pneumatic cylinder that moves an object using air pressure supplied thereto, and a pneumatic cylinder that is provided in the movement path of the object to be moved so as to cause the object moved by the pneumatic cylinder to collide with each other and stop the object. a stop member, and control means for controlling the supply of air pressure to a pneumatic cylinder according to a value relating to the mass of the object being moved, in order to decelerate the object being moved before it collides with the stop member; This is achieved by

Next, the present invention will be further explained and explained based on a preferred example shown in the drawings.

In the figure, a double-acting pneumatic cylinder 1f-i, a cylinder body 2, a piston 5 that divides the inside of the body 2 into two chambers 3 and 4, and a piston rod 6 connected to the piston 5 are connected to the tip of the rod 6. is connected to an object 7 to be moved, such as a robot base. The object 7 is provided with a gripping device 9 that grips the workpiece 8. The gripping device 9 grips the workpiece 8 in response to a command signal from the control device 10, and moves from a starting position 11 to a stop position 12, for example. The workpiece 8 is conveyed to a predetermined position 13 by grasping the object 7 while moving it to the position 13 . Ports 14 and 15 communicating with chambers 3 and 4, respectively, are connected to a 4-point, 2-position switching solenoid valve 16.
6 is connected to a pneumatic pressure source 19 via a restrictor 17 and a two-point/two-position switching solenoid valve 18. Port 20 of valve 16 is open to the atmosphere. The object 7 is moved back and forth between positions 11 and 12 by the operation of the cylinder 1, and a stop member 21 is provided at position 12 to stop the object 7 when it collides with the object 7. A limit switch 22 as an object passage detector is provided in the middle of the movement path of the object 7 between positions 11 and 12, preferably close to the stop member 21 side, and the switch 22 prevents the object 7 from passing. The detection signal 22a is detected and supplied to the control device 10. The control device 10 includes an operation switch group consisting of a start switch 23, a position setting switch 24, and a weight setting switch 25, and a correction calculation circuit 2.
6, timers 27 and 28, which can command the movement of the object 7 by pressing each switch, and can command the relative positions of positions 11 and 12 with respect to the cylinder 1 to the control device 10 by operating the switch 24. By operating the switch 25, the weight of the nested body 8 can be set in the control device 10. The storage device 29 stores times T1 and T2 regarding braking timings to be set in the timers 27 and 28 corresponding to the relative positions of the positions 11 and 12 with respect to the cylinder l.
and.

Time TI and T2 correspond to various weights of the workpiece 80.
The times ±ΔTl and ±ΔT2 to be corrected for are stored in advance, and the times T1 and T2 corresponding to the specific relative position set by the operation of the switch 24 are corrected when the switch 23 is pressed. From the storage device 29 to the control device 10
, and when a gripping command is output from the control device 10 to the gripping device 9, the correction times ΔT1 and ΔT2 corresponding to the specific weight set by the operation of the switch 25
However, as described above, when the switch 23 is pressed, the storage device 2
Control device lOK is read from 9.

In the timer 27, when the correction times ΔT1 and lT2 are not read out, the read times TI and T2 are set as they are, and when the correction times ±ΔT and TSJT2 are read out, Corrected times TI±ΔT1 and T2±ΔT2 are set by the arithmetic circuit 26. When the control device 10 outputs a gripping command to the gripping device 9, the arithmetic circuit 26 calculates the time T read from the storage device 29.
A correction operation is performed based on I and T2 and ±Δ'rl and ±ΔT2, for example, Ts:l:lT1. Perform correction calculation of T2±ΔT2 and corrected times T1±ΔT1 and T2±Δ
Send T2 to ties'-=r27 and 28.

The control device 10 starts the timer 27 after the detection signal 22α is generated.
and 28), switching control of the valves 16 and 18 is performed.

To explain the operation of the operation stop device 4o configured in this way, first, if the switch 23 is not pressed, the object 7 is set to the initial position 11, and the valve 1 is set to the initial position 11.
6 is supplied with air pressure from an air generation source 19 via a restrictor 17 and a valve 18;
The air pressure supplied to the chamber 3 is connected to the valve 16,
- The valves 16 and 18 are each set by the control device 10 in such a way that they are open to the outside air via the valve 20. Next, when the switch 23 is pressed at time t1, the control device 10
reads out the times TI and T2 related to the braking timing corresponding to the relative positions of positions 11 and 12 with respect to the cylinder set by the switch 24 from the storage device 29, and then outputs a gripping command to the gripping device 9. reads the correction time ±ΔT and ±ΔT2 regarding the braking timing corresponding to the weight of the workpiece 8 set by the switch 25 from the storage device 29, and stores these times TI, 1゛2,
If ±ΔTt and ±ΔT2 are supplied to the arithmetic circuit 26 and a gripping command is not output to the gripping device 9, the time 1゛1
and T2 are set in timers 27 and 28 without correction. The arithmetic circuit 26 calculates the supplied time TI,'
Time TI corrected from rt and ±ΔTl, ±ΔT2
±ΔTl and T2±ΔT2 are calculated, and the timer 27
and 28, respectively. After this setting, the control device 10 switches the valve 16 so that the air pressure supplied to the valve 16 is supplied to the chamber 3, while the chamber 4 is opened to the outside air via the boat 2O. At this time, the piston 5 is moved (by the air pressure in the chamber 3), and at the same time the object 7 also begins to be moved from the position 11 towards the position 12. When the object 7 passes the installation position of the switch 22 at time t2, a signal 22a is emitted from the switch 22, and the control device 1o, which receives the breakage, instructs the timer 27 to perform a timing operation. At time t8, when the set time T1 or T+ ±ΔTl has elapsed, the timer 27 issues a clocking operation completion signal, and with this clocking operation completion signal, the control device 1o:
The air pressure supplied to the valve 16 is supplied to the chamber 4, and the air pressure supplied to the valve 16 is supplied to the chamber 3.
The valve 16 is switched so that the air is opened to the outside air via the boat 20, and the 5 timer 28 is commanded to perform a timing operation. By supplying air pressure to the chamber 4, a brake is applied to the piston 5, and the object 7 begins to be decelerated. Set time T2 or T2
When the timer 28 issues a clocking operation completion signal at time t4 when the time ΔT2 has elapsed, the control device 10 uses this timing operation completion signal to supply the air pressure 'A3 source l9 to the valve 16 only through the throttle 917. air pressure from the boat 2 is supplied, chamber 3 is supplied with air pressure supplied to the valve 16, and chamber 4 is supplied from the boat 2.
Valves 16 and 18 are switched so that they are open to outside air via 0. Therefore, the object 7 is at time 1p2 or T2 ΔT
After being decelerated by 2, it is moved after time t4 by the air pressure specified by the throttle 17, and finally collides with the stop member 21 and is stopped at position 12.

After stopping, the control device 10 outputs a grip release command to the gripping device 9 in order to place the workpiece 8 at the position 13, and then switches the valves 16 and 18 to return the object 7 to the position 11. In addition, when returning object 7 to position U, the same operation as described above may be performed. In this case, a switch similar to switch 22 is provided on the position 11 side, and the same operation as described above is performed using a signal from this switch. However, instead of this, the times T1 and T2 when returning to position 11, ±ΔT
l and ±ΔT2 are stored in advance in the storage device 29VC,
The same operation as described above may be performed using a signal from the switch 22.

By the way, the Hib stop device 40 operates as described above.
According to the above, the braking start time t3 and the braking time 'r2 depend on the magnitude of the load on the cylinder 1, that is, whether or not the workpiece 8 is gripped by the gripping device 9, in other words, the mass of the object 7.
Therefore, it is possible to make the object 7 collide with the stop member 21 and stop it without causing the object 7 to collide, thereby eliminating unnecessary deceleration 7ifj, reaction after the collision, and damage to the object due to the collision. The object 7 can be set at the desired position in the shortest possible time.

Note that the positive or negative of the correction time is -ΔT when the workpiece 8 is gripped, that is, when the mass of the object 7 is large.
+ and +ΔT2, and in the opposite case, +ΔT1 and -ΔT2.

In the specific example described above, the mass of the workpiece 8 is set by the switch 25, but instead of this, a mass detector is provided on the object 7 or the gripping device 9, and this mass detector allows the mass of the workpiece 8 to be set by the switch 25. The correction time may be automatically read out from the storage device 29 by detecting the mass of ifc, and the times TI, T
z, ΔT3, and ΔT2 are stored individually, for example, the times Tl±ΔT1 and T2±ΔT2 are stored in advance in the storage device 29, and the gripping command to the gripping device 9 is
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Whether it is present or not, the switch 25 is set and the weight □'FjI
--Corresponding times Tl±ΔT1 and T2 from storage device 29
It is also possible to read out ±ΔT2 and set it directly in the timers 27 and 28, in which case the 5 arithmetic circuit 26 can be omitted.

As described above, according to the present invention, an object moved by a pneumatic cylinder can be preferably set to a stopped state by applying braking in accordance with the mass of the object, so that collision with a stopping member can be avoided.
The object can be moved in an optimal time and damage to the object can be prevented.

[Brief explanation of drawings]

FIG. 1 is an explanatory diagram of a preferred embodiment according to the present invention, and FIG.
The figure is a time chart explaining the operation of the specific example shown in FIG. l... Double-acting pneumatic cylinder, 7... Object, 10...
fllJ master device. Agent J1 player Gen Ima Mura

Claims (3)

[Claims] (1) A pneumatic cylinder that moves an object using supplied air pressure, and a stop provided in the path of movement of the object to cause the object moved by the pneumatic cylinder to collide and stop. A deactivation device comprising a member and control means for controlling the supply of air pressure to a pneumatic cylinder according to a value relating to the mass of the object being moved, in order to decelerate the object being moved before impacting the stop member. (2) The operation stop device according to claim 1, wherein the object is a base of an industrial robot, and the base is provided with a gripping arm for gripping a workpiece. (3) The object is provided with means for detecting a value related to the mass of the object, and the detecting means comprises a detector provided on the base and detecting the mass on the gripping arm side. Deactivation device as described in section.