JPS61100387A - Industrial 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 [Field of Industrial Application] The present invention relates to an industrial robot suitable for production of a wide variety of products in small quantities.

[Conventional technology]

On a line that uses industrial robots to produce and process a wide variety of products in small quantities (for example, a painting line), workpieces are arranged in a closed loop and conveyed, and the workpieces are sequentially conveyed to a predetermined processing position. processing methods are widely used.

In order to perform processing according to each workpiece on such a line,
The workpiece must be identified and processed using a program appropriate for the type of workpiece.

Conventionally, a dog plate is installed on the cart on which the workpiece is placed, and the dog is attached by forming a kind of code depending on its position (arrangement), and detecting this with a limit switch installed near the processing position. The workpiece was identified.

[Problem that the invention seeks to solve]

By the way, in the conventional industrial robot mentioned above,
The limit switch sometimes malfunctioned due to the painting atmosphere, or the worker accidentally broke the dog, making it impossible to correctly identify the workpiece.

Furthermore, since the dog is set for each workpiece, there are problems in that work efficiency is reduced and operation is inflexible. Another drawback was that the entire system was expensive because a dog plate was attached to each truck.

This invention attempts to solve each of the above problems.

Means for Solving Problem C] In order to solve the above problems, the present invention provides (a) a detection means for detecting when a workpiece has arrived at a processing position; and (b) a detection means for detecting that a workpiece has arrived at a processing position; an input means for inputting the machining number assigned to the workpiece in correspondence with the program number of each workpiece, and inputting the machining number (start number) of the workpiece to be machined first; (c) when the workpiece is at the machining position; The present invention is characterized by comprising a control means for obtaining a machining number of a workpiece to be machined each time it is transported, searching for a program number from this machining number, and controlling machining of the workpiece in accordance with the program of the program number.

[Effect]

According to the above configuration, since the order of machining numbers input from the input means matches the arrangement order of the workpieces, starting from the start number, each time machining is completed, the machining number of the workpiece to be machined next is You can ask for it. Therefore, the program number can be determined from the machining number, the program can be searched, and machining can be controlled using this program.

For example, if the machining number and program number are input as shown in Table 1, and start number 30 (arrow) is specified, first search for the program with program number 41 from start number 30, and follow this program number. Process the workpiece. Hereinafter, each time the machining of the workpiece )□ is completed, the machining number is updated in the order of 40 → 50 → 60 → . . . , so that the program for the workpiece to be machined can be searched in the same manner as above.

Table 1 Machining number Program number →30 41 4o 57 〔Example〕 Hereinafter, the present invention will be described in detail with reference to the drawings.

FIG. 1 is a schematic plan view showing the configuration of an embodiment of the present invention. In this figure, 1 is a conveyor line with a closed loop configuration, which conveys works 2a, 2b, 2C, . . . . These works 2 (2a, 2b...
A robot main body 4 is installed near the machining position 3 (generic term for 3), and a start switch 5 is arranged to detect when the workpiece 2 has arrived at the machining position 3. The output of the start switch 5 controls the robot body 4! Supplied to II board 6, workpiece detection is controlled l!
! It is transmitted to A6. Connected to this control panel 6 are: a numeric keypad 7 for inputting the machining number and program number of the workpiece 2 as shown in Table 1, and a CRT display device 8 for displaying each input number.

The operation of this embodiment having the above configuration will be explained below with reference to the flowchart of FIG.

In step $1 of FIG. 2(a), the operator first registers a schedule. For example, for each of the workpieces 2a, 2b, 2C, 2d-... shown in FIG.
2, 53, 41, 57... (see Table 1) are input in sequence from the numeric keypad 7, and at the end, an end mark is input to indicate the end.

This input is stored in the memory in the control panel 6 and displayed on the CR7 display device 8 as shown in Table 1.

When the schedule registration is completed, the control panel 6 executes the subroutine SUB (step 82>).

As shown in FIG. 2 (b), this subroutine SUB performs workpiece addition or deletion processing, and is activated when, for example, a workpiece with machining number 51 is added between machining numbers 50 and 60. . That is, when the addition or deletion of a work is detected (step SP1 or step 5)
P3), performing joining or deletion processing (step SP2 or 5P4). In this way, the machining number and program number are input according to the arrangement order of the works 2 currently on the conveyor line 1.

Next, the operator enters the starting number at step $3. This is the processing number of the workpiece that is first detected by the start switch 5, and in the example of FIG. 1 and Table 1, this corresponds to the processing number 30 of the workpiece 2c. After completing the registration of the machining number, program number, and start number, the subroutine SUB checks the addition and deletion of work 2L again (step S4), and starts operating the compare line 1, starting from work 2C! 11, the workpieces 2d... are sequentially machined.

First, in step S5, the program number 41 corresponding to the eight-work number 30 (ie, the starting number) of the workpiece 2C is searched, and this program is read out (step 86). Then, the control panel 6 processes the workpiece 2C according to this program. That is, when the workpiece 2C reaches the processing position 23 and the start switch 5 is turned on (step S7), the control panel 6 controls the processing of the workpiece 2C according to the above program (step 88).

When the machining is completed (step S9), the machining number is updated from 30 to 40 (step 510), and preparations for machining the next workpiece 4d are made. In this way, until an end mark indicating the end of machining is detected (step 511), the loop J1 consisting of steps 84 to S11 is circulated,
The workpieces 26.2e, . . . are machined one after another, and when an end mark is detected (step 511), the next start number is set (step S3), and the above-described operations are subsequently repeated. Here, if you want to stop the above operation, just input a stop symbol from the numeric keypad 7.

In the above embodiment, the machining number and program number are displayed, but in addition to this, the model name of the workpiece corresponding to the program number may be registered in advance and displayed as well. .

This makes it possible to check more quickly if there is an error in schedule registration.

〔Effect of the invention〕

As explained above, in this invention, the machining number and program number of the workpiece are entered in advance according to the arrangement order of the workpieces, and the machining number is updated every time the machining of the workpiece is completed. Since the program number is searched from the machining number and the machining is controlled according to the program of this program number, a workpiece discrimination device such as a dog plate is not required.

Thereby, it is possible to improve the reliability of the system and reduce the cost. In addition, adding and deleting works becomes easy, and a highly flexible system can be realized.

[Brief explanation of drawings]

FIG. 1 is a schematic plan view showing the configuration of an embodiment of the present invention, and FIG. 2 is a flowchart for explaining the operation of the embodiment. 2...Workpiece, 3...Processing equipment, 4.
...Robot body, 5...Start switch (detection means), 6...Control panel (control means)
, 7...Numeric keypad (input method), 8...
- CRT display device (display means). Figure 2 (a)

Claims (1)

[Claims] In an industrial robot that transports many types of workpieces arranged in a closed loop and sequentially processes the workpieces that arrive at a predetermined processing position according to a program corresponding to the workpieces, when the workpieces arrive at the processing position. a detection means for detecting this, and an input means for inputting a machining number corresponding to the arrangement order of the workpieces, a program number corresponding to each of the workpieces, and a start number that is the machining number of the workpiece first detected by the detection means. and a display means for displaying each of the input numbers, obtaining the machining number of the workpiece that has come to the machining position, and searching the program number from this machining number,
An industrial robot comprising: control means for controlling processing of the workpiece according to the program having the program number.