JPS61100397A - 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 the Invention The present invention relates to an industrial robot used for painting moving workpieces, etc.

[Conventional technique]

Conventionally, multiple carts are spaced apart and reloaded on the conveyor, and the workpieces to be worked (strapped on top of these carts) are placed on the conveyor.
Automatic parallel production is carried out using an industrial robot body that is installed on the ID side and operates in synchronization with the operation of the conveyor.

However, while the workpiece is being painted, the conveyor is operating but the cart stops moving for some reason, and the carts that come into contact with each other stop one after another, and finally the industrial robot body is damaged. The downstream trolley in the painting zone also stops, which causes the workpiece to collide with a part of the industrial robot body, making it impossible to perform normal painting, and also causing damage to the workpiece and the industrial robot body. There is little risk of damage.

[The gap that the invention attempts to solve]

The problem to be solved by the present invention is to prevent collision between the workpiece and the industrial robot body, prevent damage to the workpiece and the industrial robot body, and enable normal work to be performed at all times. It is a point.

[Means for solving problems]

An industrial robot main body, a ridged trolley that straightens the workpiece and is transported by a conveyor, and three robots that are provided along the conveyor and operated by the trolley with mutual intervals smaller than the interval between the round trolleys. An industrial robot was constructed of switches and a circuit that stops the operation of the industrial robot main body when all three switches are activated.

[Effect]

When the downstream trolley within the working range of the industrial robot body stops, all three switches are activated, which closes the electric circuit and stops the operation of the industrial robot body. This shutdown will only occur when all three switches are activated.

〔Effect of the invention〕

When the trolley on the downstream side of trolley transport within the work area stops, the operation of the industrial robot body can be stopped, thereby preventing the workpiece and the industrial robot body from collapsing, and preventing these workpieces and the industrial robot body from collapsing. prevent damage to the
Can always perform normal work.

[Examples]

Hereinafter, one embodiment of the present invention will be described based on FIGS. 1 to 5.

In Fig. 1, 1 is a conveyor, and on this conveyor there are a plurality of carts ``I+22+2R+24'' extending the entire length.
... are placed on the carts spaced apart by equal intervals. These carts are conveyed by a conveyor l in the direction of arrow A in FIG. Each trolley 2, . 2. ．． 2. ．． 2
The workpieces 3 to be painted are respectively placed at predetermined locations above the workpieces 4 and 4.

On the other hand, on the side of the conveyor 10), an industrial robot main body 4 used for price display is installed with its position determined. In addition, there are three switches (limit switch L8... limit switch L) in the heavy equipment zone of industrial robot 4.
Limit switches 5, 6.7 are installed along the conveyor 1 as shown in Figure 2. Do 'r'' so 0 is also pa1, Tani Suzy
.

The mutual spacing between the tosswitches 5, 6.7 is smaller than the carriage spacing, and is also smaller than the total length L1 of each carriage. Further, 2L is set to be larger than the interval between carts, and longer than the total length of each cart. That is, the settings are as follows.

Ls < L t < 2 L s Ls < b+ < 2 Lm The limit switch 5 serves both as an operation start switch and a stop switch for the industrial robot main body 4, and each limit switch 5.6.7 is the fifth
Each trolley 2. is electrically connected as shown in the figure. ,2. ,2
．． ,2. The rμ movement and this operation are stopped by engaging arms (not shown) provided over the entire length of each truck on the 2 inch 5 and 6.7 sides of the limit. . 8 is an industrial robot main body 40 control device. Then, when the limit switches LS and 5 are turned on, the industrial robot main body 4 is operated by the control device 8, and 3
1 fixed limit switch Ls, 5, LS.

The operation of the industrial robot main body 4 is stopped by the control device 8 only when 6, LS, and 7 are all turned on.

Therefore, when painting the workpiece 3, the trolleys 21°2, .
When the workpiece 3 is placed on 2s, 24... and the conveyor 1 is operated, the trolley 21 first moves onto the industrial robot body 4.
Enter the painting zone and press limit switches: c, s, 5.
Turn it on. Then, the industrial robot main body 4 operates and starts painting the workpiece 3.

When each trolley is transported normally, the trolley 2. The limit switch LS, 6 is ONL, this limit switch LS! When you pass the position of 6', it becomes 0F.
Ft,, next trolley 2. Turn switch LS15 to O.
N, trolley 2. When it passes the position of the light switch LEs 7, it is turned off and the next trolley 2. Turn on the control switch LS26. During this time, the industrial robot body 4 is in the operating state 6.

However, if the trolley stops downstream of the conveyor L while the conveyor I is operating, the adjacent trolleys will stop one after another, and finally the downstream trolley in the painting zone of the industrial robot body 4 will stop. will also stop. Then,
As shown in FIG.
,LS,6,IJs.

7 are all ONL, and as a result, it is detected that the cart is stopped even though the conveyor l is operating, and the control device 8 shown in FIG. 5 is forced to stop the operation of the industrial robot main body 4. Ru. That is, when each trolley is being transported normally, the state shown in FIG. 3 is reached, and the three switches 5, 6.7 are not all turned on, and the painting operation is performed normally.

Truck 21 in the painting zone stops and truck 2. When the robot is moving, the state shown in FIG. 4 is reached, and the three switches 5, 6 and 7 are all ONL, and at this time the industrial robot main body 4 stops. By stopping the industrial robot body 4, a collision between the workpiece 3 and the industrial robot body 4 (the tip of the arm of the robot body 4) can be prevented. Further, by appropriately electrically connecting the industrial robot main body 4 and the control device 8, the conveyor 1 can be stopped by the action of the control device t80 when the industrial robot main body 4 is stopped.

In the above embodiment, limit switches LS, LS, LS3 were applied to the switch 5.6°7, but
Instead of these, it is also possible to apply an ``ltS tube switch or a proximity switch.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing one embodiment of the present invention, FIG. 2 is a diagram showing the mutual positional relationship of a plurality of carts and switches, and FIG.
The figure shows the time chart of the limit switch when the cart is being fed normally, and Figure 4 shows the time when the adjacent cart 10,000 has stopped and the other cart is detected approaching this cart. Chart No. 5- is its electrical circuit diagram. 2. 2. ．． 2. ．． 24... Trolley, 3... Workpiece,
4...Industrial robot body, 5, 6.7...Switch (limit switch), L...Mutual spacing. Figure 1 Figure 2 Figure 3 Figure 4 LS3 21 22

Claims (1)

[Claims] An industrial robot main body, a plurality of carts on which workpieces are placed and transported by a conveyor, and three switches arranged along the conveyor and operated by the carts with mutual intervals smaller than the distance between the carts. and an electric circuit that stops the operation of the industrial robot body when all three switches are activated.