JPS61143203U

JPS61143203U -

Info

Publication number: JPS61143203U
Application number: JP2301885U
Authority: JP
Priority date: 1985-02-20
Filing date: 1985-02-20
Publication date: 1986-09-04

Description

[Brief explanation of drawings]

第１図イは本考案の一実施例を塗装作業を行う
塗装用ロボツトに適用した場合の外観構成を示す
平面図、第１図ロは第１図イの―線視正面図
、第２図は同実施例の電気的構成を示すブロツク
図、第３図は第２図に示す記憶装置２４内の各記
憶エリアを説明するための図である。１……ロボツト本体、２……基台、３……支柱
、４……アーム、５……塗装用ノズル、７……デ
イスク、１１ａ，１１ｂ……ワーク供給装置（位
置設定手段）、１５ａ，１５ｂ……ワーク、１８
……ワーク供給制御装置、Ｏ……水平旋回軸、Ｃ
……水平旋回軸Ｏを中心とする仮想円周、Ｃａ，
Ｃｂ……仮想円周Ｃの接線、Ｌａ，Ｌｂ……塗装
位置、Ｍａ，Ｍｂ……ワーク１５ａ，１５ｂの基
準面、Ｎ……ロボツト本体１の中心線、Ｅ……角
度、２０……ロボツト制御装置、２１……演算制
御部、２４……記憶装置、２４ａ……変換データ
記憶エリア（第一の記憶エリア）、２４ｂ……教
示データ記憶エリア（第二の記憶エリア）、２５
……位置検出器（検出手段）、２６……ハンドル
スイツチ、２７……データ設定器。 Fig. 1A is a plan view showing the external configuration when an embodiment of the present invention is applied to a painting robot that performs painting work, Fig. 1B is a front view taken from the - line of Fig. 1A, and Fig. 2 3 is a block diagram showing the electrical configuration of the same embodiment, and FIG. 3 is a diagram for explaining each storage area in the storage device 24 shown in FIG. 2. 1... Robot body, 2... Base, 3... Support, 4... Arm, 5... Painting nozzle, 7... Disk, 11a, 11b... Work supply device (position setting means), 15a, 15b...Work, 18
...Work supply control device, O...Horizontal rotation axis, C
...virtual circumference centered on the horizontal rotation axis O, Ca,
Cb... tangent to virtual circumference C, La, Lb... painting position, Ma, Mb... reference plane of works 15a, 15b, N... center line of robot body 1, E... angle, 20... robot Control device, 21...Arithmetic control unit, 24...Storage device, 24a...Conversion data storage area (first storage area), 24b...Teaching data storage area (second storage area), 25
. . . position detector (detection means), 26 . . . handle switch, 27 . . . data setting device.

Claims

[Scope of utility model registration request]

In an industrial robot that has a robot arm mechanism that is rotatably provided on a base and has a plurality of operating axes via a horizontal rotation axis, and a working part that is attached to the tip of the robot arm mechanism, standards for each workpiece are determined. position setting means for setting each of the workpieces at a plurality of set positions on the virtual circumference so that the surfaces coincide with tangents to the virtual circumference centered on the horizontal rotation axis; and the horizontal rotation with respect to the base; It is equipped with a detection means for detecting the amount of rotation of the axis and the amount of rotation of each of the plurality of operation axes, and a storage means having a first storage area and a second storage area, the first storage area including: The amount of rotation corresponding to each angle about the horizontal rotation axis of the set position of the other workpieces with respect to the set position of the reference workpiece among the plurality of workpieces is stored, and the second storage area stores: . An industrial robot, wherein the detection results of the detection means are stored for each teaching point when sequentially teaching the reference workpiece by moving and operating the working unit.