JPS61203293A - 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 used for loading workpieces onto machine tools, etc.

[Traffic technology]

In recent years, robots that load and unload workpieces into machine tools have been developed and put into practical use.

[Problem that the invention seeks to solve]

By the way, conventionally, when mounting a workpiece onto the chuck of a lathe, for example, the workpiece can be mounted without detecting any interference (contact) between the workpiece and the chuck, as the position control accuracy of the robot is extremely high. was. However, in reality, the workpiece may have cut edges or rust from the previous process, or chips from the previous process may remain on the chuck, so it is not always possible to insert the workpiece into the chuck smoothly, and in some cases This caused interference, and in the worst case, the robot arm could be damaged. Therefore, it is possible to detect interference between the workpiece and the machine tool (target device) and make an emergency stop of the Ωbot, but if the workpiece and chuck interfere with each other when mounting or removing the workpiece on the chuck, etc. always occurs, and therefore, simply by detecting interference, it is not possible to determine whether or not it is actually necessary to make an emergency stop of the robot.

This invention was made in consideration of the above-mentioned circumstances, and its purpose is to create an industrial robot that can stop the robot hand only when an emergency stop is actually required in the event of interference between the workpiece and the target device. Our goal is to provide the following.

[Means to solve the problem]

The present invention includes: a detection means for detecting interference between a robot hand section and a target device; a control means for enabling or disabling the detection means according to the operation of the robot hand section; and stopping means for stopping the robot hand section when the detection means detects interference. Here, the robot hand portion refers to a portion consisting of a robot hand and a workpiece gripped by the robot hand.

[For production]

Whether the interference between the robot hand section and the target device is abnormal can be determined based on what kind of operation the robot hand section is performing. Therefore, according to the above configuration, it is possible to stop the robot hand section only when the interference is in an abnormal state.

〔Example〕

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention. In this figure, code 1 is a lathe (target device! 1)
, 2 is the chuck of lathe l. Reference numeral 3 denotes a robot mechanism, which is composed of a base 3a, an arm 3b, and a hand 3d connected to the tip of the arm 3b via an insulating joint 3a. 4 is a workpiece held by hand 3d, and
5 is a robot control device. This robot control device 5
, 6 and 7 are terminals, the terminal 6 is connected to the hand 3d, the terminal 7 is connected to the rotor ml, and the terminal 7 is grounded inside the control device 50.

8 is an interference detection circuit, which includes a relay 9 and an inverter 10.
．． 11 and a Nantes gate 12. This interference detection circuit 8 is a circuit that detects interference (contact) between the lathe 1 and the workpiece 4. If there is no interference between the lathe 1 and the workpiece 4, the relay 9 is not excited and therefore the contact 9a is in an open state. , the output of inverter IO is at "L" level. As a result, the output of NAND game) 12 is at @H" level, and the inverter 11 outputs @L'" as the interrupt signal IR.
The 'L/HELL signal is supplied to the microprocessor unit 14. On the other hand, when lathe 1 and workpiece 4 interfere, relay 9 is excited, contacts 9& are turned on, and the output of inverter 10 becomes "H" level. In this case, when the interference detection permission signal G output from the microprocessor unit 14 is at the "H# level", the interrupt signal IR is "H" level.
'' level, and an interrupt is applied to the microprocessor unit 14. On the other hand, when the signal G is ``L'' level, the interrupt signal IR is ``L'' level, and an interrupt is applied to the microprocessor unit 14. There isn't.

Next, the microprocessor unit 14 reads the program stored in the memory 15, creates robot control and control signals based on the read program, and outputs them to the robot control circuit 16. The robot control circuit 16 drives the robot mechanism 3 based on this control signal.

Further, this microprocessor unit 14 generates an interference detection permission signal G based on the program and outputs it to the Nantes gate 12. Furthermore, the interrupt signal IR ('″H″
When the H'' level is supplied, an interrupt processing program is read from the memory 15, and based on this program, the alarm device 17 is driven, and the robot control circuit 16 is activated.
Outputs a stop signal to. Robot control circuit 16
receives this stop signal and stops the operation of the robot mechanism 3.

Next, a specific example of the processing of this microprocessor unit 14 will be explained with reference to FIG. Note that FIG. 2 is a diagram showing an example of a program in the memory 15. first,
The interference detection permission signal G is set to ``H''H'' level (Step S1 in Figure 2), and then the hand 3d is moved to the vicinity of the workpiece placement position (Step 32).Next, the signal G is set to @
L'' level (Step S3), then move the hand 3d to the work position. Next, close the hand 3d,
The workpiece 4 is gripped (step 85). Next, the hand 3d is moved slightly () step 86), and then the signal Gtt is set to ``H'' level (step 87), and thereafter,
The hand 3d is moved to the position of the chuck 2 according to a predetermined route. Next, the work 4 is inserted into the chuck (step S8), the signal G is set to the ``L'' level (step S9), and the work 4 is moved to the mounting position (step 310). Next, the chuck 2 is closed (Step 811), and then the hand 3d is opened (
Stella 7'512). At this point, chuck 2 of work 4
Installation is complete. Next, the signal GY is set to "H" level (step 313), and then the hand 3d is returned to its original position (step 814).

As described above, in the embodiment shown in FIG. 1, the signal G is at the l''H'' level when the workpiece 4 is inserted into the chuck 2. As a result, if interference between the workpiece 4 and the chuck 2 to open occurs, If so, interrupt signal IR (@H' level)
occurs, and the above-mentioned interrupt processing is performed. On the other hand, just before gripping the workpiece 4 with the chuck 2, the signal G is
``L'' level. As a result, even if interference occurs when the workpiece 4 is gripped by the chuck 2, the interrupt signal IR will not be generated.

Note that the functions of the Nant Gate 120 in FIG. 1 may be performed by a program.

〔Effect of the invention〕

As described above, according to the present invention, when there is interference between the robot hand section and the target device, it is possible to achieve the effect that an emergency stop can be performed only when an emergency stop is actually required.

[Brief explanation of drawings]

FIG. 1 is a block diagram showing the configuration of an embodiment of the present invention.
FIG. 2 is a diagram showing an example of a program stored in the memory 15 in FIG. 1. 1... Lathe (target device), 3d... Robot hand holding... Work, 8...
Interference detection circuit, 14...Microprocessor unit, 15...Mesori.

Claims (1)

[Claims] a detection means for detecting interference between the robot hand section and the target device; a control means for enabling or disabling the detection means according to the operation of the robot hand section; and a control means for detecting the interference when the detection means is enabled. and stopping means for stopping the robot hand section when the means detects interference.