JPS6279985A - Industrial robot device - 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] [Industrial Application Field] This invention relates to an industrial robot device, and particularly to an improvement in the input method of workpiece information such as the type, quantity, and arrangement of a large number of workpieces arranged in a slot. be.

[Conventional technology]

Conventionally, as shown in Japanese Unexamined Patent Publication No. 58-126088, a method for supplying workpieces to a robot-centered parts processing or assembly system has been to arrange a large number of workpieces on one pallet and separate each pallet. [Problems to be solved by the invention] In conventional industrial robots such as those described above, the type, quantity, arrangement, etc. of workpieces placed on each pallet are determined in advance. The system is configured on the premise that pallets are supplied in a defined and predetermined order. Therefore, if for some reason the pallet supply order is out of order, the robot will malfunction due to the wrong type of workpiece, and this may cause damage to the Eri robot, peripheral machines, or workpieces. I have a friend who has a problem.

This invention has been made to solve these problems, and with a simple configuration can prevent malfunctions of the robot due to the wrong type of workpiece, etc., and can prevent damage to related equipment or workpieces. [Means for Solving the Problems] The industrial robot device according to the present invention has a plurality of workpiece types, quantities, arrangement 1j, etc. In addition to placing the work information card, a reading device for reading the contents of the work information card is installed on the stand of the node, facing the work information cart, and the work information from this reading device is used as an input signal to the robot control device. O [Function] In this invention, the work information on the work information card placed in the nodelet is used as the input signal for the robot control device, so it is possible to [Embodiment] Figures 1 to 6 show an embodiment of the present invention, and in the figures (1), (2), and (a) are workpiece knotlets. Then, the workpieces are sequentially conveyed from the workpiece pallet (1) position to the workpiece nozzle (8) position. (4) is a large number of workpieces to be machined arranged on workpiece pallets (1) and (21), (5) is a workpiece pallet (2) and (31
The unprocessed workpieces (4) on the workpiece pallet (2) are sequentially taken out by the robot (6), processed by the machine tool (7), and then placed on the workpiece pallet (2) again. It is returned and becomes a processed workpiece (5). (8)
is the service range of robot (6), (9) i'! Work pallet stand, (ttniq work pallet (1),
(2).

(8) A work information card that is attached to the side surface and stores work information such as the type, quantity, and arrangement of the work, and is made of, for example, a magnetic card.

α1) is a reading device that is installed on the work pallet stand (9) and reads the contents of the work information card 0Q of the work pallet (2);
The moving cylinder moves the work pallet (1) to the position of the work pallet (2), and the moving cylinder moves the work pallet (2) to the position of the work pallet (8), each work pallet (1), (2), (8) Check the presence at the position shown in Figure 1 for each work bulletin board) (1), (
This is carried out using the presence confirmation sensor (not shown) provided in 2) and (8). α (roll) is each work pallet) (1),
(2) , protrusion provided on the bottom of (a), μs)
is a claw that engages with this protrusion α4), and is a claw that engages with this projection α4), and
It is pivotally attached to the tip of the stopper rod via a pin (16), and is always pressed against the stopper (18) side by a tin ring (C17). Therefore, this nail μs) is the second
When moving from the position shown by the solid line to the position shown by the chain line in the figure, the work pallet (1) 'f!
: Move the work pallet (2) to the t position, and move it to the second
When returning from the chain line position shown in the figure to the solid line position, the engagement with the protrusion (4) is released by rotating the pin α6 as a fulcrum as shown in FIG. Use the mating claws to attach the bottle (
The pawl o!5) is pivoted through the stopper (e) and is constantly pressed and urged toward the stopper (e) by a spring (211).Therefore, this claw o!5) moves from the position shown by the chain line to the position shown by the solid line in Fig. When moving the work pallet (2) to the position of the work pallet (8) by engaging the protrusion α (rotation) and moving the work pallet (2) to the position of the work pallet (8), and when moving from the solid line position to the chain line position shown in Fig. is rotated about the pin g@ as a fulcrum, as shown in FIG. 5, and is engaged with the protrusion number α).

Also, the one next to it in Figure 6) is the robot drive device, @41
is the robot control device, 9@ is the movable cylinder drive device, -c is the movable cylinder control device, (+?7) 1-t work pallet presence confirmation information, (to)) is the information from the above reading device αυ The workpiece information is combined with the operating program of the robot (6) and input as control information to the robot's control device. 4 is I10 Po), f3011dCPf
f group), a computer having RAM and ROM, is output when the absence of a pallet at the position of work pallet (1) is confirmed by the work pallet presence confirmation information (Foundation) in the how work supply reminder information, and a buzzer is activated. Or drive a lamp or the like.

In the industrial robot device configured as described above, when the presence confirmation information (b) of the work pallet confirms that the pallet is absent at the work pallet (2) position, the moving cylinder (2) is activated to move the workpiece. Palette (1)
Move it to the work pallet (2) position. Then, the work information card is faced to the reader (6), and the contents are read by the reader (b) and the work information μ
s). The robot (6) is controlled by an example of a robot control device based on this information, and is driven in a motion that matches the workpiece information.

All the workpieces on the workpiece pallet (2) become processed workpieces (5), and the presence confirmation information of the workpiece pallet @
When the absence of a pallet at the work pallet (8) position is confirmed by step 7), the moving cylinder (18) is activated to move the work pallet (2) to the work pallet (8) position.

The above operations are repeated, the work pallet (1) moves to the position of the work pallet (8), and the work is processed. When the absence of the pallet at the position of work pallet (1) is confirmed by the work pallet presence confirmation information (b), an example of work supply reminder information is output, a buzzer sounds, and a blinking lamp flashes. , the work information of each work pallet is read by the reading device C11), and the robot (6) is controlled based on this information, so the robot (6) malfunctions due to the wrong type of work etc. can be prevented with a simple structure. It can definitely be prevented.

Also, based on the work pallet presence confirmation information (b) K, the moving cylinder (depression, α3) is driven, and the absence of the pallet at the position of the work pallet (1) is confirmed, and the work supply reminder information (2) is sent. Since the output is output, it is possible to operate continuously for a certain period of time, and the robot (6)
The overall work efficiency can be improved by minimizing downtime.

In the above embodiment, the work information (28) from the reading device (1) is used to control the robot (6) in accordance with the work information (28). ), the robot (6) may be stopped, and the desired effect can also be expected by this.

〔Effect of the invention〕

As explained above, this invention arranges a work information card such as the type, quantity, and arrangement of the workpieces at a desired position on a pallet, and a reading device that faces the workpiece information card and reads the contents on the stand of the pallet. Since the workpiece information from this reading device is used as an input signal to the robot control device, it is possible to effectively prevent robot malfunctions due to errors in the type of workpiece, etc., and prevent damage to related equipment or workpieces. There are effects such as being able to do it.

[Brief explanation of drawings]

Figure 8g1 is a configuration diagram showing one embodiment of the present invention, Figure 2 is a sectional view taken along the line ■-■ in Figure 1, and Figure 3 is an explanatory diagram showing a state in which the engagement between the claw and the protrusion in Figure 2 is released. , FIG. 4 is IV- of FIG.
5 is an explanatory diagram showing a state immediately before engagement between the claw and the protrusion in FIG. 4, and FIG. 6 is a control circuit diagram of the entire device. (1), <2), (8)...Work pallet (
4)...Work before machining (6)・0 Workpiece after machining (6)
・・Robot (9)・・Work pallet stand α (2)・・Work information card α Sword・Choice reading device - or a corresponding portion.

Claims (1)

[Claims] Work information cards such as the type, quantity, and arrangement of the work pieces are placed at required positions on a pallet on which a large number of work pieces are placed, and a reading device is installed on the platform of the pallet to face the work information cards and read the contents. 1. An industrial robot device, wherein workpiece information from the reading device is used as an input signal to a robot control device.