JPS63134186A - 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, and more particularly to an industrial robot that can be easily restarted after being stopped based on an abnormal signal input from the outside.

"Prior Art" Conventionally, some industrial robots that paint workpieces, for example, are integrated with a workpiece supply device. In an industrial robot with such a workpiece supply device, not only an abnormality in the robot or the workpiece supply device, but also an electrostatic abnormality ( When an abnormality signal is input due to an abnormality in electric potential due to charging, an abnormality in paint discharge, etc., the robot and work supply device are immediately stopped at the timing when the abnormality signal is generated.

"Problems to be Solved by the Invention" As mentioned above, in industrial robots equipped with conventional workpiece feeding devices, the above-mentioned abnormal signals that are not directly related to robot operation are input from external equipment, which causes the robot to The workpiece supply device stops. In other words, if an abnormal signal that is not directly related to the robot's operation is input during robot replay operation, the robot will no longer be able to perform painting work on the work being painted, and the robot will not be able to receive the abnormal signal. The painting operation stops in the state it was in when it was input.

Therefore, when restarting the robot or workpiece supply device after it has stopped due to an abnormal signal, the robot and workpiece supply device will not only be restarted, but also the initial state settings of the robot and workpiece supply device will be separately set again. The problem is that it has to be done. Setting the initial state of the workpiece supply device means that when restarting the robot and workpiece supply device, first return the traveling cart that transfers the workpiece to the workpiece deboning position, and then return the robot to the initial state before starting work. After that, the traveling trolley is again sent to the workpiece painting position using the traveling trolley operation switch.

This invention was made in view of the above-mentioned circumstances, and an object of the present invention is to easily restart a robot or work supply device that has stopped due to an abnormal signal, and to restart the robot or workpiece supply device when the abnormal signal is input. The objective is to provide an industrial robot that does not waste work on a workpiece.

"Means for Solving the Problem" The present invention has a workpiece detection means for detecting the arrival of a workpiece at a working position, and a workpiece supplying means for moving the workpiece between the working position and another predetermined position. a robot device that performs work on the workpiece in response to input of a workpiece detection signal from the workpiece detection means and outputs a work end signal when the work is completed; In an industrial robot, the industrial robot is provided with a supply control means for driving and controlling the work supply device so as to move one workpiece to a predetermined position and to move another workpiece located at another predetermined position to a working position. an abnormality detection means for detecting an input abnormality signal; and when the abnormality detection means detects the input of the abnormality signal, stopping the movement of the workpiece, which is waiting for work and is at another predetermined position, to the work position by the feeding device. At the same time, an abnormality processing means stores the work whose movement has been stopped in a storage means, and when the disappearance of the signal is detected by the abnormality detection means, reads out the work whose movement has been stopped from the storage means and puts the work into operation. The above-mentioned problem is solved by an industrial robot characterized by comprising an abnormality recovery processing means for driving and controlling the supply device to move the supply device to the specified position.

"Function" Monitors the abnormal signal, and when an abnormal signal is input, the work is processed without stopping the work in progress.
While the work on the workpiece is completed, the workpiece to be worked on from now on is not supplied to the work position but is kept waiting at a predetermined position on the supply device. The workpiece, which has been kept waiting at a predetermined position, is moved to the working position and the work is continued.

"Embodiments" Hereinafter, embodiments of the present invention will be described with reference to the drawings.

FIG. 1 is a plan view showing the configuration of an industrial robot according to an embodiment of the present invention, and FIG. 2 is a block hW diagram showing the configuration of the control circuit of the robot. In these figures, 1 indicates the base of the robot. Reference numeral 2 denotes a robot arm, which has a structure that allows it to perform telescopic movements, rotational movements, bending movements, etc. 3 is a spray gun attached to the tip of arm 2. Reference numeral 4 denotes a left-hand work supply device installed on the left side of the robot base l. The workpiece supply device consists of left and right side workpiece supply devices, 4a is a bogie running path configured on the upper plane of the workpiece feeding device 4, and 5 is a running wheel and a driving wheel or linear induction propulsion on the bogie running path 4a. The left traveling bogie moves by the machine groove, and 6 is a left intermediate stop limit switch attached at approximately the middle position of the bogie running path 4a.

The tip of the switch lever of the limit switch 6 is configured to lightly touch the bottom of the left traveling truck 5, thereby turning the limit switch 6 on and off. Reference numeral 7 denotes a left front end limit switch, which is attached to the upper plane front end portion 4r of the left work supply device in a similar configuration to the limit switch 6. Therefore, when the left running cart 5 travels on the cart running path 4a to the front end position, the bottom of the running cart 5 lightly touches the switch lever 7a of the switch 7, turning on the limit switch 7, and the workpiece (described later) is placed in the working position. Detect what is in the . LW is a workpiece placed on the traveling carriage 5. Reference numeral 8 denotes a left switch stand installed behind the left work supply device 4. A forward command switch 8a and a backward command switch 8b are attached to the upper surface of the left switch stand 8 for the operator to actively command the forward and backward movement of the trolley 5.

Reference numeral 9 denotes a robot control panel, which includes an operation panel and the like for inputting various operation commands to be given to the robot. The robot operation panel 9 is installed at a location away from the robot body, and the robot operation panel 9 is connected to the robot body.
is connected by a multicore cable.

10 is a right work supply device installed on the right side of the base 1 of the robot, 10a is a trolley running path configured on the upper plane of the supply device IO, 11 is a right running trolley that runs on the upper plane 10a, 12 is a right intermediate stop limit switch installed at an intermediate stop position located approximately in the middle of the bogie running path 10a. 3 is a right front end limit switch attached to the front end of the upper plane 10a, 14 is a switch stand, and RW is a traveling trolley 1! This is the workpiece placed on top.

These wire supply devices 10 and traveling carts 111
Limit switch! 2.13, Switch stand! 4 and their mutual relationships are the same as those described above for the left work supply device 4, left traveling carriage 5, limit switch 6, 7, and switch stand 8. Next, 15 in FIG. 2 is a CPU (central processing unit), 16
is a memory unit composed of ROM, RAM, etc., in which information such as teaching data and robot operation programs is stored; A register in which 16c and the like are set is provided. Here, the left/right waiting flag 16a is set to rLJ in the CPU 15 when the left traveling bogie 5 is at the intermediate stop position and the intermediate stop limit switch 6 is turned on when an electrostatic abnormality signal is input from the outside. , On the other hand, when the right traveling bogie 11 turns on the intermediate stop limit switch 12, this flag is set to the rRJ state by the CPU 15. If neither is the case, it is reset to the state of "0". Furthermore, the left waiting flag 16c and the right waiting flag 16b are set when the left and right traveling vehicles 5.11 are at an intermediate stop and the intermediate stop limit switch 6.12 is turned on, and the other traveling vehicle is at the work position. rF in state
'FJ' state, otherwise reset to '0' state.

Furthermore, this memory contains the information that the left and right traveling carts are turned on while they are traveling from the intermediate stop position to the front end of the workpiece supply device, and that the front end limit switch is turned on. A register is set to store a work set signal that turns ``off'' when the robot operation program is executed for the work on the side that has been turned on based on the teaching data and the robot completes its work. 17 is an interface, 19 is a robot body, and 21 is an external device connected to the CPU 15 by the interface 17.

Next, the operation of this embodiment will be explained with reference to the interwoven routines shown in FIGS. 4 to 11.

As shown in FIG. 1, the right traveling carriage 11 is located at the rear end 10b of the upper plane 10a of the right work supply device 1O.

The right traveling truck 11 has a workpiece R to be painted.
W is placed by the worker.

The one-pressure traveling cart 5 is the upper plane 4a of the left work supply device 4.
The workpiece LW to be painted is located at the rear end 4b of the carriage 5, and the right traveling carriage +1 is located at the rear end 4b of the carriage 5.
is placed by the worker. Also, the robot is stopped at the position shown in the figure.

Teaching data has already been input into the memory 16 of the robot operating panel 9, and the robot operates in accordance with this teaching data when a start command signal is input.

The operator has already completed the work of placing the works RW and LW on the right traveling trolley 11 and the left traveling trolley 5. First, the forward command switch 14a on the right switch stand 14 is pressed. When the switch 14a is pressed, an interwoven routine shown in FIG. 4 is executed by an interrupt. Sunahachi,
In step Sal, a right advance signal is output, and the right traveling truck 11 is moved to the truck traveling path 10a of the right work supply device IO.
Start traveling on the top toward the intermediate stop position. In subsequent steps Sa2 and Sa3, other output signals and the right wait flag are reset. When the trolley 11 travels to the intermediate stop position and the intermediate stop limit switch 12 is turned on, the interlaced routine shown in FIG. 5 is executed. That is, in step Scl, the left work LW
It is determined whether or not the work set signal is "on". In this case, the work set signal of the pressure work LW is in the "off" state where it is not output (i.e. rNOJ), so the CP
U returns to the return address of the main program that was being executed at the time of the interrupt. The right traveling cart 11 advances to the front end tor of the truck traveling path of the work supply device 10, and the right side end limit switch 13 is turned on.

When the right side end limit switch 13 is turned on, a start command signal is taken into the CPU 14 via the interface 16 at the timing when the right side end limit switch 13 is turned on. C.P.
When U14 confirms this start command signal, memory I5
The robot is started according to the teaching data and operation program stored in advance.

Now, while the robot that has started work in this way is painting the workpiece RW placed on the right traveling trolley +1, when the forward command switch 8a of the left switch stand 8 is pressed, an interrupt is sent to the CPU15. , the CPU 15 is the sixth
Execute the interwoven routine without drawing.

That is, when the forward command switch on the left switch stand is pressed, the left work supply device 4 is moved in the subsequent step Sbl.
A left traveling bogie forward command signal is output to move the left traveling bogie 5 forward. In the following step Sb2, if a backward signal or the like is being output, these other output signals are reset. When proceeding to the next step Sb3, the left waiting flag 16c
If is set, reset the left wait flag. When these operations are completed, the CPU 15 returns to the address on the main program that was being executed when the interrupt occurred.

When the left traveling bogie moves forward in response to the forward movement signal output in step Sbl and the left intermediate stop limit switch 6 is turned on, the CPU15 is again interrupted at the timing when the limit switch 6 is turned on.
l5 executes the interlaced routine shown in FIG.

That is, when the left intermediate stop limit switch 6 is turned on by the left traveling truck 5, in the following step Sdl, it is determined whether the work set signal for the right work RW is "on". Since the right traveling cart has arrived at the surface end 10f of the right work supply device 10 and the robot is performing the painting work, the work set signal of the right work R is "on", that is, r
Since it is Y E S J, the process proceeds to step Sd2 and sets the left wait flag to "FF". Subsequent step Sd3
At this point, the forward command signal for the left traveling bogie 5 outputted at step Sbl in FIG. 6 described above is turned off. Therefore, the left traveling truck 5 comes to a standby state at the intermediate stop position at the timing when the left intermediate stop limit switch 6 is turned on.

In the following step Sd4, it is determined whether or not an external abnormality signal (signal indicating electrostatic abnormality) has been output before the trolley 5 stops at the intermediate stop position. CP if “NO”
U15 returns to the main program address that was being executed when the interrupt occurred and executes the program. On the other hand r
If YESJ, the process advances to step Sd5. 2 step S
At d5, set rLJ to the left/right wait flag 16a,
In the following step Sd6, the left waiting flag 16c is set to r.
Reset to OJ.

Further, if an abnormal signal is output while the left traveling trolley 5 is stopped at the intermediate stop position, an interrupt is generated in cputs at the timing when this abnormal signal is output. FIG. 8J shows the interlaced fuden that takes place during this interrupt. That is, when an interrupt occurs due to the abnormal signal, the right wait flag 16b is set in step Set.
It is determined whether or not the has been reset. If rNOJ, the process proceeds to step Se2. Then, the left/right wait flag 16a is set to the rRWJ state, and in the subsequent step Se3, the right wait flag is reset to "0". On the other hand, if rNOJ is determined in step Set, the process jumps to step Sc4. In step Se4, it is determined whether or not the left wait flag 16c has been reset.
”, the left/right wait flag 16 is set in step Se5.
rLJ is set in a, and the left wait flag is reset in the following step Se6.

In this case, since the trolley 5 is stopped at the intermediate stop position, the left waiting flag is set, and the left/right waiting flag 16b is reset to "0", so rLJ is set in the left/right waiting flag in step Se5. , the left wait flag is cleared in the following step Se6. and,
The CPU 15 returns to the return address of the main program that was being executed when the electrostatic abnormality interrupt occurred.

FIG. 9 shows an interwoven flow when an interrupt is triggered by an interval timer. That is, when an interrupt is generated by the interval timer every 0.2 seconds, in this interrupt routine, first, in the following step Sgl, it is determined whether or not the work set signal of the left work LW is "off". If ``YES'', the process advances to step Sg2 and it is determined whether the right wait flag has been reset. If “NO”, step S
Proceeding to g3, the right wait flag is reset, and in the following step Sg4, a right advance signal is output. Step Sg5
Proceeding to resets other output signals. On the other hand, in the case of rNOJ in step Sgl, and step S
If the right wait flag 16b is reset at g2, the process jumps to step Sg6.

When the process proceeds to step Sg6, it is determined whether or not the work set signal of the right work RW is "off", and if it is rYEsJ, the process proceeds to step Sg7. In step Sg7, it is determined whether or not the left wait flag is "0", and if "NO", step Sg8, step Sg9, step 5g1O
Then, the left waiting flag 16c is reset, a forward signal for the left traveling truck is output, and other output signals are reset.

In the state after the electrostatic abnormality occurs during the right work painting operation, the work set signal of the left work LW is off, the right wait flag is not set and remains "0", and the right work RW The workset signal of is on, so
The left supply cart 5 is stopped at an intermediate stop position.

Even if an electrostatic abnormality does not occur, the work set signal of the work LW is off while the right work is being painted, the right wait flag is not set and remains at rOJ, and the work set signal is Since it is on, the left supply truck 5 is stopped at the intermediate stop position. In this case, the movement of the left supply cart 5 to the front end 1 of the cart running path (B) to the workpiece painting position is performed after the right workpiece painting operation, which will be described later, is completed, and at this time, the workpiece set signal of the workpiece LW is turned off. Yes, the waiting list flag is not set, but
The work set signal of work RW has been switched from on to off due to the completion of the painting operation, and rFFJ is displayed in the left waiting flag.
As a result, the left waiting flag is reset and a left advance signal is output, so that the left supply truck 5 moves to the workpiece painting vehicle tor.

Next, Fig. 1O shows the interlaid flow when the painting operation for the right or left workpiece is completed.

That is, after confirming that the painting is completed, the next step s
At ht, it is determined whether the cart that has supplied the workpiece that has been painted is the right supply cart or the left supply cart. If it is the right supply vehicle, a backward signal for the right supply vehicle is output in step sh2. If the feed cart is on the one pressure side, a backward signal for the left feed cart is output in step Sh3. Then, at this time, the work set signal for the previously determined supply truck is switched from on to off. Therefore, when the painting operation for the right workpiece is completed, the CPU 15 outputs a retraction signal for the right supply cart, causes the right supply cart to move backward, and also outputs a work set signal for the right workpiece.
Switch from "On" to "Off".

FIG. 11 shows an interwoven flow when the electrostatic abnormality signal changes from an on state to an off state. That is, an interrupt is generated every 0.02 seconds by the interval timer. Proceeding to the subsequent step Sf1, it is determined whether the electrostatic abnormality signal has changed from on to off. rYE
If sj, it is determined in step Sr2 whether the left/right wait flag is "0". Further step 5
At f31, it is determined whether the left/right wait flag is "R". If rNOJ, the process advances to step Sr6. In step Sr6, the left/right wait flag is "0"
It is determined whether or not. If "NO", the process advances to step Sr7. In step Sl'7, it is determined whether the left/right wait flag is rLJ.

In the case of rY E S j, rr;'r;' is set in the left wait flag in the subsequent step Sf8. Then, in step Sf9, the left and right wait flags are cleared. Since rFFJ is set in the "left waiting flag", the left supply cart is set to the workpiece painting position as described above by the ink flow shown in FIG. 9.

In this embodiment, as described above, even when an electrostatic abnormality signal is input from the outside, the robot and workpiece supply device are not immediately stopped, so painting of the workpiece does not stop midway. Furthermore, since the supply cart is stopped at the coating position by the electrostatic abnormality signal and the function of the control section is not stopped, there is no need for troublesome operations for restarting.

"Effects of the Invention" According to this invention, when an abnormal signal is input from the outside, the robot is stopped at that timing, and the robot is temporarily stopped after completing work on the work without stopping the control circuit. Therefore, when an abnormal signal is input, the work on the workpiece will not be stopped midway, and there is no need for a troublesome operation for restarting the workpiece.

[Brief explanation of the drawing]

FIG. 1 is a plan view showing the configuration of an embodiment of the present invention, and FIG.
The figure is a block diagram showing the configuration of the control unit, and Figure 3 is the memory 1.
Figure 4 is a diagram showing the interlaced routine when the forward command switch on the right switch stand is turned on. Figure 5 is a diagram showing the flag set to 6. Figure 5 is a diagram when the right intermediate stop limit switch is turned on. Figure 6 shows the interwoven flow when the forward command switch on the left switch stand is turned on. Figure 7 shows the interwoven flow when the left intermediate stop switch is turned on. Figure 8 is a diagram showing the interwoven flow when an interrupt occurs due to an electrostatic abnormality, and Figure 9 is a diagram showing the interval timer (Q,
Figure 1Theta is a diagram showing the flow when painting 9j is completed, Figure 1+ is an interrupt caused by interval timer (0,025ec). It is a figure which shows the interlaced flow in case.

Claims (1)

[Claims] The method includes a workpiece detection means for detecting that the workpiece has arrived at the workpiece position, a workpiece supply means for moving the workpiece between the workpiece position and another predetermined position, and a workpiece detection signal inputted from the workpiece detection means. a robot device that performs work on a workpiece and outputs a work end signal when the work is completed;
Upon input of the work completion signal from the robot device, the workpiece feeding device is driven to move one workpiece at a working position to a predetermined position and move the other workpiece at another predetermined position to the working position. In an industrial robot comprising a supply control means for controlling,
an abnormality detection means for detecting an abnormal signal inputted from the outside; and when the abnormality detection means detects the input of the abnormal signal, the supply device moves a workpiece that is waiting for work and is at another predetermined position to a work position; an abnormality processing means for stopping the movement and storing the work whose movement has been stopped in a storage means;
Abnormality recovery processing means reads out the work whose movement has been stopped from the storage means and drives and controls the supply device to move the workpiece to a working position when the abnormality detection means detects disappearance of the signal. An industrial robot that is characterized by: