JPH06344285A - Robot - Google Patents

Abstract

PURPOSE:To provide a robot which is designed to identify the kind of hand simply at a low cost. CONSTITUTION:A robot comprises a change hand 6 having dip switches 7a-7d to perform switching and setting according to a kind; a robot body 2 to which the change hand 6 is attached; and a controller 3 to control the robot body 2. The kind of the change hand 6 is identified by the controller 3 based on the dip switches 7a-7d of the change hand 6 attached to the robot body 2.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an industrial robot of the type in which hands are exchanged as needed.

[0002]

2. Description of the Related Art For example, some industrial robots and the like are of a type in which hands are exchanged according to the contents of work and the type of target parts. There are the following two types of this type of robot. (1) In particular, it does not have the function of recognizing the type of hand and relies on manual setup. (2) The hand unit is equipped with an electrically readable / writable memory, reads and writes data as necessary, and recognizes the type of hand.

[0003]

By the way, the above-mentioned two kinds of robots have the following problems. That is, in the type of (1), if a mistake is made in manual setup, the robot may malfunction or the robot or work may be damaged.

In the type (2), the controller and the hand are expensive. Furthermore, there are few memories that are small enough to be mounted in a hand, which also causes an increase in price. In addition, the data may be erroneously recognized due to consumption of the backup power supply, noise, or the like. An object of the present invention is to provide a robot capable of easily and inexpensively identifying the type of hand.

[0005]

In order to achieve the above object, the present invention provides an exchange hand having switch means for performing switching setting according to the type, a robot main body to which the exchange hand is attached, and this robot main body. And a robot body control means for controlling the robot body, and the robot body control means identifies the type of the exchange hand based on the switch means of the exchange hand attached to the robot body. In this way, the present invention is to make it possible to easily and inexpensively identify the type of hand.

[0006]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of the present invention will be described below with reference to FIG. FIG. 1 shows an embodiment of the present invention, in which reference numeral 1 is a robot. The robot 1 includes a robot body 2 and a controller 3 as a robot body control means. The robot body 2 is a multi-axis type,
It has first and second horizontal pivoting arms 4, 5. As the robot body 2, various general ones can be adopted.

At the tip of the second arm 5, an exchange hand (hereinafter referred to as a hand) 6 selected from a plurality is attached. Further, as shown by an equivalent circuit in the figure, the hand 6 has first to fourth dip switches 7
a to 7d (switch means) are incorporated, and some of the dip switches 7a to 7d project to the outside of the hand. The dip switches 7a to 7d are arbitrarily set to be opened / closed.

The DIP switches 7a-7d are connected in parallel. Further, the DIP switches 7 a to 7 d are connected to a contact 8 provided on the hand 6, and are connected to the in-machine wiring 9 via the contact 8.

The in-machine wiring 9 is composed of the dip switches 7a ...
Each of the wirings is bundled to form an on-board wiring 9. The in-machine wiring 9 is arranged in the robot body 2 and is incorporated in the controller 3 as an I / O (interface).
Has reached.

The open / close combination of the DIP switches 7a to 7d is determined according to the type of the hand 6. That is, a plurality of hands (not shown) are prepared according to the work content and the type of work, and each hand has four similar dip switches 7a to 7d. Since each of the dip switches 7a to 7d individually represents two states of open / closed, the state of each of the dip switches 7a to 7d corresponds to a binary code. In the present embodiment, the number of dip switches 7a to 7d is four, and thus 4bi
The identification code of ts can be expressed, and there are 16 (= 2 ⁴ ) combinations of open / close. Therefore, by using the four DIP switches 7a to 7d, 16 types of hands can be distinguished.

Here, in this embodiment, all the dip switches 7a to 7d are open. Controller 3
Is loaded with software 10 assembled according to a predetermined work, and the controller 3 controls the robot main body 2 according to the contents of the software 10. The software 10 records a registration code representing a hand required for work, and the controller 3 determines whether the open / close combination of the DIP switches 7a to 7d matches the registration code. And the hand 6 is identified.
If the combination of the DIP switches 7a to 7d matches the registered code, the predetermined work is executed. If the combination does not match, the controller 3 indicates that the hand exchange is necessary. Notify the operator.

As a means for urging the operator to exchange a hand, various general methods such as displaying on a display and lighting a warning light can be adopted. That is,
In the robot 1 as described above, the hand 6 is provided with the dip switches 7a to 7d, and the combination of opening and closing of the dip switches 7a to 7d is set according to the type of the hand 6, so that the control is performed. The la 3 can easily identify the type of the hand 6.

Further, since the robot itself can identify the hand, even if there is a mistake in the setup of the hand 6, it is possible to detect an attachment error of the hand before a malfunction occurs and prevent the malfunction.

Further, the DIP switches 7a-7d are
It is cheaper than the memory built into a conventional hand. If the DIP switches 7a to 7d are used, it is not necessary to write and read electrical data, so that the system for hand identification can be made cheaper than when a memory is used for hand identification. Can be built. Furthermore, since no memory is used, reliability is high and maintenance is easy.

The present invention can be variously modified without departing from the scope of the invention. For example, in the present embodiment, the number of DIP switches is four, but it can be set appropriately according to the required number of bits of the identification code.

Further, when it is not necessary to change the identification code of the hand, a combination of short-circuiting and opening of a plurality of wire wirings 21a to 21e can be used as shown in FIG. The hand 22 can be identified as in the example. By replacing the DIP switch with simple wire wiring in this way, further cost reduction becomes possible. In addition, in FIG. 3, five parallel wire wirings 2 are provided.
Only one (21a) of 1a to 21e is open. Further, the present invention can be widely applied to type discrimination between an electronically controlled device and a jig (for example, an NC processing machine and a bite) attached thereto.

[0017]

As described above, according to the present invention, there is provided an exchange hand having switch means for performing switching setting according to the type, a robot main body to which the exchange hand is attached, and robot main body control means for controlling the robot main body. Equipped with
The robot body control means identifies the type of the exchange hand based on the switch means of the exchange hand attached to the robot body. Therefore, the present invention has an effect that the type of hand can be easily and inexpensively identified.

[Brief description of drawings]

FIG. 1 is a configuration diagram showing an embodiment of the present invention.

FIG. 2 is a flowchart showing a method of identifying a replacement hand.

FIG. 3 is an explanatory diagram showing a modification of the switch means.

[Explanation of symbols]

1 ... Robot, 2 ... Robot main body, 3 ... Controller (robot main body control means), 6 ... Exchange hand, 7a-7
d ... DIP switch (switch means), 9 ... In-machine wiring.

Claims (1)

[Claims] 1. A robot main body control means comprising: an exchange hand having switch means for performing switching setting according to type; a robot main body to which the exchange hand is attached; and robot main body control means for controlling the robot main body. The robot is characterized in that the type of the exchange hand is identified based on the switch means of the exchange hand attached to the robot body.