JPS63171704A - Robot device - Google Patents

Abstract

PURPOSE:To provide stable and accumulate accommodation of objects by with a transport robot device for magnetic taper cassettes etc., by furnishing a robot base with object supporting divisions, a hand device to grasp the object, and an arm device, and by transporting the robot base between object receipt/ handover positions. CONSTITUTION:This robot R includes a drum circularly rotating on a plane in the J5 direction with respect to a base RB, an upper arm 46 rotating up and down in the J4 direction with respect to the drum, a lower arm 42 rotating up and down in the J3 direction with respect to the upper arm, a wrist 41 rotating in the J2 direction with respect to the lower arm 42, and a hand 36 to tun the wrist 41 to the axis in the J1 direction. Using these elements, objects are received in accommodating divisions of a skirt and handed over from the divisions. Movement is made between racks S and a tape device MD through controls by a system control computer CC, and receipt/handover of objects is performed. This constitution accomplishes stable and accurate accommodation of objects.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot that transfers an object at a predetermined position to another predetermined position. , laser discs, vinyl records, etc., information represented by electrical signals (
(hereinafter simply referred to as information or data) is removed from the rack storing the information medium, and the information medium is installed in an information reproducing device that reads out the information on the information medium in the form of an electrical signal, and the use of the medium is completed. Collecting the information medium from the playback device and returning it to the rack, so-called automatic removal/installation of information medium 7
Concerning robots that perform collection/storage.

[Conventional technology]

For example, an information registration station in an online computer system may contain system operating programs and registration file information depending on the use of the system.

A huge amount of information such as original book information and/or system operation performance information is stored, and the information is read out and transferred in response to requests from each part of the system. In the case of storing a relatively small amount of information, for example, it is sufficient to store several information media such as magnetic drums and magnetic disks, but when the amount of information becomes enormous, for example, many magnetic tape recording/reproducing devices are required at the information registration station. Equipped with a huge number of cassette-shaped magnetic tapes, various information is recorded on the magnetic tapes according to predetermined classifications, the magnetic tapes with recorded information are stored in storage shelves, and records are recorded in response to playback requests and registration requests. Used magnetic tapes or unrecorded magnetic tapes are manually taken out from storage shelves and loaded onto magnetic tape recording/playback devices, and used magnetic tapes are manually taken out from magnetic tape recording/playback devices and stored in storage shelves. . Therefore, tape operations require manpower, and it is desired to save this labor.

For example, Japanese Patent Application Laid-Open No. 55-122263 discloses a robot arm that takes out a magnetic tape cassette from a magnetic tape storage shelf, attaches it to a cassette recorder, takes out the used cassette from the recorder, and stores it in the storage shelf, and a floppy disk. A robot arm has been proposed that takes out a floppy disk from a disk storage shelf, attaches it to a floppy disk device, takes out a used disk from the disk device, and stores it in the disk storage shelf.

However, since the base of the robot arm is fixed, the disk storage shelf and the disk devices are adjacent to each other, and the disk storage capacity of the storage shelf and the number of disk devices are limited depending on the area that can be handled by the robot arm. This method is difficult to use in an information registration station that includes a huge number of information media such as magnetic tapes and a relatively large number of recording/reproducing devices.

Although the processing capacity can be increased by increasing the number of robot arms, the information media and recording/reproducing devices are distributed for each robot arm, resulting in a significant increase in the space required for the information registration station.

Moreover, it becomes difficult to organize and store information media, and it becomes difficult to densely wire and integrate recording and reproducing devices.

Such problems can be solved by making the robot base movable, equipping the robot base with a stocker, taking out a large number of information media from the information media rack (for example, a cassette rack) into the stocker, and moving the robot base to the position of the recording/playback device. The robot is driven to load a predetermined information medium in the stocker into the recording/playback device at a predetermined timing, collect it from the record/playback device into the stocker at a predetermined timing, move the robot to the position of the rack, and retrieve the collected information medium. This problem is solved by returning the information medium from the stocker to the rack and taking a new information medium from the rack to the stocker.

[Problem that the invention seeks to solve]

When a stocker is loaded with a large number of information media and the robot is moved from a rack to a recording/reproducing device or vice versa, vibrations or shocks may be applied to the stocker, especially when starting and stopping the movement. Additionally, the information media contained therein may move randomly, or the robot's moving device may apply vibrations or shocks to the robot body during movement. This movement of the information medium due to the movement of the robot may be improved to some extent by making the stocker have a storage compartment that closely matches the outer shape of the information medium; Due to misalignment of the grip position of the robot on the information medium when taking out the information medium, there is a high probability that the information medium will fail to be accurately positioned in the opening of the storage compartment and to be stored in the stocker. Furthermore, accurate positioning of the robot hand is required when taking out the robot hand from the stocker. Therefore, if the storage compartment of the stocker is made to have a large play space, the information medium will move to random positions due to the movement of the robot, and the grip position will be greatly misaligned when taking it out, making it difficult to return it to the rack or attach it to the recording/playback device. There is a problem in that there is a high probability of failure, and if the storage compartment of the stocker has a small play space and the information medium is accurately positioned, there is a high probability of failure in storing the information medium in the stocker.

The present invention includes a stocker having a movable robot base and a plurality of object support sections, and furthermore, the robot base is movable and has a plurality of object support sections.
and, in the opposite direction, storing the information medium in the stocker,
The purpose of the present invention is to provide a robot device that can perform operations stably and accurately.

[Means for solving problems]

The robot device of the present invention has a robot base; an opening for inserting and removing an object, and an inclined inner bottom on which the object slides; each supports an object of a predetermined shape on the inner bottom;
A stocker that is integral to the robot base and has a plurality of support compartments; a hand device that grasps objects in the support compartment; an arm device that supports the hand device and is supported on the robot base; a moving means for driving the robot base to the object receiving position; and driving the moving means to move the robot base to the object receiving position, and driving the hand device to accommodate the plurality of objects at the object receiving position in each of the support compartments. and object transfer control means for driving the moving means to move the robot base to an object transfer position and for driving the hand device to supply the object in the support section to the object transfer position.

[Effect]

Object transfer control means drives the moving means to move the robot base to the object receiving position and drives the hand device and the arm device to accommodate the plurality of objects at the object receiving position in each of the support sections. , and while the robot base is moved to the object transfer position by driving the moving means, this movement applies vibration or shock to the object housed in the support compartment, causing the object to move within the compartment. However, since the inner bottom of the support compartment is sloped, the object slides on the inner bottom along the slope, hits the wall of the compartment, assumes a predetermined position and attitude, and does not move to another position.

Therefore, since the object of each support compartment is in a predetermined position within the compartment, the predetermined position of the object, for example the center position of a cassette, can be grasped accurately, and the support compartment has a relatively large play space. You can set it to whatever you have.

This will facilitate insertion of the cassette into the support compartment.

Because you can accurately grasp the center position of the cassette,
Storing or mounting on a rack or recording/reproducing device will also be performed accurately.

In the above description, the object to be manipulated is a cassette tape, but the robot device of the present invention can manipulate any object that can be grasped by the robot hand through the functions and operations described above.

Other objects and features of the present invention will become apparent from the following description of embodiments with reference to the drawings.

〔Example〕

FIG. 1 shows an embodiment of the present invention. This embodiment shows a large amount of magnetic tape (hereinafter simply referred to as tape) made into a cassette.
Tape storage rack S that stores
Retrieving the tape from the rack, storing the tape in the rack S, and 8
A tape handling robot R that mounts (installs)/demounts (takes out; collects) tapes on a magnetic tape recording/reproducing device (hereinafter simply referred to as a tape device) MD.
It is.

This robot R moves along a rail G between the tape device MD and the rack S, moves from the replenishment shelf 95 that temporarily stores tapes to be refilled in the rack S to the rack S, and vice versa. from S to tape device MD and vice versa.

The computer 96 controls the reproduction of each tape device MD and transfers reproduction data to the data line.

The computer CC is a system control computer that controls various operations of the robot R and the unloading of required shelves of the rack S to the supply/receiving station.

The computer BC is one of the computers in an online system consisting of a central computer, terminal computers, etc. (not shown), and a data line connecting them. According to the information processing schedule given from another computer or a certain operation board, the computer CC extracts the information medium,
This is an information management computer that instructs the computer 96 to install and retrieve information from the tape device, and instructs the computer 96 to reproduce/record and transfer information.

That is, the system shown in FIG. 1 itself is an information registration station of the online system.

Computer BC is the management computer for this station, computer C
a control computer in which C controls rack S and robot R;
Further, the computer 96 is a recording/playback control computer that controls recording, playback, and transfer of playback data of the tape devices MD (8 units).

First, an overview of the operation will be explained. The central computer of the online system itself, its operator, or any other computer in the system or its operator, or the operator of computer BC (hereinafter collectively referred to as host), shall be responsible for the tape operation of the tapes used to execute the business schedule with respect to tape operations. At the same time, a schedule for attaching and detaching the device MD is created and inputted into the information management computer BC.

When it becomes necessary to use a tape that is not in the schedule, or when there is a change in the schedule, this is input into the information management computer BC. When the rack S is refilled with tape, the operator places the replenishment tape on the replenishment shelf 95, that is, the tape replenishment station, and the information management computer BC records the tape code and the position where the tape is placed (shelf 95).
5) and the storage position of the rack S, and a replenishment command are input.

The information management computer BC saves the attachment/detachment schedule, and provides the data of the attachment/detachment schedule to the system control computer CC at predetermined intervals in the order of execution (the extracted data is referred to as a work schedule). When the use of the system or the schedule change is input, the tape handling necessary for this is instructed to the system control computer CC.

When there is the replenishment command, input data and the replenishment command are given to the system control computer CC.

In the system control computer CG, storage positions (position data) of tapes already stored in the rack S are stored in memory in association with tape names (tape codes), and this memory is called a conversion table.

When receiving a replenishment command, the system control computer CC drives the robot R to the replenishment shelf 95, has the robot R take out the tape there, and places it in the rack S at the storage position given along with the replenishment command. Then, the stored position of the tape code, which has been replenished and stored in this way, is written in the conversion table as an address.

When the system control computer CC is given a work schedule, it creates and maintains a work table in which the tape code therein is converted into storage position data of the rack S using the conversion table.

The robot R monitors the number of tapes that can be additionally accommodated in the robot R, and has the robot R extract and hold tapes within the number that can be additionally accommodated from the tapes to be used first in the execution order according to the schedule. 43 (total 20 sections in 101i x 2 rows: one tape is stored in each section) The holding tape code (in this case, storage position data of rack S) is stored in memory in association with NOl, and it is written as follows. (referred to as the skirt table), tape the skirt 43 according to the instructions to attach/remove at the specified time or required time! iii Attach it to MD,
Alternatively, the tape is taken out from the tape device MD and collected in the skirt 43. Tape mounted! Each input port N of MD (8 units)
o. The codes of the tapes attached to the tapes 1 to 8 (tape codes) and the codes of the tapes held in the skirt 43 are notified to the information management computer BC every time they are changed.

Based on this notification, the information management computer BC manages whether each tape is in the rack S, the robot R, or the tape device MD (input port No. 1-?8), and determines the usage status of the tape. Create and update the next attachment and detachment schedule.

Refer to Change 2 Interrupt Handling, etc.

Next, the rack S shown in FIG. 1 will be explained in detail.

A longitudinal section of the rack S is shown in FIG. 2a. The rack S has a total of 20 shelves numbered 1 to 20 with the same structure, and these are supported by a shelf feeding mechanism 22.

Rack S has one shelf opening, and this opening has a drawer/retraction mechanism 25 that allows the shelf (1 in the illustrated example) in the opening to be moved from rack S to Figure 2a. It is pulled out to the feed/receive station as shown. The tapes stored in the shelf 1 pulled out in this way are indicated by C in FIG. C is a group of tapes stored on one shelf and in a supply/receive position (supply/receive station).

When another shelf of tape is required, shelf 1 at the supply/receiving station is pushed into rack S by a mechanism 25 and coupled to shelf feed mechanism 22, which is driven.

An enlarged plan view of the shelf 1 is shown in Fig. 2b, and an enlarged cross-section of the line ■C-nc in Fig. 2b is shown in Fig. 2c. In this embodiment, the interior of the shelf 1 is divided into 169 x 6 columns by frames 21 made of synthetic resin to form 9641 tape storage compartments, as shown in FIG. 2b. The walls between adjacent compartments have a partially cut-out shape. This is to prevent tape gripping fingers 37 and 38 of a robot R, which will be described later, from entering the inside of the shelf for taking out the tape.

In FIG. 2c, tapes C15, C25, C35, and C45 stored in each section of the shelf 1 are shown by phantom lines. Shelves 1-20
Since there are 20 pieces, 96X 20 = 19 for all types
It can store 20 tapes.

Note that the replenishment shelf 95 has 241 x 6 rows of compartments having the same shape as the compartments of the shelf 1, and can accommodate 12 replenishment tapes.

This replenishment shelf 95 is installed in engagement with the rack S in a predetermined posture, and can be attached to and detached from the rack S.

Figure 2d shows the configuration of the electrical elements of the rack S.

The shelf feeding mechanism 22 includes a shelf drive motor 23 and a shelf HP (
The shelf HP detector 24 generates an HP presence signal when the shelf 1 is correctly aligned with the drawer opening in the rack S, and detects other states. Then it won't happen.

The drawer/retraction mechanism 25 includes a shelf drive carriage (not shown).
a carriage drive motor 26 for reciprocating the carriage; a shelf coupling solenoid 27 for driving a latch mechanism for coupling the shelf of the rack S to the carriage; a shelf OP detector 28 that generates a shelf OP signal when the shelf coupled to the carriage is precisely located at the supply/receive station outside the opening (when the carriage is in that position) and does not otherwise produce this; , and a shelf RR detector 29 which generates a shelf RR signal when any one shelf is precisely aligned with an opening in the rack S, and does not otherwise produce this.

A motor driver 30 connected to the above-mentioned electrical elements of the shelf feed 7 mechanism 22 and the drawer/retract mechanism 25. Detection circuit 31.
Motor driver 32. The solenoid driver 33 and the detection circuit 34 include a signal amplification shaping circuit, a filter circuit, and a filter circuit that prevent signal attenuation and noise in the signal line.
Alternatively, it is connected to the system control computer CC via an interface 35 made of a photocoupler or the like as necessary, and the shelf feeding mechanism 22 and the drawer/retractor are connected based on the mechanism activation/deactivation signal from the computer CC. Mechanism 25 operates.

In other words, the tape storage position is shelf number, code + 1l.
No., code 10 sequence No., code. The system control computer CG executes initialization after being powered on, when initialization is input from the operation board CB of the computer CC, and when shelf HP setting is commanded from the computer BC. , instructs the rack S to rotate the motor 23 in the normal direction (rotating the shelves 1 to 20 clockwise in FIG. 2a), and stops the motor 23 when the detector 24 generates the shelf HP signal.

Set a code indicating 1 in the register. Thereafter, each time the shelf RP detector 29 generates a shelf RP signal while the motor 23 is rotating forward, the shelf No. and the contents of the register are updated to a code indicating a number larger by 1. Shelf No. generates a shelf RP signal.

Update the contents of the register to a code indicating a number one smaller.

As a result, the shelf number and the numerical value stored in the register when the detector 29 is generating the shelf RP signal indicate the shelf number in the shelf drawer opening. In this way, the computer CC calculates the position of the shelf in the rack S.

In particular, keep track of the lNo. on the shelf drawer opening. Therefore, when there is a tape that requires extraction or a tape that requires storage, the computer CC compares the shelf number and register contents with the shelf number in the storage position data of the tape, and then compares the shelf number and register contents. Calculate the number of driving steps (driving time) when driving the motor 23 in the forward direction (clockwise) and in the reverse direction (counterclockwise) so that the number corresponds to the shelf number in the storage position data of the tape. Then, the motor 23 is rotated in a direction that results in a smaller number of drive steps, and when the shelf number register reaches the shelf number in the storage position data of the tape, the motor 23 is stopped. Next, the motor 26 is energized in the reverse direction to drive the carriage to the shelf inside the shelf drawer opening and stopped, and then the shelf coupling solenoid 27 is turned on and the electric motor 26 is first energized in the forward direction to drive the carriage to the shelf inside the shelf drawer opening and then the detector 28 is activated. generates a shelf OP signal, the motor 26 is stopped, and the solenoid 2
Turn off 7. As a result, the shelf with the same number as the shelf number in the tape storage position data is pulled out from the opening and placed at the supply/receiving station.

When another shelf needs to be positioned at the supply/receive station, motor 26 is reverse energized to feed the shelf into the opening, and motor 26 is stopped when detector 29 generates a shelf RP signal; The motor 26 is then energized to rotate in the normal direction until the detector 28 generates the shelf OP signal. As a result, the shelf outside the opening is connected to the shelf feeding mechanism inside the rack S, and the carriage is placed in a standby position outside the opening. Then, the motor 23 is energized to position the desired shelf in the opening.

As explained above, the computer CC controls the positioning of each column of the rack S to the supply/receive station.

Next, robot R will be explained. Referring to FIGS. 1 and 3a, the robot R has a body that rotates in the J5 direction (circular rotation on a horizontal plane) with respect to the base, and a body that rotates in the J4 direction (circular rotation on a horizontal plane) with respect to the base.
The upper arm 46 rotates in the vertical direction) and the upper arm 46 rotates
A lower arm 42 that rotates in 3 directions (up and down), a wrist 41 that rotates in the J2 direction (up and down) relative to the lower arm 42, and a hand 36 that rotates in 31 directions around the central axis of the wrist 41. has. Further, a skirt 43 is fixed to the base.

As shown in Figure 3a, the hand has two grasping fingers 37 and 3.
8 is attached, and these open and close using air pressure.
Another finger 39 is fixed to the hand 36, and the finger 3
An arm for supporting the suction cup 40 is erected a little closer to the base than the tip of the suction cup 9.

Figure 3a is tape mounted! MD tape input port N001~
8 shows a state in which the tape C1j attached to one of the tapes C1j is pulled out from the input port. As shown by the solid line, insert your finger 39 under the tape C1j installed in the tape receiving space of the input slot (forward in the X direction), and then insert your finger 39 a little further.
9 towards the inside of the input slot (forward in the X direction), the suction cup 4
0 compresses the coil spring 111 and retreats, and the tape C1j
can be moved up. In this state, the hand 36 is driven upward (upward in the y direction). As a result, the tape C1j moves upward to the position where it can be pulled out, and the tape device! The MD tries to fly out of the slot due to the repulsive force of the push spring inside the MD, but it hits the suction cup 40. The suction cup 40 is supported by a stopper 110 via a coil spring 111.
11 is momentarily compressed and the suction cup 40 retreats, but the suction cup 40 is pressed against the tape by the repulsive force of the coil spring, and the suction cup 40 comes into close contact with the tape. That is, the tape that is about to fly out is prevented from moving rearward in the X direction by the stopper 110 via the suction cup 40.

Here, air suction pressure is applied to the suction cup 40. Thereby, the tape C1j is reliably supported by the fingers 39 and the suction cup 40.

Therefore, the hand 36 is driven in the direction away from the tape mounting front wall (backward in the X direction), and the hand 36 is driven ( (backwards in the X direction) and stop the suction plate 4.
0, the suction cup 40 is released from the tape C1j, the hand 36 is further separated from the front wall of the tape device (backward in the X direction), the hand 36 is moved in the J1 direction, and the wrist 41 is moved in the J1 direction.
Rotate in two directions so that the fingers 37.38 face the tape C1j (imaginary line), open the fingers 37.38, and press the soup C1j.
Move the hand\36 forward (forward in the X direction) toward the front wall of the tape device so that the (imaginary line) is inserted between them, close the fingers 37 and 38, and grasp the tape C1j with them.The grabbed tape Then, by further driving the hand 36 backward in the X direction, the whole is pulled out from the input slot. When the tape is loaded onto the tape receiving space in the input slot, that is, the information reading/writing position, by transporting the tape onto the pre-assigned storage compartment of the skirt 43 and dropping it there, the tape in the input slot described above is roughly loaded. The extraction operation is executed in reverse chronological order.

The action of grasping the tape in each compartment within the shelf of rack S.

The operation of grasping the tape in each compartment in the replenishment shelf 95 and the operation of grasping the tape in each compartment of the skirt 43 are easier than the above-mentioned operation when taking out the tape in the input slot.

This action generally involves positioning the fingers directly above the center of the desired compartment, opening it, lowering it, closing it, and lifting it up.

Further, the operation of storing the gripped tape in a compartment in the shelf of the rack S or a compartment in the skirt 43 is also easy. This action generally involves positioning the tape directly above the desired section, lowering the hand, and opening the fingers in place.

Fig. 3b shows an enlarged plane of the skirt 43 fixed to the base RB of the robot R, and Fig. 3c shows an enlarged cross-section of and two rows of tape storage compartments 44 in the radial direction.
．． 45, and each column has 1011 partitions. When storing tapes in the first row 44 and second row 45 or taking out tapes from them, if 11No. As such, the sections in the first and second columns have the same lNo and are aligned so that they are located on the same radius. Also, although at first glance in Figure 1 it appears that the second row of compartments 45 is below the first row of compartments 44, they are actually at substantially the same height, as shown in Figure 3c. Since the robot R moves, the tape tends to shift randomly within one section 44°45. If the partitions are made smaller to match the external shape of the tape, this kind of deviation will be reduced, but this will cause problems such as difficulty in grasping the tape and difficulty in accommodating the tape.

Therefore, in this embodiment, the side wall of the compartment 44.45 is
As shown in the figure, it is inclined by about 31'' with respect to the horizontal plane, and the bottoms of the sections 44 and 45 are also inclined at the same angle.As a result, the tape C dropped into the sections 44 and 45
km, Cnp moves along the slope of the lower base due to its own weight and always comes into contact with the side wall on the side of the center of the torso. This allows finger 37
．． 38, it is possible to always grasp the center of the width of the tape (in the left-right direction in Figure 3c). As described later, an operating program is created to take out the tape from each compartment and store the tape in each compartment by teaching, and this operating program is then repeatedly executed, so the tapes are randomly distributed within the compartment. If the tape is misaligned, there is a high possibility that the robot R will fail to grasp the tape or fail to accommodate it in the compartment, and the position of the tape grasp will become larger, leading to failure of loading the tape into the input slot of the tape 1 device MD or failure of the rack. There is a high possibility that S will fail to be stored on the shelf. As shown in FIG. 3c, each section having an inclined bottom bottom automatically centers the tape (centering) and does not cause such a problem.

In Fig. 3d, the base RB of the robot R is supported and the robot R is moved along the rail G in the J6 direction (rack S and tape device!M).
A rail 47 showing the main part of the mechanism for conveying in the direction of arrangement D)
and 48 are arranged parallel to the floor of the information registration/reproduction station, and a flexible insulating sheet 49 on which a power supply conductor and a signal conductor are attached is attached to the rail 47. The power supply conductor is connected to a power source (not shown), and the signal conductor is connected to the computer cc.

The transport legs 52tt522 are coupled to and supported by the axle 50, the transport legs 523, 53a are coupled to and supported by the axle 51, and these transport legs 521=5
A robot base RB is fixed to the upper part of 2a, and the side plates of this base cover the transport legs 521 to 524, wheels, and the like. A transport motor, a reducer, etc. are mounted on the lower surface of the upper plate of the base RB, and two gears are connected to the output shaft of the reducer, and chains 53 and 54 are meshed with these gears. Chains 53 and 54 are connected to axles 5° and 51
are rotated at the same speed and in the same direction.

A hollow power feeding arm 56 is fixed to the transport leg 521, and a brush that contacts the power feeding conductor and signal conductor of the flexible insulating sheet 49 is attached to the lower end of the arm 56, and the power line and signal connected to these brushes are attached to the lower end of the arm 56. A wire passes through the inside of the arm 56 and is led to the electrical equipment section of the robot R. A stopper 58 is fixed to the right end of the rail 47, and the right limit position of the arm 56 opposite to the stopper 58 (in this embodiment, this is the home position HP of the robot in the system shown in FIG. 1). Detector 56 for detection
is attached, and its signal line is led to the electrical equipment section of the robot R through the inside of the arm 56. A detector 59 for detecting the left limit position is attached to the leg 523.

FIG. 3e shows the electrical elements of robot R. robot R
A finger opening/closing mechanism 60 that opens and closes the fingers 37 and 38, a tape suction mechanism 612, a hand rotation mechanism 622, a wrist rotation mechanism 63. Lower arm rotation mechanism 64. Upper arm rotation mechanism 65. The body rotation mechanism 66 and the self-propelled mechanism 67, electric circuits that energize electric elements such as motors included in these mechanisms, and detection circuits 72 to 949 that process signals from detection elements for detecting the mechanism state; , RAM, ROM) 692 communication communication control unit F0
and a communication interface 71.

The finger opening/closing mechanism 60 includes an air compressor consisting of an electric motor and an air compressor, a pressure switching valve (electromagnetic valve) that selectively supplies the suction negative pressure and discharge positive pressure of this compressor to the finger drive cylinder of the hand 36, and the finger 37°. a limit detector that generates a signal indicating when 38 has reached the closed limit position;
including. The finger 37 is caused by the positive discharge pressure of the air compressor.
．． 38 is driven closed, these forces do not cause any damage to the tape (the cassette container), but the operating pressure of the compressor is at a positive discharge pressure sufficient to ensure that the fingers 37.38 hold the tape. It is set. That is, when the tape is gripped by the fingers 37, 38, positive discharge pressure is constantly supplied to the finger drive cylinder. When opened, suction negative pressure is switched and supplied to the finger drive cylinder. The limit detector is used to determine a tape grip failure (this includes both a failure in which the tape was not gripped even though it was present, and a tape handling error in which the tape was not originally present).

The tape suction mechanism 61 includes a pressure switching valve (electromagnetic valve) that selectively supplies suction negative pressure and discharge positive pressure of the air compressor to the suction cup 40 through a throttle orifice. The pressure switching valve normally supplies positive pressure to the suction cup 40, and applies negative pressure to the suction cup 40 when pulling out the tape from the inlet of the tape device to the take-out position (tape C1j shown by the imaginary line in FIG. 3a). supply to.

The hand rotation mechanism 62 includes a DC motor that rotates the hand, a rotary encoder that generates two sets of pulses with a phase difference of 90'', each of which is one pulse per rotation of the hand rotation mechanism by a predetermined small angle, and the hand 36. Predetermined rotation angle (home position:
Includes an HP detector that generates a signal (manual rotation HP times signal) to indicate when it is in HP).

Wrist rotation mechanism 63. Lower arm rotation mechanism 64. Upper arm rotation mechanism 6
5 and the trunk rotation mechanism 66 also include elements similar to the electric elements of the manual rotation mechanism 62.

The self-propelled mechanism 67 includes a DC motor that drives the chain 53, 54, a rotary encoder that generates two sets of pulses whose phases are shifted by 906, each time the motor rotates by a predetermined small angle, and a four-mittance motor. Contains detectors 57.59.

The communication control unit 70 is an electronic device that controls the exchange of data between the 1-mechanism control computer 69 and the computer (communication control unit of C).When the 1-mechanism control computer 69 instructs transmission, the parallel The data is serially converted and sent to the signal line of the sheet 49 via the communication interface 71. When the data is received from the signal line of the sheet 49 via the interface 71, this is notified to the computer 69, and the serially received data is converted into parallel data. The data is converted and given to the computer 69. The computer CC also performs similar transmission/reception to the computer 69.

An outline of the control operation of the computer 69 is shown in FIG.

Referring to this figure, when the computer 69 is powered on, it initializes the system by leaving each mechanism in a non-energized state (step 100; hereinafter, the word step is omitted in parentheses), and then Next, the state of the mechanisms 60 to 67 is detected to determine whether there is an abnormality (101), and if there is an abnormality, it is notified to the computer CC (103). If everything is normal, the mechanisms 62 to 67 are initialized one by one, starting with the manual rotation mechanism 62 (10
2) In the hand rotation mechanism 62, the rotation range of Jl of the hand 36 is ±180° around its HP, and rotation outside that range is mechanically impossible. In other words, even if the DC motor continues to be energized beyond that range, the hand 36 will stop rotating at the limit of that range, and the DC motor will be prevented from rotating, resulting in an overload. The DC motor is designed so that it will not be damaged by an overload, that is, by motor lock energization, for a period of time required for energization. In the initial positioning of the hand rotation mechanism 62, the computer 69 first determines that the rotation angle of Jl of the hand 36 is HP based on the signal from the HP detector.
It is determined by referring to the signal of the HP detector, and the
If the P detector is generating the HP multiplication signal, set the manual rotation angle register to 0 (clear the register). When the HP double signal is not generated, the DC motor is urged to rotate forward within a half-rotation time limit, and when the HP double signal appears during this energization, the motor is stopped and 0 is set in the manual rotation angle register. When the time equivalent to half a rotation has elapsed without the HP double signal appearing, the DC motor is stopped, and then the DC motor is reversely energized, and when the HP double signal appears, the motor is stopped and 0 is set in the manual rotation angle register. This results in hand 36
The initial positioning in the J1 direction has been completed, and data indicating the position in the 31 directions has been stored in the manual rotation angle register.

As the DC motor rotates, the rotary encoder generates two sets of pulses A and B, and based on the order in which they are generated, the detection circuit determines the rotational direction of the motor and provides a signal indicating the direction and pulse A to the computer 69. .

When the DC motor is energized after the initial positioning is completed, the computer 69 determines, in response to the direction signal and pulse A given by the detection circuit, that when the direction signal indicates normal rotation of the DC motor, pulse A is activated. Every time one pulse appears, the contents of the manual rotation angle register are updated to a code indicating a number larger by 1, and when the code indicates a reverse rotation of the DC motor,
Every time pulse A appears, the contents of the hand rotation angle register are updated to a code indicating a number smaller by 1, and when the HP detector generates an HP times signal, the contents of the hand rotation angle register corresponding to that are updated to O(HP). clear. Therefore, after the initial positioning is completed, the rotation angle data of the hand in the J1 direction is always stored in the hand rotation angle register.

The computer 69 also performs the initial positioning of the first mechanisms 63 to 67 in the same manner as the initial positioning of the manual rotation mechanism 62 described above, and records the rotation angle of the first wrist rotation mechanism 63 in the wrist rotation angle register. The rotation angle is stored in the lower arm rotation angle register, the rotation angle of the upper arm rotation mechanism 65 is stored in the upper arm rotation angle register, the rotation angle of the torso rotation mechanism 66 is stored in the torso rotation angle register, and the position of the self-propelled mechanism 67 is stored in the upper arm rotation angle register. Stored in the free-running position register. In addition.

The rotation range of the mechanisms 63 to 65 is ± around their HP.
The angle is narrower than 180°, and the rotation range of the trunk rotation mechanism 66 is ±180° around its HP. In addition, mechanism 6
When the initial positioning of steps 2 to 67 is completed successfully, the computer 6
9 notifies the computer CC of ready status via the 1 communication control unit 70.

When the computer 69 detects an abnormality in these initial positioning steps, it notifies the computer CC of the abnormality (103). When the process ends normally, it sends a ready message to the computer CC and waits for the calculation IaCC to instruct (send) a command (105). Calculator C
When there is a transmission from C, it receives it, reads the received data, decodes the command of computer CC (106), and executes the command (107) When the commanded process is finished i, the end is sent to computer CC. inform. Robot R is a type of command execution.
There is a control action that causes the robot to perform a required action. Details of the control operation will be described later with reference to FIG. 3j and the third diagram.

Next, the computer CC will be explained. Computer CC has three floppy disk drives CF, C:R, which are at the level of high-end PCs.
This is a computer equipped with a T-display CD, an operation board CB, a main body computer, and a communication control unit and a communication interface.The floppy disk containing the operation program for the main body computer is set in No. 1 of the disk device CF, and the power is turned on. By inputting the power, the main computer becomes operational. A part of the operating program of the main computer is the disk family [C
There is execution of the program No. 2 (application program) of F. N083 of the disk drive CF is assigned to write or read data designated to be registered or read during execution of an operation program or an application program.

An outline of the main operations of the computer CC is shown in FIG. 4a.

When the computer operation floppy disk is set in No. 1 of the disk device CF and the computer CC is powered on, the computer CC initializes its internal input/output board (routine 1 in Figure 4a) and then starts the operation program. is read from the disk, and an operation menu is displayed on the display CD according to this operation program. Among the operation menus is "Execute application program". In this embodiment, there are three types of application programs: teaching, actual operation, and test, each of which is stored on a separate floppy disk.

The operator inserts the teaching disk into the machine CF No.
2 to specify "execution of application program", the computer 69 reads the data on the No. 2 disk of the device CF, stores it in the program memory, and performs the operation according to the read program (No. 4a). Perform routine 3) in the figure.

When the operator sets the actual disk to N092 of the device CF and specifies "execution of application program," the computer 69 reads the data on the No. 2 disk of the device CF, stores it in the program memory, and executes the read data. The operation according to the program (routine 4 in FIG. 4a) is performed.

Also, the operator inserts the test disk into the device CF No.
2 to specify "execution of application program", the computer 69 reads the data on the No. 2 disk of the device CF and stores it in the program memory.

It performs operations according to the read program.

First, the teaching operation (routine 3) will be explained. This involves creating a program that causes the robot & to perform the required actions. The motions or data of the robot R that require teaching are shown in FIG. 4b.

The "1 standby posture" of teaching item TA can also be called the basic posture, and in this posture, when the robot R moves along the rail G, the rack S, tape device MD
and the replenishment shelf 95, and even if the operator were to be around them, the possibility of danger to the operator is small.Furthermore, the arm extension from that position to taking out the tape from the rack S is small, and the skirt 43 This basic posture is set from the viewpoints that the length of the arm to take out the tape is small, and the length of the arm to load the tape (MD) is also small.

Teaching item TA “2 system HPJ is.

This defines the standby position of the robot R while it is at rest (the base position of the robot R with respect to the entire system shown in FIG. 1). In this embodiment, the stopper 58 (FIG. 3d) at the right end of the rail G is the robot position detected by the limit detector 57.

Teaching item TA “3 rack HPJ is rack S
This defines the base position of the robot R relative to the robot R.

In this example, this is in front of shelf 1lNo.1 at the supply/receiving station.

The teaching item TA "4 Tape mount [HPJ] defines the base position of the robot with respect to the tape mount [MD]. In this embodiment, this is in front of the tape mount [MD input port No. 1.

Teaching item TA "5 Skirt HPJ" defines the base position of the robot body (i.e. upper body 46) with respect to the skirt 43. In this embodiment, this is llNo.l of the tape storage section of the skirt 43. .

Teaching item TA [6 racks 1411 shift amount]
defines one pitch length of the field pitch of the tape storage compartment of the shelf at the supply/receive station.

The teaching item TA "7 tape device 1 pitch shift amount" defines the 1 pitch length of the arrangement pitch of input ports N001 to 8 of the tape group [MD.

The teaching item TA "8 skirt 1lti shift amount" defines one pitch angle (rotation angle of the body) of the column arrangement pitch of the tape storage section of the skirt 43.

The teaching item TA, ``Removal of tapes from each row of 9 racks,'' has 6 types: 1st to 6th rows.

Each operation starts from a standby position, takes out a tape from each row of shelves in the supply/receiving station of the rack S, and returns to the standby position while holding the tape.

Teaching item TA "Storing tape in each row of 10 skirts" has two types: the first row and the second row, and each starts from the standby position and stores the held tape in each row of the skirt 43. This is the movement from which the robot drops down to the standby position and returns to the standby position.

Teaching item TA r11 "Retrieving the tape from each row of the skirt" has two types: the first row and the second row, and each starts from the standby position and holds the tape by grabbing the tape from each row of the skirt 43. This is the action of returning to the standby position.

The teaching item TA "13 Tape installation in tape device" is an operation that starts from the standby position, loads the held tape into the input slot of the tape device, and then returns to the standby position.

Teaching item TA "14 Retrieving tape from tape device" is an operation in which the user starts from the standby position, pulls out the tape in the input slot of the tape device, and returns to the standby position while holding the tape.

There are 6 types of teaching item TA "r15 Storing tapes in each row of the rack" from the 1st row to the 6th row. This is the action of dropping into each row and returning to the standby position.

The teaching item TA "16 work end (standby)" defines a stop (temporary stop), and in this embodiment, this content is a combination of a self-propelled stop and a return to the standby position.

Teaching item TA "r17 system HP wait" is 1
This defines the end of the work, and in this embodiment, the contents include returning to the standby position and moving to the system HP.

Teaching item TA “18 Replenishment station HPJ
defines the base position of the robot R with respect to the replenishment shelf 95, which in this example is the replenishment 1195
The 1l No. is set to 1.

The teaching item TA "19 replenishment shelf 1 pitch shift amount" defines the 1 pitch length of the field pitch of the tape storage section of the replenishment shelf 95.

The teaching item TA "Remove tape from each row of 20 replenishment shelves" has six types from the 1st to 6th rows, and each of the 95 replenishment shelves starts from the standby position and takes out each tape on the replenishment shelves of each row of replenishment shelves. This is the operation of taking out the tape from the row and returning to the standby position while holding the tape.

The teaching item TA "21 Storing tapes in each row of the replenishment shelf 95" has six types from the 1st to 6th columns, and each one starts from the standby position and stores the tape in each row of the replenishment shelf 95. This is the operation of dropping the tape into each row of compartments and returning to the standby position.

In the "teaching" routine 3 shown in FIG. 4a, the computer CC displays a menu showing the aforementioned teaching items on the display CD, and each time the operator specifies one of the items, the computer CC displays the robot movement or Execute the program to set the data and respond to the input from the operation board CB to set the robot 1-Rt! - Drive and create data according to the input of the operation board CB, and when the operation input of the item is completed, the disk set in No. 3 of the floppy disk CF corresponding to the teaching item according to the input of the operation board CB. Register.

In teaching routine 3, eight keys (for example, A, B, C, D, E) on the operation board CB are used.

F, G, H) are assigned to each of the mechanisms 60-67, and turning on each key specifies each of the mechanisms 60-67. A mouse connected to the operation board CB and a cursor on the display CD are assigned to movement direction instruction, finger interval/close, and suction/release.

When the teaching item "1 standby posture" is specified, when key A is turned on to specify the finger opening/closing mechanism 60 and the up cursor key is turned on, the computer CG changes to the computer 69.
to turn on the air compressor and pressure switching valve (finger-to-finger drive) of the mechanism 60, and turn the robot R's finger 37.38 on.
is closed.

When key B is turned on and the up cursor key is turned on, the computer CC instructs the computer 69 to turn off the pressure switching valve of the mechanism 61 (cancel negative pressure suction), and applies positive pressure to the suction plate 40 of the finger 39 of the robot R. Let it be supplied.

When key C is turned on and the right cursor key is turned on, the amount calculator CC that is turned on instructs the calculator 69 to rotate the DC motor of the mechanism 62 in the forward direction, rotates the hand 36 clockwise, and presses the left cursor key. When turned on, while it is on, the DC motor is instructed to reverse rotation, causing the hand 36 to rotate counterclockwise. Similarly, when the up cursor key is turned on after key D is turned on, the DC motor of the mechanism 63 rotates in the normal direction, rotating the wrist 41 downward, and when the up cursor key is turned on, the wrist 4] Rotate upward. When the up cursor key is turned on after key E is turned on, mechanism 6
When the DC motor No. 4 rotates normally and the lower arm 42 rotates downward, and the up movement cursor key is turned on, the lower arm 42 rotates upward. When the up cursor key is turned on after the key F is turned on, the DC motor of the mechanism 65 rotates in the forward direction and the upper arm 46 rotates downward, and when the up cursor key is turned on, the upper arm 4
6 rotates upward. When the right movement cursor key is turned on after key G is turned on, the DC motor of the mechanism 66 rotates in the normal direction and the body rotates clockwise, and when the left movement cursor key is turned on, the body rotates counterclockwise. do. When the right movement cursor key is turned on after key I is turned on, the DCC mole of the mechanism 67 rotates forward and the robot R moves to the right, and when the left movement cursor key is turned on, the robot R moves to the left.

By driving each mechanism in this way, the robot R is placed in the desired posture.
When you set and instruct the registration, the computer CC, changes to the computer 6.
9 is instructed to transfer the current position data of mechanisms 60, 61, 62, 63, 64, and 65, and these data are received from 69 and transferred to one mechanism 60, 61, 69 as "1 standby posture".
The position data of 62, 63, 64, 65 and 66 are registered in this order.

Specify "2 system HPJ" in teaching item TA, energize mechanism 67 and drive robot R to the right to detect detector 5.
7 detects the limit stopper 58 and the robot R automatically stops. When the robot R is instructed to register, "2 System HP
As J, 1 standby posture 10 robot R right drive + detector 57
The data specifying the detection of the stopper + stop and release of suction between the ten fingers is registered.

Specify the teaching item TA "3 Luc HPJ,"
When robot R is driven in front of shelf 1iNo, 1 at the supply/receiving station of rack S and instructed to register, "
As 3 rack HPJ, data specifying 1 standby posture and 10 robots R to be driven to the rack S number and 1 m (this is the position data of the mechanism 67 at that time) is registered. This position data is obtained from the computer 69 by the computer CC instructing the computer 69 to transfer it.

If you specify "4 tape device HPJ" in teaching item TA, drive robot R in front of input slot No. 1 of tape family fiMD, and instruct registration, "4 tape device HPJ
, data specifying 1 standby posture 10 robot R to be driven to the tape group [MD input port number 1 (this is the position data of the mechanism 67 at that time) is registered.

Specify teaching item TA "5 Skirt HPJ, and move robot R's upper arm 46 to skirt 43's 1iNo.
If you drive the fuselage so that it is in front of , and specify 9.0,
``5 skirt HPJ as 1 standby posture + upper arm (III
Data specifying that the body) is to be driven in the skirt field No. 1 (this is the rotation angle of the body at that time) is registered.

Specify the "6 Rack IIi Shift Amount" in the teaching item TA, first drive the robot R in front of the rack S, stop it at an appropriate 4[INo, (for example, 4iJNo, 1), and move the left movement cursor once. When turned on, the computer CC obtains the current position data of the mechanism 67 from the computer 69, latches it, and then moves the robot R to the next column position of the rack S (column No.
2) and turn on the right movement cursor once, the computer CC obtains the current position data of the mechanism 67 from the computer 69, latches it, calculates the difference between the data of the two latched positions, and calculates the difference value. Register as "6 rack ill shift amount".

Registration of "7 tape device 1 pitch shift amount" and "8 skirt 1411 shift amount" is also possible with the above-mentioned "6 rack 111 shift amount".
This is similar to the process for "one shift amount".

The operator specifies ``take out the tape in the first row of rack r9-1'' and moves robot R to the appropriate column number of rack S.
(for example, No. 1) and instructs the standby posture of the robot R, the computer CC sends the data of the above-mentioned "1 o'clock posture" to the computer 69, and the computer 69 responds to this by moving the robot R. Set to standby position. Next, when the operator operates the mechanisms 60 to 66 in the same way as in the teaching of the above-mentioned "1 o'clock position" and presses the shift key, the position data of the mechanisms 60 to 66 at the time the shift key was pressed will be changed to 1 stage (operation). The target position data (CB data) in the above section) is read into the computer CC.

The operator operates the mechanisms 60 to 66, presses the shift key, grips the tape in the first row of the rack S with fingers 37 and 38, and makes the robot R move until it is close to the 1 standby posture described above and performs 1 time series operation. Press the shift key at the node that becomes the switching point. When the operator presses the end key, the computer CC reads the previously read node data (1st node data + 2nd node data + . . . node data after soil volume) and the data instructing the standby posture in this order. Register in sequence.

The teaching process for taking out the tapes in each row of 9-2 to 9-6 in the teaching item TA is the same as that for the first row described above, and the teaching process is based on the row number of the tape to be taken out.

are different.

The operator specifies "storing the tape in the first row of the rlo-1 skirt" and positions the robot R in front of an appropriate 1iNo. (for example, No. 1) on the skirt 43,
When the mechanisms 60 to 66 are operated in the same manner as in the teaching of the above-mentioned "1 o'clock posture" and the shift key is pressed, the position data of the mechanisms 60 to 66 when the shift key was pressed is 1 stage (operational node). is read into the computer CC as target position data (node data). The operator is mechanism 60
~ Operate 66, press the shift key, and press finger 37 in the standby position.
Tape held at ゜38 No. 1 of skirt 43
Then, the robot R is made to perform operations until it approaches the first standby posture described above, and the shift key is pressed at the node that is the switching point of the time-series operation. When the operator operates the end key, the computer CC registers the node data that has been read so far (i-section data + 2nd node data + . . . node data after soil volume) and data that instructs the standby posture. .

The teaching process for storing the teaching item TA 10-2 in the second column is also the same as that for the first column described above, but the skirt row number to accommodate is different.

To take out the tapes in each row of skirts 11-1 and 11-2 in item TA, one hand 36 is driven from the standby position, grabs the tapes in the first and second rows of skirt 43, and returns to the standby position. This is roughly the opposite operation to storing the tape in the skirt described above. This data registration is also performed in the same manner as the data registration in the case of storage described above.

In setting the operation program "13 Loading tape into tape device," robot R, which is holding a tape in a standby position, is positioned in front of an appropriate input port (e.g., No. 1) of tape loading [MD], and mechanism 60 to 66 as the above-mentioned "1 o'clock position"
Operate in the same way as when teaching, and have the user insert the tape they are holding into the slot. and,
Register the movement data from when you put it on until you return it to the standby position.

r14 In the setting of the operation program "Retrieving the tape from the tape device", the robot R in the standby position is driven to pull out the tape in the input slot and let it be grabbed by a finger, and then,
Register the operation data until returning to the standby position.

The registration of the operation program for "Storing tapes in each row of 15 racks" is as described above in "Removing tapes from each row of 9 racks."
The operation is similar to that of . However, the difference here is that the robot R, which is in a standby position while gripping the tape, is driven to store the gripped tape in each row of the shelves of the supply/receiving station of the rack S.

In "16 work completed", data indicating 1 standby posture, 10 fingers open, 10 suction released, is registered.

In "17 System HP standby", data indicating the standby posture 10 fingers open + suction release + 2 system HP is registered.

The settings of the operation programs of teaching items TA 18 to 21 are the same as the settings of the operation program regarding the rack S described above.

The operating program etc. (operating program table) explained above is stored in the computer CC on the floppy disk drive CF.
Register on the floppy disk installed in N003.

To explain in a little more detail the operation of the computer CC and the operation of the computer 69 up to the above-mentioned registration, for example, as mentioned above, when the teaching item "1 standby posture" is specified,
When the up cursor key is turned on after key A is turned on, computer CC creates command frame 1 shown in FIG. 3g and sends it to computer 69. The target mechanism of command frame 1 specifies the mechanism 60, the specified circuit is the motor driver 72, the instruction content is on, there is no target value, the detector is a limit detector, the detection state is off (open), and the hold designation is " hold” (compressor continues on),
Next to this command frame, the target mechanism is mechanism 60. The specified circuit is the valve driver 73, the instruction content is on, there is no target value, the detector is a limit detector, and the detection status is off (open).
For hold designation, a command frame with "hold" is transmitted.

The computer 69 turns on the compressor and turns on the pressure switching valve (phase open) as instructed by these command frames. Then, this energization state data is stored in the state register assigned to one mechanism 60, and the completion of instruction execution is notified to the computer CC.

When the upward movement cursor or the upward movement cursor is turned on after key B is turned on, the computer CC sets the target mechanism of the command frame 1 shown in FIG. Turn the switching valve off (cursor moving up: positive pressure is discharged from the suction cup 40) or on (cursor moving up: supplying suction negative pressure to the suction cup 40), there is no target value, there is no detector, there is no detection state, and there is no hold. The designation is sent to the computer 69 as "hold" (maintaining the on or off state), the computer 69 executes this instruction, and upon completion, notifies the computer CC of the completion of instruction execution, and the mechanism 61
Stores the configuration state of the mechanism in the state register assigned to .

When the right movement cursor key is turned on after the key C is turned on, the computer CC sets the target mechanism of the command frame 1 shown in the fourth glff1 to the mechanism 62, sets the specified circuit to the motor driver 56, and sends instructions and contents. It is transmitted to the computer 69 as normal rotation, no target value (infinity point), no detector, no detection state, and no hold designation. The computer 69 urges the motor to rotate normally. When the right movement cursor key is turned off, the computer CC sends a similar command frame to the computer 69 as an instruction to "stop the motor", and the computer 6
9 stops the motor in response. When the left cursor key is turned on, the motor is similarly energized in the reverse direction, and when the left cursor key is turned off, the motor is similarly stopped. In any case, the hand rotation angle is stored in the hand rotation angle register. When the other mechanisms 63 to 67 are designated, the operations of the computers CC and 69 are the same as described above. Then, when registration is instructed, calculation 4IICC calculates the contents of the status register of the mechanism 60 2 the contents of the status register of the mechanism 61 2 mechanisms 62 to 6
The computer 69 is instructed to write the contents of the rotation angle register 7 and the detector status of the mechanism 67 (clause data) into the RAM 103 using the command frame 2 shown in FIG. 3g. In this case, the start of the write address is specified as the write start address specified for "1 standby posture". Then, in command frame 3, a command is given to transmit these node data to the CC, and these node data are written in the write area of the floppy disk in the "1 standby posture".

The aforementioned "2 system HP", r3 rack HPJ.

In the 4-tape device HPJ and the r5-skirt HPJ, the computers CC and 69 perform the same control operations as in the 1-standby position described above. For "6 Rack II! Shift Amount", "7 Tape Device 1 Pitch Shift Amount", and "Replenishment Shelf 1 Column Shift Amount", the computer CC executes the drive/stop command, write command, and transmission command necessary to obtain these. Instruction frame 1 shown in Figure 3g. The instruction frame 2 and instruction frame 3 are given to the computer 69, and those data are stored in the RAM 10.
3, and also write to the floppy disk No. 3.

When performing a complicated operation such as the above-mentioned [9-1 rack 1st row tape ejection], each time the shift key is operated, the above-mentioned section data is sequentially stored in RAM 103 (from the 9-1 registered start address). At the same time, the data is written to the floppy disk No. 3 and sent to the CC (from the 9-1 registered start address).

As described above, the robot operation data (operation program table) for all the TA items shown in FIG. 4b are registered in the RAM 103 and No. 3 Freonbee.

In the actual routine 4 (FIG. 4a), the computer cc reads the registration data (operation program table) of the floppy disk loaded in the floppy disk device No. 3 of the floppy disk device CF and transfers it to the computer 69. This is commanded by successively sending command frames 5 and 6 shown in FIG. 3g.

That is, for each operation program (section data group) for each operation item (item in Figure 4b), command frame 5 instructs reception, command frame 6 specifies the RAM 103 write start address TAis, and then the operation program is read from the floppy disk No. 3 and transmitted, and when the transmission of one operation program is completed, command frames 5 and 6 are sent again to read out and transmit the next operation program from the disk. As a result, the operation program registered on the floppy disk (the entire operation program table; obtained through teaching) is written into the RAM 103 of the computer 69.

Thereafter, the computer cc sends data specifying the aforementioned teaching item (operation program) to the computer 69 every time a work is generated. This is done using instruction frames 5, 7 and 8 shown in Figure 3g. This is robot R
This is an operation command for

Based on the command data, the computer 69 of the robot R sequentially reads out those specified by the command data (node data) from the motion program table previously transferred, and determines the posture specified by the 1-node data.

The mechanisms 60 to 66 are sequentially set in state and position corresponding to each node.

For example, supply/receiving station shelf No. a, 41
1. Attach tapes
, e is stored in the rack S. When the computer BC instructs the computer CC to store the tape y of
Search for empty section 1iNo, f, column No., g,
The vacant section is allocated for storing tape X, and computer 6
9, (1) 1 standby posture + 3 rack HP + 1iNo, b
, and drive shelf No. a of rack S to the supply/receive station. This instruction from Calculation*CC to 69 is the item TAis (rl standby attitude) of the operation program (one that executes the teaching item in FIG. 4b) which instructs reception in command frame 5 and then instructs operation in command frame 7. (start address of section data) and its RAM
Send the write address ETAi to 103, and similarly, in command frame 7, notify the start address of the node data of 3 racks HPJ, then in command frame 7, notify l] No, b, and finally in command frame 7, Finally, in command frame 8, an operation based on the items and data written to the address ETAi of the RAM 103 is instructed (execution start instruction). In response to these receptions, calculation Ia 69 sends the R.A.
M 103 is the address ETAi (i is incremented each time it is written) is the start address of the node data of "1 standby posture".

``Start address of section data of 3 rack HPJ, column No.
b and "Notify end" are written in sequence, and when the computer 69 receives the execution start instruction, it starts the control operation shown in FIG. (Node data storage start address of standby posture), data (node data) from the read start address to the last address (TAie) of the item is read out sequentially from RAM I O3, and specified with the read data. The mechanisms 60 to 67 are set to the positions, postures, and states (set by teaching) to be performed. As a result, the robot R first assumes a standby posture. Next, when reading the ``3 rack HPJ item (rack HP node data storage start address) of the next address of ETAi,
The data (section data) from the read start address to the end address of the item is read out sequentially from the RAM 103, and the position, orientation, and position specified by the read data are
Mechanisms 60 to 67 in the state (set by teaching)
Set. In this case, robot R is in column N of rack S.
Move to 001 and stop there. Next, E T A
When the rliNo and bJ data of the next address of i are read, the target position in the J6 direction [rack IP position i+(b-1)
X rack 141J shift amount] is calculated, and robot R moves to the front of rack column No. b and stops there compared to the current position. Next, when reading the "notify end" data of the last address of ETAi, , Calculator 69 is the total! ! Machine CC says “
Notifies the end of command execution (end of work) J.

When the computer CG finishes driving the shelf and the computer 69 notifies the end of the work, the computer CG tells the computer 69: (2) phase opening + 9-c tape removal in the C row + 1 standby position + 5 skirt HP 10 column. No, f+10-g Tape storage in g-th row of skirt +4 standby posture +4 tape device HP +No, d
+ 5 skirt HP + iNo.

f + 11 - Removal of g-th row tape of g skirt + 13
Tape attachment to tape device + 1 standby position + 4 tape device H
P +No, e+ 14 Tape removal from tape device + 5 skirt HP +No, h+ 10-i Tape storage in first row of skirt + 1 standby position + 3 rack HP +N
o, j, to the computer 69, and at the same time, shelves No., l (lower case L: shelf No. in the storage position of tape y) of the rack S are driven to the supply/receive station. This command is also performed in the same manner as in the case (1) above. When this drive is finished and the computer 69 notifies the end of the work,
The computer 69 is instructed to (3) store the tape in the fourth row of the rack at 15-+ finish the 16th work. This is also done in the same way as the command in case (1) above. In addition, h and i are
These are the section column number and column number of the skirt 43 that is determined as the section that will accommodate the tape y when it is transported to the tape device MD, and which have already been written in the skirt table, and j and k. has already been determined as the storage position of tape y. Storage of shelf L of rack S 41
N o , and column No.

The operation of the computer 69 is summarized as follows.

Said (1) 1 standby posture + 3 rack HP column No. b.

When the command is received, the operation program for "1 standby posture" in the operation program table is read out, and the position data addressed to each mechanism 60 to 66 therein is used as target data, and each mechanism is sequentially driven to the target position. do. When "1 standby posture" is finished, "3" in the operation program table is completed.
Read the data of the rack HPJ, drive the robot R to the rack HP, stop there once, and then shift the position of 1iNo, b based on the HP by the amount of r6 rack ta shift.''
and b, and drive the robot R to this position. When the robot R is stopped at this position, the completion of the work is notified to the computer CC.

(2) Phase open + 9-c Retrieval of tape from C row + 1 standby posture + 5 skirt HP + 1 i No, f + 10 - g tape storage in g skirt row + standby posture + 4 tape device HP + No, d + 5 skirt HP 10 column No, f+1
1-Take out the tape in the gth row of the g skirt + 13 Install the tape on the tape device + 1 Standby position + 4 Tape installation @ HP
+No, e+ 14 Tape removal from tape device +5
Skirt HP +No, h+10-i Store tape in first row of skirt +1 standby posture +3 rank HP+No.

Upon receiving the command j, the computer 69 turns on the air compressor of the first mechanism 60, turns on the pressure switching valve (positive pressure application between two fingers), and performs an operation to take out the tape in the C column of 9-c from the operation program table. The program is read out, first section data of the operation program is read out, and the data is used as a target value to energize the mechanisms 60 to 66 to achieve the target value.

When the target value is reached, the data in the second section is read. When we finish this working program in this way.

The operation program for "1 standby posture" is read out and executed. The same applies below. When the work in (2) above is completed in this way, the completion of the work is notified to the computer CC. 6 When the above (3) is commanded, similarly, the operation program commanded in (3) is read out and executed. The process is executed, and upon completion, the computer CC is notified of the completion of the work.

Through the operations of the computer CC and the computer 69 described above, (1), (2), and (3) are executed, and the robot R goes to the supply/receiving station of the rack S and first stops at the rack HP. Then, it moves in front of 9 No. a and stops, and in rack S, shelf No. a is positioned at the supply/receiving station, where robot R
grabs the tape in column No. c and moves it to column N of skirt 43.
It is stored in compartments o, f, row No., and g, returns to the standby position, and moves to the tape device 18P.

Then, it stopped in front of the input port No. d of the tape device MD,
Grasp the tapes in columns No., f, and row No. and g of the skirt 43 and attach them to the input slot. First, move to the front of input ports No. and e, pull out and grab the tapes from the input slot, and attach 41 I No., h, row No., stored in the section of i, returned to the standby position, moved to the rack HP, and then li N
o.

Stop in front of j. Before and after this, rack S shelf N001 (
The lowercase letter L) is positioned at the supply l receiving station. The robot R then selects columns No. and h of the skirt 43.
, grab the tape in the section of row No. i, store it in the first row of the shelf, return to the standby position, and wait there.

Here, to summarize the data processing of computers CC and 69 with reference to Figures 3f and 3h, in the teaching process,
Operation programs for each teaching item (Figure 4b) are created, and the R of each of these operation programs is
AM 103? The first address of the item is used to indicate the item. The entire operating program, ie, the operating program table, is registered on the floppy disk.

One operation program consists of multiple pieces of clause data (
Each node data indicates the required rotation angle, detection state, hold, etc. of one mechanism at a certain point in time, and is set at the time of teaching. In addition to data indicating the rotation angle, detection state, hold, etc., the section 9 data also includes constant data such as the amount of 41ii1 pitch shift. When actual operation is specified, the operation program table is read from the floppy disk and stored in RAM 103. and.

The computer CG receives a work instruction from the BC and creates a program (in the order of execution of the items shown in FIG. 4b) for executing the instructed work. For example, the execution order of the items shown in solid lines in Figure 3h is created. This is T in the item data chronological execution order.
Aas, T Abs, T Acs.

(start address including RAMI O38 of the operation program corresponding to the item) are lined up and the "end" is placed at the end (work setting). Then, write these data to the write address of RAM I O3.
, ET A2 t ET AB and ET An are specified and sent to the computer 69 (transmission of work designation data), and in the instruction frame 8 shown in FIG. Command execution of operation (work execution instruction).

The computer 69 inputs the work specification data to RA as instructed.
When there is a write to M103 and a work execution instruction, the data TAas of the write address ETA1 is read out,
Data at addresses TAas-TAse in RAM 103 (
Node data: However, the contents of TAse are data indicating the end of the item) are read out sequentially, and the data (node data) is placed at the rotation angle 1 position indicated by the data, in the detection state or in the hold state.
Sets the mechanism specified by . When reading the data of T A se, this is the item end, so the next ETA2
Similarly, the data at address TAbs-TAbe is read to set the mechanism. In the same way, when the data of E T A n is finally read out, it is the data indicating the work end, so
Notify computer CC of work completion. As a result of the above, the robot R has performed a certain workpiece operation.

The "test" routine 5 shown in FIG.
This is an operation check routine for checking whether the robot R operates normally, accurately and stably, and during the execution of this routine.

The abnormality/normality of each part is checked, and setting data, work end position data,
Abnormal/normal etc. are displayed.

4c to 4f outline the main operations of the "actual" routine 3. Next, the "actual" operation of the computer CC will be explained together with the operation of the computer 69 with reference to these drawings.

(1) Initialization operation of computer CC. On the display CD,
With the routine selection menu displayed, the operator inputs "actual operation" to NO62 of the floppy disk drive CC.
Insert the "operation program table" floppy disk into No. 43, and press the operation board C.
When the "execute" key of B is operated, the computer CC reads the "actual" program data on the floppy disk N002 of the floppy disk drive CF, and when this reading is finished, it reads the status of the robot R and the rack S, and then starts the program again. After abnormality determination, everything is normal (Robot R
The computer 69 performs the initial positioning of the rack S (at step 105 in FIG. 31) and then starts the operation shown in FIG. 4C.

(2) Setting the robot operation program. First, robot R
The state of the computer 69 is referred to. That is, immediately after the power is turned on, the computer 69 determines the initial posture of each mechanism (100, 101 in FIG.
HP) settings (102 in Figure 31), complete this (completion of collection of position origin HP data for each mechanism), set ready (104 in Figure 31), and check whether L is set (4C). Step 6 in the diagram).

If it is ready, the floppy disk ICF No.
3 is read and transferred to robot R (its computer 69) in instruction frames 5 and 6 (7). The computer 69 stores the transferred operation program table in the RAM in steps 106 and 107 in FIG.
Write to 103. Next, the computer CC sets the robot R to the standby posture (8), positions it at the system HP (
9), notifies computer BC of ready status (10), and waits for a command to arrive from computer BC (11). That is,
In setting the standby posture (8), the computer CC sets the instruction frame 5.
+ Command frame 7 (start address of program in standby position) 10 command frame 7 (notifies completion) 10 command frame 8
is sent to the computer 69. Calculator 69 executes this and
When the computer CC notifies that the work has been completed, the computer CC goes to step 9.

Command frame 5 + command frame 8 (system HP) + command frame 7 (notification of completion) 10 command frame 8 is transmitted to the computer 69. When the computer 69 executes this and notifies ``end of work'', the computer CC executes step 10.

(3) Work settings. When computer BC sends a work schedule to computer CC, computer cc.

It is read (11-12-13) and the tape code of the work schedule is converted into a conversion table [tape code is used as address, tape storage position data in rack S (storage shelf No' + 41NO0 and column No.

Create a work table that has been converted into tape storage position data using the memory in which the data was written. The contents of the work schedule and work table are shown in Figure 4g. Among these data, the execution time is
This is the approximate scheduled time that is set when creating the schedule. If the computer BC does not designate the tape and instruct it to load it into the tape device itMD or retrieve it from the device MD at the required timing before the scheduled time arrives, the computer CC will not be able to do so at the scheduled time, as will be described later. Attach or collect. If the computer BC instructs the CC to attach/recover before the scheduled time, the computer CC performs this upon receiving this instruction.

In addition, in step 11-12-13, after the operations described below have already taken out the tape from the rack S, stored it in the skirt, installed it in the tape device MD, and collected it from there.
(or 53-63-74-13),
Since the work schedule was received earlier, in addition to the unprocessed work (unoperated tape) in the work table corresponding to the work schedule received earlier, additionally write the work table data corresponding to the work schedule received this time. become.

(4) Cutting out the workpiece. Set the data reading position of the work table to the most advanced data on the table 15), and check whether the data is an instruction to load the tape device MD (16), which instructs loading. Then, check to see if there is any storage space available on the skirt table (17). The skirt table is a memory that stores which tapes are assigned to each of the 20 tape storage compartments of the skirt 43, and the tape storage compartments of the skirt 43 are assigned to each tape storage compartment. The tape number (here, the tape code is converted to the tape storage position in the rack using the conversion table, so this is tape storage position data) is stored. If there is space in the storage compartment of the skirt, that is, if there is a compartment b (address) in which no tape number has been written in the skirt table, it will be stored in the take-out buffer table.

Add b to the data (a) currently specified by i in the work table and write it (18), and then delete this data a from the work table. Then, update i to a number larger by 1 (19), and confirm that there is a tape that needs to be installed in the tape device MD, and there is space on the skirt table.
Steps 16 to 19 are executed again on the condition that the conditions are satisfied. If one of the two conditions no longer holds true, check whether i is 1 or more (data has been stored in the extraction buffer table). Accommodation J (21) is executed, the contents of which are shown in FIG. 4d and described in detail later.

Note that the relationship between the work schedule given by computer BC to computer CC and the work table, takeout buffer table, and skirt table created by computer CC is shown in the fourth table.
It is shown in figure g.

(5) Outline of the operation after cutting out the work until the work schedule is sent again. If i is 1 or more in step i, perform tape storage (21), and if i is less than 1, directly execute "tape loading ffliMD".
Execute step J (22) to collect the tape on the skirt.

The details of this will be described later with reference to FIG. 4e.Next, ``load the tape from the skirt to the tape device MD (24)'' will be executed.The details will be described later with reference to FIG. 4f. Next, move the robot R to the rack HP.
5), Tape loading [The tape collected from the MD and stored in the skirt 43 is stored in the rack S26), and the data related to the stored tape is deleted from the skirt table (27; This will fill up the empty space in the skirt table. increase).

(5) -Accommodating the tape from the 1r rack S to the skirt” (
21) operation. To explain with reference to FIG. 4d, the computer CC first notifies the computer BC of a biddy (unresponsive) 38), drives the robot R to the rack HP 39),
Retrieval data (see 18) of the retrieval buffer table (see 18)
Check whether there are multiple tapes), and if there are multiple tapes, set the order of taking out each tape from the viewpoint of the minimum shelf drive in the rack S and the minimum workpiece of the robot R when taking out tapes from the rack. , the data in the fetch buffer table is rearranged in that order (40). Next, the first data (tape) in the buffer table is read (42), and the tape indicated by the data is taken out. That is, drive the shelf storing the tape to be taken out to the supply/receiving station 43), drive the robot R to the storage column position of the tape 44), and have the robot R grasp (teach) the tape (storage row). Instruct item TA 9) 45) to store the grabbed tape in the section assigned to the skirt table (specified by the data in the extraction buffer table) 46), and store the tape data stored in this way. is written in the corresponding section of the skirt table (47), and from the extraction buffer table,
Erase the data on the tape operated in this way (48)
Then, the next data (tape) from the take-out buffer table is read out and similarly taken out from the rack, stored in the skirt, and related data processing is performed (41-48). All data in the fetch buffer table
(Tape) When this process is finished, this “
The tape is stored from the rack S to the skirt" (21), and the process proceeds to the next step 22. By executing step 22, when the process advances to step 23, the tape that needs to be attached to the tape device MD is stored in the skirt, and the robot R is in the tape device HP.

(5) - Collecting the tape from the tape device MD onto the skirt J (23) The operation of (23) will be explained with reference to Fig. 4e.The computer CC first collects the tape on the skirt table.

It is checked whether there is data on a tape to be collected from the tape device MD or to be mounted on the tape device MD within the next T seconds from the current time (49). If the data exists, a wait flag is set as an index for not moving the robot R from there (the tape device fiHP) to the rack S (50).

If there is no such data, you can go to the rack S (even if you take out the tape from there and return to the tape device MD, you will not see the schedule for loading/recovering the tape in the tape device), so clear the wait flag. 77), check if there are 8 or more tapes collected from MD on the skirt table 78), if there are, proceed to step 25, return robot R to the rack HP, and put the collected tapes from MD from the skirt to the rack. Return (26), and clear the data in the skirt table for the collected tape (27).

Now, in step 49 described above, when there is a tape that needs processing within T seconds and the wait flag is set (50), or
Even if there are no tapes that require processing within T seconds, if the number of tapes collected from the MD to the skirt is less than 8, the computer B
A ready (receivable) message is notified to C (51), and a timer t1 for setting a reception waiting time is set (52). Then, while waiting for the timer t1 to time out, it waits for a command or the like to arrive from the computer BC (53, 54).

If there is no command, etc. sent from the computer BC by the time-out, when the time-out occurs, a busy message should be sent to the computer BC55), and a check should be made to see if the wait flag is set56). If not, return to step 49. If there is a wait flag, the computer CG will
Check if there is any data (tape) in the skirt table whose execution time is at or before the current time.5
7) If the data (tape) is not present, the process returns to step 51, but if the data (tape) is present, it is necessary to mount the tape on the MD or retrieve it, so refer to whether the data is mounted or retrieved. 58), when it is installed, the tape is collected from the tape device MD onto the skirt J (23) and the process proceeds to the next step 24, where the cape is attached to the MD. drives the robot R to the input slot position where the tape is to be installed59),
The tape is pulled out from the input port and grabbed (60), and the collected tape is collected in the storage compartment assigned on the skirt table of the skirt (61).

Then, the tape collected from the MD (storage position data at this point) is converted back into a tape code using a conversion table, and this tape code, data indicating collection from the MD, and the input slot number of the collected are sent to the computer BC. to be notified. Computer BC updates the data in its own table for monitoring the attached tape of tape device MD. This monitoring table stores the code of the tape currently loaded in the device MD, addressed to input 0. Next, the computer CC changes the data in the skirt table to data indicating "exists in the skirt" for the collected tape. In the skirt table, the MD attachment/detachment instruction data is “0”.
” and the presence/absence data on the skirt indicates “1” is the tape collected from the MD. In addition, M
A tape whose D attachment/detaching instruction data indicates wearing "1" and presence/absence data on the skirt indicates "1" indicates a tape that is present on the skirt without being attached to the MD, and the MD wearing instruction instruction data indicates wearing rlJ. The tape that indicates that the presence/absence data on the skirt is "0" is currently attached to the MD (
Shows tape (not present on skirt). After changing the data in the skirt table (62), the process returns to step 49.

Steps 49-50-51-59-62 explained above
The tape whose 1st collection scheduled time has been reached by turning green is MD
It is collected from the skirt.

Now, when there is a transmission from the computer BC while waiting for a time-out in steps 53-54, the computer CC reads the transmitted data and determines whether it is a command to attach or detach (63
), it is checked whether it is a work schedule (74), and whether it is a command to end or something else (75).

If other commands are to be issued, an actual flag indicating the necessity of returning to the current state is set again (76), and the process proceeds to step 35 in FIG. 4c.

If the command is to terminate, the process advances to step 30 in FIG. 4C.

If it's a work schedule, follow step 1 above.
Proceed to step 3.

When the instruction is to attach/detach, write data to the attach/detach buffer table (64), set busy to the computer BC (65), and collect the tape that needs to be removed from the attach/detach buffer table from the MD input port by referring to the skirt table. Then, the computer BC is notified of the code of the stored tape, the input port number from which it was collected, and the collection from the MD, and the data in the skirt table is corrected to indicate that the tape has been stored (67). Then, from the attachment/detachment buffer table, the data of the tape operated by the arm is erased (68), and the attachment/detachment buffer table is checked to see if there is any tape that needs to be removed but is not in the skirt table (69).

If there is, it is an error, so a data error is reported to computer BC.
While the MD bag is attached, insert all the codes into the slot number.

71), notify the computer BC of the readiness,
Wait for computer BC to send some command or data. If it is transmitted, the process advances to step 63. If there is no tape that requires removal that is not in the skirt table, check whether there is data that requires installation in the removable buffer table (70).
Attach the tape and proceed to (24). If not, return to step 49.

In this way, the robot R receives data from the computer BC even when it is in the tape loading position [MD].

When the tape is to be collected from the tape device MD, if the tape is on the skirt table and is being loaded into the input slot, it is immediately taken out from the device iMD and stored in the skirt. If this command is received before the execution time of the tape, it will be executed before the execution time according to the instruction from the computer BC. Therefore, the execution time has a meaning as a rough schedule in advance. Of course, it is also possible to accurately set the execution time in advance and then collect the tapes at the execution time. It is also possible to issue a command at any time without specifying an execution time.

(5) -3r Loading the tape from the skirt to the tape device MD If so, the process proceeds to step 80 and subsequent steps, and the tape specified by the data is loaded into the device MD. A detailed explanation will be given later.

There is no data required to attach in the detachable buffer table.

Computer CC checks whether there is a tape whose execution time is before the current time in the skirt table.

If not, return to the above-mentioned ``Recover the tape from the tape device MD to the skirt J (23). If it is, drive the robot R to the input slot where the tape is to be loaded.

(85), takes out the tape from the skirt and attaches it to the input slot 86), notifies the computer BC of the code and input slot number of the loaded tape, and data indicating that it has been loaded, and data related to the tape in the skirt table MD
Change to the one shown while the bag is being attached (87). And the aforementioned “
Collect the tape on the skirt from the tape device MD (2
Return to 3). Returning to subroutine 23 in this way is
This is because the subroutine 23 is set to wait for a command from the computer BC (receive the command while the robot R is placed at the tape device MD position).

Now, in step 79, if there is data requiring installation in the removable buffer table, one of the required tapes in the removable buffer table, which is in the skirt, is installed in the input slot (80). Then, the computer BC is informed of the code and slot number of the loaded tape, and data indicating that it is loaded, and the data of the tape in the skirt table is changed to indicate that the tape is being loaded (81). Then, the data of the tape that has been loaded is erased from the attachment/detachment buffer table (82), and in this way, the attachment/detachment buffer table no longer contains any tapes that were in the skirt table and need to be attached.

Check whether there is any tape that needs to be attached that is not on the skirt table in the attachment/detachment buffer table (83), and if there is not, proceed to step 84. If there is, check whether the number of tapes that need to be installed on the removable buffer table is less than or equal to the number of empty sections of the skirt, and if the number of empty sections is less than the number of empty sections, check whether the slot for the tape that needs to be installed is empty.8B), check the number of empty sections. If the input slot exceeds the number or another tape is being loaded in the input slot, a data error will be displayed on the computer BC, and the MD bag addressed to the input slot number will be loaded. 95), notifies the computer BC that it is ready, and waits for data or commands to be transmitted from the computer BC. When there is a transmission.

Proceed to step 63 of Figure 4e.

In step 88, the number of tapes required to be attached to the removable buffer table is less than or equal to the number of empty sections of the skirt.

Moreover, if the input slot where the tape to be installed is specified is empty, the computer CC will not drive the robot R to the rack HP89.
), store the tapes collected from the MD of the skirt in the rack S92), delete the data on those tapes from the skirt table91), and then store the tapes that need to be installed in the removable buffer table from the rack S into the skirt. 92
), writes to the tape data storage section stored in the skirt table (93), drives the robot R to the tape device HP, and executes step 79 and subsequent steps.

In this way, the newly loaded tape from the rack S is transferred to the device M.
Attach it to D.

If the data received in step 53 or 11 is tape replenishment/retrieval, steps 35 to 36
Then, the tapes between the rack S and the replenishment shelf 95 are replenished/recovered. The content of this tape replenishment/recovery instruction data is the tape code 10 rack storage position (column number, +1
iNo, 10th row No.) 10th replenishment shelf storage position (liNo, 10th row N00) Stored from 10th replenishment shelf 95 to rack S (A)/Stored from rack S to replenishment shelf 95 (B), and this data In response, in routine 36, the computer CC puts the robot R in a standby position and first drives the robot R to the rack HP, where it determines the number of tapes to be moved from the rack S to the replenishment shelf 95 and vice versa. is calculated and the larger value is compared with the number of empty sections of the skirt. When the number of vacant sections is small, the tapes corresponding to the insufficient number of sections are stored from the skirt to the rack S, and the data related thereto is saved (data evacuation). If the number of empty sections is greater than or equal to the large value, or if the number of open sections is greater than the above-mentioned large value, the computer CC instructs the robot R to transfer the tapes to be stored in the replenishment shelf 95 from the rack S to the rack S. Take it out and store it in the skirt. Then, the robot R is driven to the replenishment shelf) (P, and the tape stored in the skirt in this way is first stored in the specified section 1lNo. and column No. of the replenishment shelf 95, and then The tape designated to be stored in the rack S is stored in the skirt, the robot R is driven to the rack HP, and the tape thus stored is stored in the rack S.
If there is data that has been saved, read it out, store the tape stored in rack S in the skirt to free up space on the skirt, and change the skirt table back to the original data. In addition, the tape cord storage position II (shelf No.
+1lNo, 10th row No.) 10th replenishment fence storage position (column No.,
10th row No.) Storage from 10th replenishment shelf 95 to rack S (A)/
The conversion table (FIG. 4g) is updated based on the data stored (B) from the rack S to the replenishment shelf 95, and this conversion table is updated to correspond to the tape currently stored in the rack S. Then, the process proceeds to step 11-28-15, and in steps 15 to 19, the number of tapes that can be stored in the empty sections of the skirt is picked up from the work table, and stored in the skirt 43 from the rack S (20-21
), drives the robot R to the tape device HP, and performs routine 2.
I will go back to 3.

When the data received in step 53 or 11 is an instruction to "end", the computer CC instructs the robot R.
to the rack HP to store all the tapes on the skirt 43 in the rack S (30), update the data on the skirt table accordingly (31), and update the data on the work table (if the tapes are not installed in the MD but are stored in the rack S). The data of the tape returned to S and the data of the uncollected tape from MD are corrected and written to the work table), and the robot R is placed in a standby position and driven to the system HP, where it is stopped.

(6) Operation of the computer 69 when a workpiece is commanded.

The control operation of the computer 69 to execute the instructed work will be explained with reference to FIG. 3j and the third diagram. This control operation is performed in subroutine 107 in FIG. 31. For ease of explanation and understanding,
Now, the computer CC is working on the work shown in Figure 3h (two-dot chain line block; the solid line block therein is the operation to execute the items shown in Figure 4b, TAas, TAbs, and TAc).
s gives item designation data (start address of operation program storage address)] and data designating "work end notification" to the computer 69, and the computer 69 stores these in the RAM.
The computer CC stores the instruction frame 8 (start address=ETA1 M end address ETAAn) in the addresses ET A 1 to ET An of the computer 6.
9, and in response, the computer 69 advances to the beginning of the work execution flow shown in FIG. 3j.

The computer 69 (its CPU 100) first stores ETAt (=ETAs) in the first address register j.
9) Read the data (TAas) at address j (ETA1) in the RAM 103 (110), since this data is not work-end data.

After passing step 111, this data (TAas) is stored in the second address register k (112).

Then, data (first section data) at address k (TAas) of RAM 103 is read. Since this data is not an item end, it passes through step 114 and decodes the specification mechanism of the first clause data (115°116.123
, 129).

Here, the mechanisms 60 and 61 are used for positioning [target position (corner)
] element but has a state (between fingers/closed, adsorption/release) setting element, and mechanisms 62 to 66 are mechanisms that have a positioning [target value [(angle)] element but no state setting element. It should be noted that the mechanism 67 is a mechanism that includes a positioning [target position (corner)] element and a detector (57) for setting the state (system HP).

When the mechanism 60 is specified by the node data, this node data instructs finger opening/closing, so in step 124, the compressor and pressure switching valve of the mechanism 60 are turned on/off to the state specified by the first node data. Set off.

In addition, when the distance between fingers is specified, the detection status of the limit detector is checked (125, 126) and it is determined that the finger is fully closed (the finger is fully open even though the phase open instruction is issued).
If it is a failure or a full throttle is reached, the computer CC is notified of this (127) and waits for the next instruction (128).

When the mechanism 61 is specified by the clause data, since this clause data specifies adsorption/release, the pressure switching valve of one mechanism 61 is set on/off as specified by the data.

When any of the mechanisms 62 to 66 degrees is specified by the node data, the contents (current position) of the rotation (motion) angle register assigned to the mechanism are compared with the target value in the data (117 ), the motor is energized forward/reverse in the direction in which the contents of the register become the target value.

When the target value is reached, the motor is stopped (118°11
9.120).

When mechanism 67 is specified in clause data.

It is necessary to determine whether the data specifies that the detector 57 is on (system HP) or whether there is target value data (rack HP, tape device 18P, or replenishment shelf HP) (122). In the case of system HP, The motor of the mechanism 67 is energized to rotate normally, and the motor is stopped when the detector 57 is turned on (131 to 133). In the case of the target value data, in steps 117 to 120, the motor of the mechanism 67 is energized in the forward/reverse direction, and the motor is stopped when the contents of the position register assigned to the mechanism 67 reach the target value.

With the above, the operation of one section specified by the first section data has been performed. Therefore, proceeding to step 111, the contents of the second address register are incremented by 1, and step 1
13 and read out the second section data.

The operation based on the second section data is also similar to that based on the first section data described above, and when this operation is executed, the contents of the second address register are incremented by one.

While repeating this, the data read from the RAM 103 using the contents of the register as an address reaches the end of the item (operation programmer 11TA as -TA ae).
This indicates the end of execution).

Therefore, the process proceeds from step 114 to step 112E, where the contents of the first address register j are incremented by 1 (thereby j: ETA2), and in step 110, the RA is
Read TAbr+ from M 103 and store it in the second address register k (112), then T A b+ -T
The section data of A be is read out sequentially, and steps 113 and subsequent steps are executed each time it is read out. Finally, when "data r item end" of TAbe is read out, the process proceeds from step 114 to step 112E, where the contents of the first address register j are incremented by 1 (thereby, j = ETA3).

Next, in step ito, TAcs is read from the RAM 103 and the second
Store it in address register k (112).

Next, the section data of "T Acs" T Ace is sequentially read out, and steps 113 and subsequent steps are executed each time it is read.Finally, the data "item end" of TAce is read out.

The process proceeds from step 114 to step 112E, where the contents of the first address register j are incremented by one (thereby, j = ETAn).

When the data of E T A n is read in step 110, this data is end data that specifies "notify end of work", so the process proceeds to step 108A and notifies computer CC of "end of work".

Due to the work instruction operation of the computer CC and the mechanism control operation of the computer 69 explained above, the robot k is located at the tape device MD with as many required tapes as possible stored in the skirt 43, and the tapes being stored are At the loading execution time, or even before that, when a loading instruction is received from the computer BC, the attachable tape is loaded into the tape device MD, and the MD
When the collection execution time of the mounted tape comes or even before the collection instruction is given from the computer BC, the tape requiring collection is collected from the tape device MD to the skirt.

When the number of tapes collected on the skirt is 8 or more, Rack S
Store the collected tapes in accordance with your work schedule.
A tape to be used after the tape currently stored or installed in the skirt or tape storage (MD) is taken out from the rack S, stored in the skirt, and sent to the tape device MD.

The tape device MD has eight input ports, whereas the number of storage compartments in the skirt is 20. Even if tape is attached to all input slots and 8 sections of the skirt are allocated for collection, the skirt has 2O-8=1
Two tapes can be stored on standby. Even if the next 8 tapes to be loaded into each of the 8 slots are always held in the skirt, there are still 4 empty slots, which can be used to accommodate tapes from later schedules.
The tape is being attached to the MD, and the 8 sections of the skirt 43 are
The robot R is made to stand by at the position of the tape device MD for a long time with the remaining 12 sections, which are empty for accommodating the tape being loaded, accommodating the tapes in the order of scheduled execution.

The used tape is immediately collected from the MD and stored in the skirt, and the tape held in the skirt is quickly loaded into the empty slot.

In the teaching item TA "14 Retrieving a tape from the tape device" which takes out the tape loaded in the input port of the tape device MD, the robot R is positioned in front of one input port in which the tape is loaded. , robot R
After setting the item to the standby position, the robot movement for the item is
This is executed by the operator via the operation board CB and computer CC (see teaching operation description). In this case, the operator first touches the tip of the fixed finger 39.

Position the tape between the bottom of the tape in the slot and the wall that supports it and press the shift key. This will transfer the data such as the status 9 rotation angle of mechanisms 60 to 66 into 7 pieces of data as 1 section data for each machine. section data is stored), then the fixed finger 39
The tip of the mechanism 60 is inserted between the tape and the wall surface, and the stopper 110 pushes the tape very slightly inward through the suction cup, stopping and pressing the shift key.
- 66 state 2 data such as rotation angle is addressed to 1 mechanism as 1 node data, 7 node data are stored), then move the fixing finger 39 upward in the y direction to the tail end of the tape ( Drive the MD until the surface that is in contact with the suction cup is located a little above the detent wall inside the MD inlet and press the shift key (this will transfer data such as the status 2 rotation angle of mechanisms 60 to 66 to 1 mechanism) Node data 7- is stored as one piece of node data). In this state, the tape tries to fly out of the slot due to the repulsive force of the push spring inside the tape holder@MD, but it hits the suction cup 40. The suction cup 40 is a coil spring 11
The coil spring 111 is momentarily compressed and the suction cup 40 moves back, but the repulsion force of the coil spring presses the suction cup 40 against the tape, and the suction cup 40 comes into close contact with the tape. are doing. That is, the tape that is about to fly out is moved to the stopper 1 via the suction cup 40.
10, the rearward movement in the X direction is prevented. The operator now applies air suction pressure to the suction cup 40 and presses the shift key (this causes the state of the mechanism 61: suction to be stored as 1-section data). This ensures that the tape is supported by the fingers 39 and suction cup 40. Therefore, the operator moves the hand 36 in a direction away from the tape mounting front wall (backward in the X direction) to prevent the tape from falling from the input slot.

Moreover, at the drawer length that can be grasped with fingers 37 and 38, stop the drive of the hand 36 (backward in the (7 pieces of clause data are stored as 7 pieces of clause data). Next, the operator supplies positive pressure to the suction cup 40 to release the suction cup 40 from the tape, and presses the shift key (this causes the state of the mechanism 61: release to be stored as the first section data).6 Next, the operator: (Move the hand 36 further away from the front wall of the tape device to a position where none of the fingers touch the cassette even if the hand rotates (backward in the X direction).
Press the shift key (this will change the state 9 of mechanisms 60-66
Data such as rotation angle is sent as one piece of node data to one mechanism.
7 pieces of node data are stored). Then open your fingers 37 and 38 and press the shift key. This changes the state of the mechanism 60.
l: Finger opening is stored as one node data addressed to one mechanism), then rotate the hand 36 in the J1 direction and the wrist 41 in the J2 direction so that the fingers 37 and 38 face the tape, and press the shift key. is pressed (this causes data such as the state and one rotation angle of the mechanisms 60 to 66 to be stored as one piece of node data for one mechanism, and seven pieces of node data are stored). Next, move your hand 36 forward toward the front wall of the tape unit (X
(direction forward), stop at a position where you can fully grasp the tape with fingers 37 and 38, and press the shift key (this will transfer the data such as the status 2 rotation angle of mechanisms 60 to 66 to 1 node data for 1 mechanism). (7 pieces of clause data are stored as follows)
. Next, close the fingers 37 and 38, grasp the tape with them, and press the shift key (thereby, the state of the mechanism 60: between the fingers is stored as one section data). After pointing your fingers,
Since there is a slight delay until the finger securely grasps the tape, the operator inputs data specifying the waiting time T into the computer CC using the operation board CB and presses the shift key. In this case, the computer CC holds the one-section data indicating the waiting time T in the memory, and also sends it to the computer 69 and stores it in the RAM 103.

When this section data is in actual operation, the computer 69 (CPU 10
0) when read from RAM 103.

Then, the robot R waits for the time T to elapse while remaining in the current state. Then, it performs the operation according to the next section data. Next, the operator moves his hand 36 to the X
By further driving in the backward direction, the whole body is pulled out from the input slot and the shift key is pressed (this causes mechanisms 60 to 6
Data such as state 9 rotation angle of 6 is addressed to one mechanism as one node data.

7 pieces of node data are stored). Then, press the shift key with the robot R in the standby position while keeping the robot R in the standby position (this causes the data such as the state and rotation angle of mechanisms 60 to 66 to be stored as one node data for one mechanism, and seven node data are stored. ). Next, when the operator inputs the registration on the operation board CB, the section data stored in the above operation is sent from the computer 69 to the computer CC in the order in which they were stored, and the computer CC transfers them to the No. ,
Write the operation program "14 Ejecting tape from tape device" to floppy disk No. 3.

When actual operation is specified, the computer CC sends this program to the computer 69, writes it to the RAM 103, and writes “1
4. When it is necessary to remove the tape from the tape device,
The computer CC sends the storage start address of this operation program to the work instruction to the computer 69, and the computer 69 reads out this operation program from RAMIO3 while controlling the work of the robot R, and the above-mentioned operator teaches it. Make robot R perform the action set in .

Therefore, after the operator executes teaching as described above, the robot R performs the operation during the above-mentioned teaching in "actual operation" until the operator executes teaching again.

Robot R's "9-1 to 6 racks take out the tapes in each row J, and rlo-1 to 2 racks store the tapes in each row."
, "4 Tape device HPJ, tape installed on r tape device"
, ``3 rack HPJ'' and other teaching items shown in Figure 4b, the operation of the robot in response to the operator's teaching operation, the storage of the operation program, and the robot following the operation program in ``actual operation''. The operation of R is roughly the same as the above-mentioned 114 tape ejection from tape device.

Then, the robot R is driven to the rack HP, and from there is driven to the required rack 4 [INo], and the robot R is driven to the required column No.

Take out the tape from rack S and store it in the skirt,
After performing this process of taking out the tape and storing it in the skirt for the required number of tapes, when the robot R is driven to the tape device HP, and when the tape is collected from the tape device MD and the robot R is driven to the rack HP, the robot R The tape is supported in the skirt section and transferred from the rack S to the tape device MD.

On the other hand, they will have to travel relatively long distances.

When the tape is stored in the support section of the skirt 43, the tape Ckm in the skirt 43 slides under its own weight along the inclined bottom 44b and moves to the side wall on the robot body side, as shown in FIG. 3c. During the movement of the robot R, even if vibration or impact is applied to the skirt, the predetermined posture is maintained or temporarily Even if a positional shift occurs, it will return to the predetermined position due to its own weight. Therefore, during teaching, the fingers 37 and 38 are inserted from above into the opening 44a parallel to the side wall (31° inclined) of the support section 44.
By lowering the tape CkI11 toward , and gripping the center of the width W of the tape CkI11 in the predetermined posture shown in FIG. This means that the tape is gripped at an accurate position in the width W direction.

Even if the tape Ckm is misaligned in the tape thickness direction (perpendicular to the plane of the paper in FIG. 3c) within the support section 44, the hand 3
6 (middle of the fingers 37, 38) at the center of the width of the opening 44a of the support section 44 (perpendicular to the plane of the paper in FIG. 3c).
7, 38 are fully open, when the fingers 37, 38 are lowered, they do not hit the tape, and when the fingers 37, 38 are driven closed, one of the fingers 37, 38 first contacts the tape Ck+a and touches the other. By pushing toward the tape and firmly grasping (clipping) it, the positional deviation in the thickness direction of the tape (perpendicular to the paper surface in Figure 3c) is automatically corrected, and the tape can be grasped accurately even in the thickness direction. . These mean that both the short side length and the long side length of the opening 44 of the support section 44 may be made relatively larger than the thickness and width W of the tape, thereby widening the play space inside the section 44. do. By widening the play space in this way, the operation of storing the tape in the support section becomes easy and reliable. Grasping the tape in the supporting section of the skirt in this way ensures a reliable and stable attachment of the gripped tape to the tape device i1MD.

Furthermore, the returned tape to the rack S is ensured and stabilized. Furthermore, the relatively large play space in the support section ensures that the tape taken out from the rack S or tape mount [MD] can be housed in the skirt reliably and stably.

The tape device WMD has eight input ports, whereas the number of storage compartments in the skirt is twenty. Even if tape is attached to all input slots, and eight sections of the skirt are allocated for collection.

2O-8=12 tapes can be stored in the skirt. Even if the next 8 tapes to be loaded into each of the 8 slots are always held in the skirt, there are still 4 slots available, which can be used to store later schedule tapes, and the 8 tapes to be loaded next are stored in the skirt. The tape is being attached to the MD,
Eight sections of the skirt 43 are empty for accommodating the tape being loaded, and the remaining 12 sections are made to wait for a long time at the position of the tape device MD with the tapes in the scheduled execution order stored, and then the robot R waits for a long time at the position of the tape device MD, and the remaining 12 sections are used to store tapes in the order of execution of the schedule. The tape is immediately collected from the MD and stored in the skirt, and the tape held in the skirt is quickly loaded into the empty slot.

In the above embodiment, when the robot R is driven to the position of the rack S, the tapes collected in the skirt are first stored in the rack S, and then as many tapes as can be stored in the skirt are stored in the skirt. Since the tape storage section of the skirt is efficiently used as a tape standby buffer, it returns to the position of the tape device MD.

[Effects of the Invention] As described above, the robot device of the present invention includes a robot base equipped with a stocker (skirt) having a plurality of support sections, and supports many objects (tapes) on the stocker. Since these objects are transferred from the object receiving position (supply/receiving station) to the object transfer position (tape device MD), there is no need to move each object one by one, and each object is transferred at the required timing at the object transfer position. can be supplied. Further, the object transfer control means (computer 69) drives the moving means (wheels) to move the robot base to the object receiving position, and drives the hand device (hand 36 and fingers 37 to 39) to move the robot base to the object receiving position. While a plurality of objects are stored in each of the support compartments and the moving means is driven to move the robot base to the object transfer position, this movement causes vibrations or shocks to the objects stored in the support compartments. , and the object tries to move within the support section, but since the bottom of the support section is sloped, the object moves completely on the bottom along the slope,
It hits the wall of the compartment, assumes a predetermined position and attitude, and does not move to any other position.

Therefore, since the object in each support compartment is at a predetermined position within the compartment, the predetermined position of the object, for example, the central position of a cassette, can be grasped accurately, and the support compartment has a relatively large play space. Can be set to . This will facilitate insertion of the cassette into the support compartment. Since the central position of the cassette can be accurately grasped, the cassette can be stored or mounted in a rack or recording/reproducing device accurately.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the appearance of an embodiment (robot R) of the present invention. FIG. 2a is a longitudinal sectional view of the rack S shown in FIG. 1. FIG. 2b is an enlarged plan view of the shelf 1 mounted on the rack S shown in FIG. FIG. 2c is an enlarged sectional view taken along the line nc-mc of FIG. 2b. FIG. 2d is a block diagram showing an overview of the electrical elements of the rack S shown in FIG. 1. FIG. 3a is an enlarged side view showing the appearance of the hand 36 and wrist 41 of the robot R shown in FIG. FIG. 3b is an enlarged plan view of the base RB and skirt 43 of the robot R shown in FIG. 1. FIG. 3c is an enlarged sectional view taken along the line mc-mc of FIG. 3b. FIG. 3d is an enlarged perspective view of the transport mechanism of the robot R shown in FIG. 1, which supports the base RB. FIG. 3e is a block diagram showing an outline of electrical elements of the robot R shown in FIG. 1. FIG. 3f is a plan view showing the structure of one section data indicating the state of one mechanism of the robot R shown in FIG. 1. FIG. 3g is a plan view showing the structure of command data given to the computer 69 by the computer CC shown in FIG. Figure 3h shows robot R's chronological actions (work).
FIG. 3 is a plan view showing a combination of operation programs for performing the following steps. FIG. 31 is a flowchart showing the control operation of the computer 69. Figures 3j and 3 are flowcharts showing the control operation of the computer 69 for causing the robot R to perform time-series actions (work). FIG. 4a is a flowchart showing an overview of the operation of the computer CC shown in FIG. 1. FIG. 4b shows that the computer CC shown in FIG.
It is a top view which shows the teaching item menu displayed on D. Figures 4c, 4d, 4e and 4f are the first
It is a flowchart which shows the outline of the control operation in the actual working routine of the computer CC shown in the figure. FIG. 4g shows the contents of a work schedule given by computer BC to computer CC shown in FIG. 1, and the contents of a work table created by computer CC. FIG. 7 is a top view showing the contents of the takeout buffer table and the skirt table. MD: Tape device (object delivery position immediately S Nirakku (object reception position wholesale 1-20: III 21:
Frame 22: Shelf feed mechanism 23: Motor 24
:Shelf P detector 25:Sub-storage mechanism 26:
Motor 27: Shelf connection solenoid 28
1 head P detector 4; Shelf knocking detector 30: Motor driver 31: Detection circuit 32: Motor driver: 33: Solenoid driver 34: Detection circuit 35: Interface CtPc
rC151c261c3 s +C4s rcopcn
p+cks “Tape R: Robot
Rt3: 0 bot base (robot base) 36: hair
37-39: Finger (36-39: Gloves Ro 40
: Suction cup 110: Stopper 111
:Coil spring 41:Wrist 42:Lower arm
43 Niskart (Stocker) 44.45
: Compartment (support compartment) 44a, 45a: Opening (
Opening) 44b, '15b: Lower sole (inner sole) 46: Upper arm (
42, 46: Arms WG, 47.48: Rail
49: Flexible insulator sheet 50.5], : Axle
521-524: Transport legs 53.54: Chain 55: Electrical cable 56: Arm
57: III) Detector 58: Limit stopper 59: Left limit detector 60: Finger opening/closing mechanism 6 Teeth suction mechanism 62 2,000 rotation mechanism 63 Two wrist rotation mechanism! 54: Lower arm rotation mechanism 65: Upper arm rotation mechanism 66: Torso rotation mechanism 67: Self-propelled mechanism (moving time 68: λ) output interface 69: FI machine (object transfer control hand (support)) 70: Communication control unit 71 :Communication interface patent applicant Nippon Steel Corporation 7/ Figure 3f Figure 3h

Claims (1)

[Claims] Robot base: a plurality of robot bases each having an opening for inserting and removing an object and an inclined inner bottom on which the object slides, each supporting an object of a predetermined shape on the inner bottom. a stocker integral to the robot base and having a support compartment; a hand device for grasping an object in the support compartment; an arm device supporting the hand device and supported by the robot base; a moving means for driving the moving means to move the robot base to an object receiving position, and driving the hand device to accommodate the plurality of objects at the object receiving position in each of the support compartments; A robot device comprising: object transfer control means for driving the moving means to move the robot base to an object transfer position, and driving the hand device to supply the object in the support section to the object transfer position.