JPH01171787A - Article transfer robot - Google Patents

Abstract

PURPOSE:To make a teaching operation in palletizing easy by providing a means for calculating the coordinates regarding both axises of respective lattice points to move a handling head based on a pitch of matrix, a number of matrix and the coordinates of only a base point, regarding to the lattice points representing a transfer source or a transferred place. CONSTITUTION:When a handling head 10 is moved in order representing the lattice points 12 arranged in matrix with a certain pitch respectively along the two abreast axises 2, 4 with each axis of X, Y as a transfer source or a transferred place, the coordinates XA, YA regarding only a base point A among the lattice points 12 are inputted into a calculation means 20 by an input means 14. Then, the coordinates of the lattice points except this base point A are calculated and found out by the calculation means 20 based on the coordinates of this base point A and the pitches PX, PY of matrix and the numbers NX, NY of matrix inputted through the respective input means 16, 18 for the pitch of matrix and the number of matrix. Consequently, the teaching operation can be performed easily in a palletizing operation.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention comprises at least two translational axes, an X-axis and a Y-axis,
An article transfer robot that sequentially moves a handling head using each grid point arranged in a matrix at a constant pitch along both axes as a transfer source or destination, and an article storage section is provided at the position of each grid point. Relating to something suitable for the transfer of articles to or from a pallet.

[Prior Art] A conventional article transfer robot is equipped with two translational axes, an X-axis and a Y-axis, and the handling head is moved in the X-axis direction and the Y-axis direction by two arms constituting each axis. The coordinates of each point on both axes for all transfer sources and all transfer destinations are stored in advance by teaching.

For example, the Y-axis arm is supported on the X-axis arm so that it can translate in the X-axis direction, and the handling head is supported on the Y-axis arm so that it can translate in the Y-axis direction.

Therefore, the handling head is movable in both axial directions relative to the X-axis arm. This handling head includes, for example, an air chuck and an air cylinder, and can grip and release the article by opening and closing the air chuck.
It can be moved up and down by operating an air cylinder.

For example, when transferring an article on one conveyor to another conveyor, the coordinates of the transfer source and transfer destination are memorized in advance by teaching. Then, the handling head is moved to the position of the article according to the stored transfer source coordinates, and then the head is lowered to grip the article. The head that grips the article is raised, then moved to another conveyor according to the stored destination coordinates, and releases the article after descending. This completes the transfer of one article.

[Problems to be Solved by the Invention] The conventional article transfer robot described above is sometimes used for palletizing work. Here, the palletizing work refers to the work of transferring articles from a fixed point to a pallet, from a pallet to a fixed point, or from a pallet to a pallet.

The pallet used here has a plurality of article storage parts, and each storage part is provided at the position of each grid point arranged in a matrix at a constant pitch. That is, for example, a palletizing operation from a fixed point to a pallet refers to an operation in which articles sequentially transported to a fixed point are sequentially transferred to each storage section of the same pallet.

However, with conventional article transfer robots, it is necessary to memorize the coordinates of each point regarding both the X and 7 axes for all transfer sources and all transfer destinations by teaching in advance. In this case, it is necessary to teach the coordinates of all grid points as transfer destinations, which is extremely troublesome.

In view of the above points, it is an object of the present invention to provide an article transfer robot that can easily perform teaching operations during palletizing work.

[Means for Solving the Problems] In order to achieve the above object, the present invention has the following configuration shown in FIG. 1.

That is, the article transfer robot according to the present invention includes at least two translation axes, an X-axis 2 and a Y-axis 4. Reference numeral 6 is an X-axis arm that constitutes the X-axis 2, and reference numeral 8 is a Y-axis arm that constitutes the Y-axis 4. A handling head 10 for gripping an article is attached to the Y-axis arm 8, and this head 10 moves each grid point 12 arranged in a matrix at a constant pitch along both axes 2.4 to a transfer source or a transfer source. First, it is moved sequentially based on the following information.

Reference numeral 14 denotes reference fish coordinate input means for inputting coordinates x and YA regarding both axes 2°4 of the reference point A among the grid points 12. Reference numeral 16 denotes matrix pitch input means for inputting the column pitch P and row pitch Py of the lattice points 12. code 18
is a matrix number input means for inputting the number of columns N and the number of rows NY of the lattice points 12. The calculation means 20 includes these input means 14.1B.

Each lattice point 12 to which the RAD 10 should be moved to Y
The coordinates XA and YA regarding both axes 2 and 4 are expressed by the following formula (1)
, determined by the calculation in (2).

X-X +m-P・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・(1)A
X Y-Y +n skewer P・・・・・・・・・・・・・・・
・・・・・・・・・・・・・・・(2)A
Y and m are integers in the range of 0 to NX1, and n is an integer in the range of 0'=NY1.

[Operation] In the article transfer robot according to the present invention, the coordinates of all the grid points 12 are not manually set, but the coordinates of only one of the grid points 12, that is, the reference point, are determined by coordinates X, Y.
is input through the reference point coordinate input means 14A.

On the other hand, the coordinates of the grid points other than the reference point A are the coordinates X, Y of this reference point A, the matrix pitches P, P, and the matrix number Y inputted through the matrix pitch manual A means 16 and the matrix number input means 18, respectively. It is determined by the calculation of the calculation means 20 based on N x and N y. That is, the calculation means 20 calculates the coordinates XA of each grid point 12 to which the handling head 10 is to be moved.
, YA are determined by calculations of equations (1) and (2). To explain this decision process in detail, n in equation (2) is 0
When m in equation (1) is changed from 0 to NX-1 while fixing the value to , the coordinates of the grid point 12 in the same row containing the reference point A are determined. While fixing n in equation (2) to 1, equation (1)
Similarly, when m is changed from 0 to NX-1, the reference point A
The coordinates of each grid point 12 in the row following the row containing . Thereafter, the coordinates of all the lattice points 12 are determined by the calculating means 20 in the same manner.

[Embodiment] FIG. 2 is a block diagram of an article transfer robot according to an embodiment of the present invention, and the robot that performs palletizing work from a fixed point to a pallet will be described below.

This robot has two X-axis 2 and Y-axis 4 that are orthogonal to each other.
Equipped with a translation axis. Reference numeral 6 is an X-axis arm that constitutes the X-axis 2, and reference numeral 8 is a Y-axis arm that constitutes the Y-axis 4.

A handling head 10 for gripping an article is attached to the Y-axis arm 8. The X-axis arm 6 and the Y-axis arm 8 each have a built-in control motor for positioning.
The Y-axis arm 8 is translated in the X-axis direction relative to the wheel arm 6, and the handling head 1 is moved relative to the Y-axis arm 8.
0 can be translated in the Y-axis direction. Therefore, the handling head (20) is movable in both axial directions by the drive of both control motors. This handling head IO includes, for example, an air chuck and an air cylinder,
The article can be gripped and released by opening and closing the air chuck, and can be moved up and down by operating the air cylinder.

Reference numeral 11 denotes a rectangular pallet having a plurality of article storage sections, each side of which is arranged parallel to the X-axis 2 and the Y-axis 4. The article storage section of the pallet 11 as the article transfer destination is
It is provided at each grid point 12 arranged in a matrix at a constant pitch along both axes 2.4. for example,
The number of columns N and the number of rows NY of the grid point 12 are 4 and 3, respectively.
where the column pitch P and row pitch PY are each 1
5.0 and 20.0. Among these lattice points 12, the point closest to the coordinate origin O of both the XA and YA axes 2 and 4 is defined as a reference point A. The coordinates X and Y of the reference point A are, for example, 86,7 and 35.2A. The coordinates X8°Y8 of the fixed point S as the article transfer source are, for example, 50.0 and 30.0.

Reference numeral 30 is a teaching pendant having various keys such as a numeric keypad, which will be explained in detail later, and a display window.
(1) Connected to the microprocessor 34 via the 10 port 32. This microprocessor 34 has a memory 36
is connected. Roughly, the microprocessor 34 is I1
Signals are exchanged with the X-axis arm 6 via the 0 port 32, and the X-axis arm 6 exchanges some signals with the Y-axis arm 8.

3 and 4 are flowcharts showing the operation of the microprocessor 34, and show a teaching operation and a palletizing operation, respectively.

Hereinafter, using both figures, a palletizing operation will be described in which articles sequentially transported to a fixed point S are sequentially transferred to article storage sections provided at each of the 12 grid points 12 of the pallet 11.

In FIG. 3, in step 1, the fixed point S is input through the numeric keypad of the teaching pendant 30 and the
The coordinates X and Y8 are input and stored in the memory 36. In step 2, the hand program H8 at the fixed point S is input through the program key of the teaching pendant 30 and the I10 port 32, and the hand program H8 at the fixed point S is inputted to the microprocessor 3.
This is stored in memory 36 in a format that can be executed by 4. In the normal case, the hand program H3 confirms the presence or absence of an article, lowers the rad lO to the handler by operating the air cylinder, grips the article by operating the air chuck, and grips the article again by operating the air cylinder. The content is to raise the head lO.

In step 3, the coordinates x and yA of only the reference point A among the grid points 12 of the pallet 11 are manually determined and stored in the memory 36. This input may be performed using the numeric keypad of the teaching pendant 30 in the same manner as the input of the coordinates x and y8 of the fixed point S, but it may also be a method using so-called direct teaching. That is, in the direct teaching method, after actually manually moving the handling head 1° to the reference point A using the manual JOG operation key of the teaching pendant 3o,
Input the 0 position when operating the write key. It should be noted that the human power for the coordinates X and Y of the fixed point S can also be determined by the die left and S eating method.

In steps 4 and 5, the matrix pitch PX of the grid points 12 is determined for the pallet 11 through the numeric keypad of the teaching pendant 30 and the I10 port 32.

Input P and the number of matrices N and N, and convert them into Y
x Y Store in memory 36. In step 6, the program key of the teaching pendant 30 and ■10 port 32
The hand program HD at each grid point 12 is input through the microprocessor 34, and is stored in the memory 36 in a format that can be executed by the microprocessor 34. In a normal case, the hand program HD lowers the handling head 10 by operating the air cylinder, releases the grip on the article by operating the air chuck, and raises the head 10 again by operating the air cylinder. It is.

Through the above operations, teaching regarding the palletizing work from the fixed point S to the pallet 11 is completed. Note that the various key inputs of the teaching pendant 30 are sequentially displayed on the display window, so that accurate key input can be performed while checking the contents.

The actual palletizing work is performed according to the flowchart shown in FIG.

The microprocessor 34 sequentially initializes variables n and m to 0 in steps 10 and], and then initializes them in step 12.
The handling head 10 is moved to the fixed point S. This movement corresponds to the positions tsx, y of the fixed point S stored in the memory 36.
This is executed by driving both control motors built into the X-axis arm 6 and Y-axis arm 8 through the I10 port 32 based on the following. Next, in step 13,
By calling a subroutine and executing the hand program H3 at the fixed point S stored in the memory 36 in advance,
Objects that are sequentially transported to a fixed point S by means such as a conveyor are picked up.

In step 14, the base point coordinates X, Y and matrix pitches P, PyAA stored in the memory 36 are
On the basis of

X-XA+m-PX Y-YA+n-PY However, if m and n are both 0, the coordinate X.

Y matches the reference point coordinates X and Y.

A In step 15, the coordinate XA determined in step 14
, YA, that is, the position of the grid point 12. This movement is executed by driving both control motors via the I10 port 32 based on the determined coordinates XA, YA. In step 16, the palette 11 stored in the memory 36 in advance is
By calling a subroutine and executing the hand program HD at the grid point 12, the article is stored in the storage section of the pallet 11.

Next, after the contents of the variable m are incremented in step 17, the contents of the variable m are NX-1 in step 18.
Check whether it is greater than or not.

Here, Nx is the number of columns of lattice points 12 stored in the memory circle. If the content of the variable m is not greater than Nx-1, the process returns to step 12 and the transfer to other grid points 12 is continued. If the content of the variable m is greater than Nx-1 in step 18, it is determined that the transfer to all grid points 12 in the same row has been completed, and the process proceeds to step 1. In step 19, the contents of variable n are incremented. In step 20, the content of this variable n is NY
Check whether it is greater than -1. Here, NY is the number of rows of lattice points 12 stored in the memory 36. If the content of variable n is not greater than NY-1, step 11
Then, the process returns to the next row and starts moving to the grid point 12 in the next row. If the content of the variable n is greater than NY-1 in step 20, it is determined that the transfer of articles to all grid points 12 of one pallet 11 has been completed, so step 10
Return to the top and start transferring to the next pallet U. However, the pallet 11 whose articles have been completely transferred to all the grid points 12 is transferred, for example, by a conveyor, and the next pallet is brought to the same position as the previous pallet.

As explained above, the teaching pendant 30 includes the reference point coordinate manual means 14, the matrix pitch input means I
B and matrix number input means 18. Further, the microprocessor 34 is used as the calculation means 20.

Note that the moving speed from the transfer source to the transfer destination and the moving speed from the transfer destination to the transfer source may be input to the microprocessor 34 through the teaching pendant 30 and the I10 boat 32, and the control motor is controlled based on this information. can be driven. Moreover, the order of transfer to the grid points 12 within one pallet 11 is arbitrary.

Although the palletizing work from a fixed point to a pallet has been described above, the palletizing work from a pallet to a fixed point or from a pallet to a pallet is also the same as the above description, so the explanation will be omitted. However, when performing these three types of palletizing work, the teaching pendant 30 is used to select the type of work. Further, although the above description has been made regarding a device having only two translational axes, the X-axis 2 and the Y-axis 4, in addition to these axes, for example, a rotational axis for rotating the article may be provided.

[Effects of the Invention] In the article transfer robot according to the present invention, in addition to the matrix pitches P, P and the number of columns N, H, the coordinates of only the base XY, When Y is input, the arithmetic means automatically determines the coordinates XA and YA with respect to both axes of each grid point to which the handling head is to be moved. Therefore, according to the present invention, it is possible to provide an article transfer robot that can easily perform a teaching operation during palletizing work.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the configuration of the present invention, Fig. 2 is a block diagram of an article transfer robot according to an embodiment of the present invention, and Fig. 3 is a block diagram showing the configuration of the present invention.
This figure is a flowchart showing the previous teaching operation of the microprocessor, and FIG. 4 is a flowchart showing the palletizing operation of the microprocessor of FIG. Explanation of symbols 2...X-axis, 4...Y-axis, G...X-axis arm, 8
... Y-axis arm, ■ o ... Handling head, 1
DESCRIPTION OF SYMBOLS 1... Palette, 12... Lattice point, 14... Reference point coordinate input means, 16... Matrix pitch input means, 18... Matrix number input means, 2o... Calculation means, 30
...Teaching pendant, A...Reference point, S...Transfer source fixed point.

Claims (1)

[Claims] 1. The handling head is provided with at least two translational axes, an X-axis and a Y-axis, and sequentially moves the handling head using each grid point arranged in a matrix at a constant pitch along both axes as a transfer source or destination. (a) A coordinate X of the reference point A among the grid points with respect to both axes;
(b) means for inputting the column pitch P_X and row pitch P_Y of the lattice points; (c) means for inputting the number of columns N_X and the number of rows N_Y of the lattice points; d) Set the coordinates X and Y on both axes of each lattice point where the handling head is to be moved as
It is an integer in the range Y-1. 1. An article transfer robot characterized in that it has a calculation means for determining by the calculation of ).