JPH03256679A - Control device for palletizing robot - Google Patents

Abstract

PURPOSE:To sharply improve the efficiency of an assembly process for a product by executing a palletizing work such that a robot is moved to an arbitrary position in a pallet by means of a command from a host controller upon occasion. CONSTITUTION:Parts in different in a kind are classified by a group and aligned in a pallet and a robot is moved to each palletizing point from the origin position of the pallet according to a predetermined order to effect a palletizing work. In this case, when a specified position in a pallet is specified by a host controller 3 for performing management of palletizing to provide palletizing data, palletizing data inputted from the controller 3 is converted on the control device 1 side at a real time into position data by means of a computing processing part 6, and a robot 2 is moved to a specified palletizing point. From this position serving as a new base point, a palletizing work is orderly executed.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a control device for a palletizing robot used in a product assembly line or the like.

[Conventional technology]

Conventional control devices for palletizing robots store position data regarding pallets (origin/end positions of pallets) in advance in the memory section of the control device.

For example, when a pallet with parts loaded on it is conveyed on a conhair line and stops at a predetermined position, the robot can be moved from the origin of the pallet based on the position data. line.

The parts are positioned and moved in a predetermined order along the row, and at this position, palletizing work is performed and parts are supplied.

[Problem to be solved by the invention]

As described above, in the conventional apparatus, the robot is moved from the origin within the pallet to the palletizing point in a predetermined order on the premise that parts of the same type are palletized on one pallet. Therefore, when palletizing multiple types of parts using the same robot, it is necessary to change the pallet according to the type of parts.

On the other hand, in order to improve the efficiency of the assembly process for products consisting of multiple parts, multiple types of parts are placed on the same pallet, and different parts are selectively palletized from the pallet as the product is assembled. There is a request that will allow the work to proceed. However, with the conventional control method, it is not possible to move the robot to an arbitrary palletizing point for one pallet at any time, and it is not possible to respond to such requests.

The present invention has been made in consideration of the above points, and is a palletizing system that expands functions by allowing a robot to move to a specified palletizing point within a pallet at any time upon receiving commands from a higher-level palletizing management controller. The purpose is to provide a robot control device.

[Means to solve the problem]

In order to solve the above mR, the control device of the present invention includes a receiving unit that receives palletizing data sent from a higher-level controller, a memory unit that stores pallet position data, and a memory unit that stores palletizing data as position data in real time. The robot is equipped with an arithmetic processing unit that converts the data into a robot, a positioning control unit for the robot, and a servo control unit, and based on the baretizing data sent from the controller, the robot is moved to a designated palletizing point at any time to perform palletizing work. shall be configured to execute.

[Effect]

As a result of the above, for example, parts of different types are divided into groups and arranged on the same pallet, and the robot moves from the origin position of the pallet to each palletizing control in a predetermined order to perform palletizing work. In the process, when a host controller that manages palletizing (programmable controller, sequencer, etc.) specifies a specific position within the pallet and provides palletizing data, the control device processes the palletizing data taken in from the controller in real time through its arithmetic processing unit. The robot is converted to position data, moves to a specified palletizing point, and uses this position as a new base point to perform palletizing operations in sequence.

This eliminates the need to replace pallets for each part required for product assembly, and allows different types of assembly parts to be arranged in groups on the same pallet.
Based on commands from the host controller that manages palletizing, the robot can move to a location where necessary parts are lined up at any time and proceed with palletizing work.

〔Example〕

FIG. 1 is a block diagram of a control device according to an embodiment of the present invention, and FIG. 2 is an explanatory diagram of palletizing points represented in a pallet.

In Figure 1, 1 is a control device for a palletizing robot, 2 is a palletizing robot, 3 is an upper level controller (programmable controller) that manages palletizing in the assembly process, 4 is a pallet transport line and its peripheral equipment, and 5 is a pallet It is a supply device. Here, the control unit W1 includes a data receiving unit 6 that receives palletizing data sent from a controller l, a memory unit 7 that stores pallet position data, robot operation value l data, operation programs, etc. It is comprised of an arithmetic processing section 8 that converts the palletizing data taken in by the section 6 into pallet position data, a robot positioning control section 9, and a robot servo control section 10.

Further, the memory section 7 includes a barre 7 as shown in FIG.
) 11, the palletizing point position data (palletizing origin 1 row (
(Y-axis direction) number of nine columns (X-axis direction), pitch interval between each palletizing point, etc.) are stored. In addition, the second
In the figure, reference numeral 12 is a pallet conveyor.

Next, using an example where parts placed on the pallet 11 are depalletized from the pallet 11 by robot operation and a product is assembled, palletizing m by m in FIG.
Explain the situation. In the illustrated example, there are four types of parts on the pallet 11 (different symbols are displayed for each type of part).
are arranged in groups and mounted in order from the origin P(0,0).

Here, when palletizing is executed, in the normal execution mode, the robot moves in a predetermined order from the origin P (0, 0) to the final point P (n, n) and performs the de-palletizing work. In the process of proceeding with palletizing work according to a predetermined order, the palletizing point reaches point A (2, 4) in the 2nd row and 4th column where different component groups are lined up.
When the palletizing data of point A is given from the controller 3 to the control section '11.1 before proceeding to the point A, on the control device side, the palletizing data is taken into the signal processing section 8 from the receiving section 6 and the palletizing data is converted into I data of the point A. positioning control unit 9. The robot 2 is moved in real time to a designated palletizing point (point A) via the servo control unit 1o, and the de-palletizing work is sequentially performed from this position as a base point. Similarly, a new palletizing point (point B (P(3
, 2), C point P (4, 3)) 0 When palletizing data is given, the robot jumps to a new designated position based on this data and performs de-palletizing work.

Therefore, by specifying the rough alignment position and arranging multiple types of parts on the same pallet, and then giving palletizing data from the host controller in accordance with the product assembly process, the parts can be arranged in the specified position. It is possible to selectively depalletize and proceed with product assembly work.

〔Effect of the invention〕

As described above, according to the control device of the present invention, the robot can be moved to any arbitrary position within the pallet at any time in response to commands from the host controller that manages palletizing to perform palletizing work. Therefore, in the assembly process where products are assembled from multiple types of parts as in the conventional method, it is possible to load the necessary types of parts onto one pallet without having to change pallets for each type of supplied parts. This can greatly contribute to improving the efficiency of the product assembly process.

[Brief explanation of drawings]

1 is a block diagram of a control device according to an embodiment of the present invention, and FIG. 2 is an explanatory diagram of palletizing points represented on a pallet. lI device, 2; robot, 3: controller, 6: receiving section, 7: memory section, 8: arithmetic processing section, 9
: Positioning control section, 10; Servo FII control section, I engineering:
Figure 1

Claims (1)

[Claims] 1) A receiving unit that receives palletizing data sent from a host controller, a memory unit that stores pallet position data, an arithmetic processing unit that converts palletizing data into position data in real time, and a robot positioning control unit. , and a servo control section, the control device for a palletizing robot is characterized in that the robot is moved to a designated palletizing point at any time to execute palletizing work based on palletizing data sent from the controller.