JPH04160503A - Inter-position data generating method and article carrying device - Google Patents

Abstract

PURPOSE:To flexibly cope with the position change by combining a relay position determined between two positions and inter-position data connecting two positions to generate inter-position data connecting two positions and reducing the number of inter-position data to simplify management and maintenance of inter-position data. CONSTITUTION:A fundamental attitude R is relayed to generate inter-position data. Consequently, it is sufficient if 3+4=7 kinds of inter-position data to the fundamental attitude R from mounting positions 11 to 13 and mounting positions 41 to 44 are taught for all stations with respect to inter-position data to be preliminarily taught. For example, inter-position data from the mounting position 11 to the fundamental attitude R is taught, and inter-position data from mounting positions 12 and 13 to the fundamental attitude R are successively taught. Next, inter-position data from the fundamental attitude R to mounting positions 41 to 44 are successively taught, and teaching is terminated to generate seven kinds of inter-position data. Thus, the number of inter-position data is reduced, and management and maintenance of inter-position data are simplified and facilitated.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a method for generating inter-position data connecting each position between two position groups in which a plurality of positions are defined, and an article transport system using the same. Regarding.

[Conventional technology]

With the development of FA systems, systems have been developed that transport articles between stations using carts (mobile bodies) equipped with multi-axis robots for transfer.

In this type of system J, for example, by teaching, data between two positions is generated when transferring between a trolley and a station, the data between positions is stored, and the data between positions is transferred using the stored data between positions. It is carried out. This makes it possible to reduce the cost increase caused by installing a transfer device at each station, and also allows for easy transfer by simply generating data between positions by teaching a multi-axis robot, creating a flexible transfer system. Now you can.

Conventionally, in this type of conveyance system, a plurality of article mounting positions and a plurality of loading positions were provided on the cart and the station, and articles were directly transferred between them.

[Problem to be solved by the invention]

Therefore, in the conventional forwarding system, the number of inter-position data indicating the positions of two points on the arm of the multi-axis robot I that should be specified in teaching is required as the number of mounting positions multiplied by the number of mounting positions. In total, the number of inter-position data multiplied by the number of stations was required. For example, 3 on a trolley
If there are 4 loading positions and a station has 4 loading positions, 3x4=12 position data are required, and if there are 10 stations, a total of 1
Twenty types of position-to-position data are required, and all of this is specified through teaching. Therefore, there are problems in that the number of times of teaching increases, the amount of inter-position data increases, data management and maintenance become complicated, and the memory capacity for storing the data increases. Furthermore, when the mounting position or placement position is changed, it is necessary to change all the data connecting the changed position and all other positions, making it difficult to change the system.

The present invention has been made in view of the above circumstances, and by generating inter-position data connecting two positions by combining 3J■ of inter-position data connecting a relay position determined between them and the two positions. , A method for generating inter-position data that reduces the number of inter-position data, simplifies the management and maintenance of the inter-position data, can flexibly respond to changes in position, and saves memory capacity, and an article transport using the same. The purpose is to provide equipment.

Means for Solving Problem C] The inter-location data generation method of the first invention according to the present invention is a method for generating inter-location data connecting each position between two position groups in which a plurality of positions are defined. , a relay position different from each position of the two position groups is determined, and first inter-position data from each position of one position group to the determined relay position and from the determined relay position to each position of the other position group are determined. generate second inter-position data up to the position;
The article transporting device of the second invention is characterized in that the inter-position data connecting each position between two position groups is generated by the combination of inter-position data -U, and the article conveyance device of the second invention uses a multi-axis manipulator to move the article. An article transport method in which a moving body equipped with a transfer means for loading articles and a plurality of loading positions for loading articles to be transferred is moved between stations provided with a plurality of article loading positions to convey the articles. In the apparatus, a relay position is predetermined within an operable range of the transfer means, and means for generating first position-to-position data connecting the article placement position and the determined relay position; means for generating second position-to-position data connecting the relay position and the generated first and second position-to-position data; The transfer means includes means for generating position-to-position data connecting the loading position and the loading position, and means for storing the generated position-to-position data, and the transfer means uses the stored position-to-position data to transfer the article to the station. It is characterized by the fact that it is impossible to transfer between the vehicle and the moving body.

[Operation] In the first aspect of the present invention, when generating inter-location data connecting each position between two position groups, each position between the two position groups and a relay position different from each position between the two position groups is generated. The generated inter-position data are combined to generate inter-position data connecting each position between the two position groups. Therefore, in the past, it was necessary to generate the number of inter-position data multiplied by the number of positions of two places, but in the present invention, the number of inter-position data that is the sum of the number of positions of two places is generated. , the number of inter-location data is reduced.

In addition, in the second invention, inter-location data is generated using the first invention method, and the article is transferred based on the generated inter-location data, so it is possible to transfer the article by simply storing a small amount of inter-location data. .

〔Example〕

DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will be described in detail below based on drawings showing embodiments thereof.

The first part is a perspective view showing a schematic configuration of a workpiece conveyance system using a multi-axis robot-equipped cart, which is an article conveyance device using the inter-position data generation method according to the present invention. In the figure, 1 is a self-propelled trolley, and the trolley 1 has two wooden rails 5.
5. Transport commands from the host computer 2 are given to the trolley 1 via an optical communication unit 40.19. Also, on the bogie 1, there are ground control panels 3 to 5.
Power and emergency stop signals are provided via the main overhead wire 31.

The truck 1 is adapted to stop at stop positions A, X, and B on the rails 5, 5, and a station A 4a and a station B 4b are provided facing the stop positions A and B, respectively. In addition, there are strikers at positions A, X, and B, respectively.
30a, 30x, and 30b are provided, and the sensor 20 for detecting the stop position provided on the truck 1 is connected to the striker 3.
Stopping at each position is confirmed by detecting 0a, 30x, and 30b. Trolley 1 and station A4a,
The same B 4b is the optical communication Uniso eye 8 and the same 45a, 45b.
Communicate and send and receive data.

The cart 1 is equipped with a 7-axis vertical multi-axis robot 10, and there are three mounting positions 11 for mounting the workpiece.
．． 12.13 are provided. Also station A
Between 4a and db are four mounting positions W41a, 42a, 43a, 44a, 41b, 41a, 41a, 41b, 41a, 42a, 43a, 44a, 41b,
42b, 43b.

44b are arranged in parallel in the running direction of the truck 1.

Figures 2 and 3 show the structure of truck 1 at station A4.
FIG. 2 is a front view, and FIG. 3 is a side view. The trolley 1 consists of a box-shaped upper frame tOU that houses an on-board control unit 14, etc., which will be described later, and a lower frame 112 that has the function of a traveling part.
As described above, the three mounting positions ILI2.13 for holding workpieces are provided on the upper surface of the upper frame 10u, and the multi-axis robot 10 is also attached. The multi-axis robot 10 has an arm bent at 906, and a gripping part 1 at the tip of the arm.
The basic attitude is the attitude with 0a facing downward, and while the trolley 1 is running, it is controlled to be in this basic attitude for safety.

This basic posture is also used as a relay position when moving the arm.

Lower frame 107! has a shape in which flat plates are opposed to each other with a rail 5.5 in between, and eight rollers 17, 17, which sandwich the rail 5.5 vertically, are located at a total of 8 locations on the front, rear, left and right sides of the running direction. is rotatably provided. The lower frame 101 runs on the rails 5.5 by sandwiching the rails 5, 5 between rollers 17, 17. Traveling of the bogie 1 is carried out by a servomorph 15 equipped with a pulse encoder attached to the lower frame 10β, and a pinion 16 is attached to the output shaft of the servomorph 15, which meshes with a rack 6 provided along the rails 5, 5. Further, the lower frame 101 includes an optical communication unit 19 for communicating with the host computer 2, a station A 4a,
An optical communication unit 18 for communication with the B 4b and a sensor 20 for confirming stoppage at the station are provided.

Further, the rails 5.5 are attached to both sides of a support fitting 21 mounted on a frame 22 made of shaped steel, and the rack 6 is attached to the inner edge of the support fitting 21.

On the other hand, station A 4a has a shape similar to that of a flat plate placed on a support made of shaped steel, and on its upper surface there are four placement positions 41a, 41b, etc., where workpieces are placed, arranged in parallel in the running direction. . Each mounting position 41a, 41b, . . . is provided with a sensor (not shown) that does not indicate its usage status, and it is determined whether or not R installation is possible by turning on and off the sensor.

FIG. 4 is a block diagram showing the configuration of the control system of the truck 1. Ground system? ACloo V 1φ1E is supplied to f[l board 3, and rack &? 131 to the on-board control unit 14 of the truck 1. In addition, the ground control panel 3 is provided with an emergency stop button 32, and its signal is sent to the overhead wire 3.
It is given to the onboard control unit 4 via the 1:2 tree. Further, as mentioned above, the transport command from the host computer 2 is given to the machine control unit 14 via the optical communication unit 40.19, and when the command is completed, the command is completed from the onboard control unit 14. A signal is sent to the host computer 2.

The on-machine control unit 14 is also provided with signals from an emergency stop button 51 provided on the side of the truck 1 and a hamper 50 provided on the front and rear hampers of the truck 1, and when these are turned on, the truck 1 is turned on. Make an emergency stop. Note that when the emergency stop button 32 is pressed on the ground control panel 3, the power supply from the ground control panel 3 to 1 is cut off, but even if the emergency stop button 51 and the Hampass Inch 50 are turned on, the power supply is not Not blocked. In addition, the control unit 1-14 receives signals from a collision prevention switch 52 using infrared sensors installed at the front and rear of the truck 1 for collision prevention, and a sensor 20.
A signal is given, and depending on the state, deceleration/stopping at station A 4a and station B 4b are confirmed. Further, the on-board control unit 14 is given an input signal from an operation panel 57 provided on part -1 of the truck 1.

On the other hand, the on-board control unit 14 outputs a servo motor I5 for running, a cooling fan motor 55, a start notice/indicates that the multi-axis robot 10 is not in operation, and a melody 53 indicating that it is running. Gives signals to drive lamps and other equipment while driving.

It also inputs and outputs data to and from the robot controller 58 that controls the multi-axis robot 10, and controls the robot's movements and determines the posture of the robot's arm based on the data. The robot controller 58 is also provided with a memory 61 for storing teaching results (data between positions), and an operation unit 59 for operating the robot is connected to the robot controller 58. Attach the teaching pendant 6o there and perform teaching. This teaching generates the arm movement data between the mounting position 1L12.13 and the basic posture and the arm movement between the mounting position 4L42.43.44 and the basic posture as inter-position data, and The teaching between the basic posture and the mounting position 1L12.13 only needs to be performed once, and the teaching between the basic posture and the mounting position 4
Teaching between 1.42 and 42... is performed at mounting position 41.
42. Perform this each time the location and location of... change.

Next, the operation of the trolley 1 configured as described above when transferring a work will be described.

FIG. 5 is a flowchart showing the processing contents of the on-machine control unit 14 during transfer. Here, trolley 1 is on rail 5.
5, the workpiece is stopped at position X on position B, and the workpiece is taken from the mounting position 41a of station A 4a to the position as a transport command, and it is loaded on the mounting position 11, and then the workpiece is moved to the mounting position 44b of station B 4b at position B. An example will be explained in which a command to place a file is output from the post computer 2.

First, the transfer command described above is received from the host 1 to the computer 2 via the optical communication unit 0, 19 (Sl).

Next, the servo motor 15 is driven to rotate based on the received transport command, and the trolley 1 is moved in the direction from position X to position (S2). The arrival at the position is determined based on the number of pulses output from the pulse encoder (S3). When the position is reached, the servo motor 15 is stopped, and the cart 1 is stopped facing the station 4a (S4). When the sensor 20 detects that the trolley 1 is at the station 4a,
Placement position 4 where the arm of the multi-axis robot 10 is taught in advance from the basic posture via the robot controller 58
1a (S5), and operates the gripping portion IQa to grip the workpiece (S6).

Next, the arm is temporarily returned to the basic posture, which is a relay position, from the mounting position 41a (S7), and the arm is further moved from the basic posture to the previously taught mounting position 11 (S7).
8). Next, the gripped workpiece is released (S9), the workpiece is placed at the mounting position 11, and the arm is returned from the mounting position 11 to the basic posture (510). If the arm is in a position other than the basic position while traveling, there is a risk of it protruding from the trolley 1, so to prevent danger, the arm should be in the basic position while traveling. This step 510 is for that purpose.

Next, rotate the servo motor 15 to move from position A to position B.
Move the trolley 1 to (Sll). Then, the arrival at position B is determined based on the number of pulses of the pulse encoder (512), and upon arrival at position B, the servo motor 15 is stopped, and the trolley 1 is stopped facing station B 4b (S13). When the sensor 20 detects that the trolley 1 is at station B 4b, the arm is moved from the basic posture to the mounting position 11 (S14), the gripping section 10a grips the workpiece (S15), and after gripping the workpiece, the arm is moved to the mounting position. 11 to the basic posture (516), and further move the hair arm from the basic posture to the placement position 44b (S
17). Then, release the grip part 10a and place it at the mounting position 44b.
318) - The arm is returned to its basic position for safety (519).

Then, a command completion 1 signal indicating that the transfer has been completed is sent to the host computer 2 via the optical communication unit 19.40.
520) - Finish the workpiece transfer operation.

FIG. 6 is a diagram explaining the inter-position data generation procedure in the method of the present invention and the conventional method. In this method, position-to-position data is generated by relaying the basic posture R shown by white circles.Therefore, the position-to-position data to be taught in advance is from loading positions 11, 12, 13 and loading positions 41 to 44 to basic posture R. It is sufficient to teach 3+4=7 types of position-to-position data for all stations.For example, teach from mounting position 11 to the basic posture, and sequentially teach from position 12.13 to the basic posture.Next, teach from the loading position 11 to the basic posture. From placement position 41
Teaching is performed sequentially up to 44, the teaching is completed, and seven types of inter-position data are generated.

However, in the conventional method of directly connecting the mounting positions 41 to 44 and the mounting positions LL12.13 as shown in FIG. = It is necessary to generate 12 types of inter-position data, and it is necessary to teach this for all stations.

In addition, in the present invention, the inter-position data between the loading position and the basic posture is unchanged, so if the work is the same, there is no need to change it after teaching once, and the position or number of loading positions at the station does not need to be changed. It is only necessary to perform teaching between the mounting position and the basic posture. This makes it possible to further reduce the number of times of teaching compared to the conventional method.

〔effect〕

As explained above, in the present invention, instead of directly connecting each position between two position groups to generate inter-position data, each position between two position groups, a different relay position, and each position between two position groups The method generates inter-location data that connects the two locations, and then combines the generated inter-location data to generate inter-location data that connects each position between two location groups. Previously, a number of inter-location data were required, but now it is only necessary to generate inter-location data for the number of locations, which reduces the number of inter-location data and simplifies the management and maintenance of inter-location data. Not only is it easy to use, but it can also be used to compress the memory capacity for storing inter-location data.

Furthermore, even if the location or number of location groups changes, it is only necessary to change or add the inter-location data connecting the changed location and the relay location, making it possible to respond flexibly to changes in location or number. It produces an equivalent effect.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing a schematic configuration of a transport system using a multi-axis robot-equipped cart using the position-to-position data generation method according to the present invention, FIG. 2 is a front view showing the structure of the cart, and FIG. 3 is a perspective view of the cart. FIG. 4 is a block diagram showing the configuration of the control system of the trolley, FIG. 5 is a flowchart showing the processing contents of the transfer operation, and FIG. It is a figure shown with a procedure. 1...Dolly 4 (4a, 4b)...Station IO...Multi-axis robot lL12, 13...Mounting position 14...On-machine control unit 41a to 44a,
41b-44b...Placement position 58...Robot controller 60...Teaching pender 71-61
...Memory R...Basic posture Applicant Tsubaki Chain Co., Ltd. Agent Patent attorney Noboru Kono ＼ ＼-1 Figure 6 (a) Figure 6 (b)

Claims (1)

[Claims] 1. In a method for generating inter-location data connecting each position between two position groups in which a plurality of positions are defined, a relay position different from each position of the two position groups is defined, and one from each position of the position group to the determined relay position.
and second position data from the determined relay position to each position of the other position group, and create two position groups by combining the generated first and second position data. An inter-location data generation method characterized by generating inter-location data connecting each position between. 2. Using a multi-axis manipulator, a moving body equipped with a transfer means for transferring articles and a plurality of loading positions for loading articles to be transferred is moved between stations with a plurality of article loading positions. In an article transporting device that transports the article by moving the article, a relay position is determined in advance in an operable range of the transfer means, and first position-to-position data connecting the article placement position and the determined relay position are provided. and means for generating second position-to-position data that connects the loading position and a determined relay position; and a means for storing the generated position-to-position data, and the transfer means uses the stored position-to-position data to move the article to and from the station. An article conveying device characterized in that it is adapted to be transferred to and from a body.