JPH05246548A - Automatic loading device - Google Patents

Abstract

PURPOSE:To provide an automatic loading device which reduces a time loss in transmission and receipt of a signal between an indication device and a control device. CONSTITUTION:A control device 5 is provided with a receipt holding device 10 which temporarily holds the indication content of an indication device 4 for indicating loading by an industrial robot 1. The receipt holding device 10 receives a transmission signal from the indication device 4 even during operation of the industrial robot 1. This constitution reduces incurring of a time loss in transmission and receipt of an indication signal from and to the control device 5, resulting in improvement of loading efficiency to provide high working efficiency.

Description

Detailed Description of the Invention

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to an automatic loading device for sequentially loading articles supplied by an industrial robot.

[0002]

2. Description of the Related Art FIG. 5 shows, for example, Japanese Patent Laid-Open No. 1-275310.
It is a whole block diagram which shows the conventional automatic loading apparatus similar to what was shown by the publication. In the figure, (1) is an industrial robot having an operating electric motor (2) and electric motor control means (3), (4) is a host computer, and an instruction for instructing the industrial robot (1) to perform loading work Device, (5) is a control device for controlling the industrial robot (1), the interface (6) connected to the indicating device (4), the program execution means (7) connected to the motor control means (3), An input / output port (8) and an input / output control means (9) are provided for operating the industrial robot (1).

The conventional automatic loading device is constructed as described above, and the loading position of the article to be loaded (not shown) from the indicating device (4) and the loading position of the article to be loaded on the pallet (not shown) are set. The instruction is transmitted to the control device (5). And
When the control device (5) receives the instruction from the instruction device (4), the industrial robot (1) is instructed to perform the work, and the loading operation is performed according to the predetermined operation procedure based on the instruction from the instruction device (4), that is, the supply. Industrial robots for taking out stowed articles from a means (not shown), moving the picked-up articles, and stowing the articles
Performed by (1).

[0004]

In the conventional automatic loading device as described above, the control device (5) receives the take-out position of the loaded article from the indicating device (4), and the industrial robot (1). Removes the stowed goods from the supply means. However, if the operation of taking out the articles to be stowed by the industrial robot (1) is not completed, it becomes impossible to receive the loading position instruction on the pallet, which is the next operation of the articles to be stowed. For this reason, there is a problem that a time loss occurs due to the exchange of the instruction signal, and the loading efficiency is hindered.

The present invention has been made to solve the above problems, and an object of the present invention is to obtain an automatic loading device with less time loss for signal transmission / reception in the indicating device and the control device.

[0006]

In an automatic loading device according to the present invention, an industrial robot for sequentially loading articles to be supplied, an instruction device for instructing loading of the industrial robot, and an instruction for the instruction device. A control device that controls the industrial robot according to a predetermined operation procedure based on the above, and that can receive the instruction of the instruction device while the industrial robot is operating by the reception holding device that temporarily holds the instruction content of the instruction device is provided.

[0007]

In the automatic loading device configured as described above,
The instruction of the pointing device is received by the control device while the industrial robot operates.

[0008]

1 to 4 are views showing an embodiment of the present invention. In the figure, (1) is an industrial robot having an operating electric motor (2) and electric motor control means (3), and (4) is an instruction device for instructing the industrial robot (1) to perform loading work by a host computer. , (41) is a transmission signal of the pointing device (4), (5) is a control device for controlling the industrial robot (1), the interface (6) connected to the pointing device (4), the motor control means (3 ), A program execution means (7), an input / output port (8) for operating the industrial robot (1), and an input / output control means (9). Further, (10) is a receiving and holding device which is an essential part of the control device (5), and is connected to the interface (6) and receives means (111) for generating a receivable signal (111) and program executing means (7). ) Is connected to the buffer (12). (13) is a supply means for supplying stowed goods, which is composed of a conveyor, and (14) and (15) are an instruction device (4) and a control device, respectively.
It is a system to connect (5), (14) is a serial IO cable, (1
5) is a parallel IO cable.

In the automatic loading device configured as described above, the instruction device (4) indicates the take-out position of the loaded article and the loading position of the loaded article on the pallet by the control device.
Sent to (5). Then, the instruction of the instruction device (4) is received by the reception holding device (10) and is temporarily held. And
Work is instructed to the industrial robot (1) by the control device (5), and loading work is performed according to a predetermined operation procedure based on the instruction of the instructing device (4), that is, of the articles to be loaded from the supply means (13). The industrial robot (1) takes out the articles, moves the articles to be taken out, and stacks the articles. The operation of the receiving and holding device (10) in such a loading operation will be described with reference to the flowchart shown in FIG.

That is, if the transmission signal (41) is ON in step (100), it is continued, and the transmission signal (41) becomes O.
If FF, proceed to step (101). If the reception status is NG in step (101), the process proceeds to step (102) and error processing is performed. Also, step (101)
If the reception status is OK in step (10
Proceeding to 3), the received data is read from the reception holding device (10). Then, the process proceeds to step (104), where the reception enable signal (11
1) is turned on and the process proceeds to step (105). As shown in FIG. 2 in step (105), if the transmission signal (41) is OFF, the reception enable signal (111) continues to be ON, and the transmission signal (4)
If 1) is ON, proceed to step (106) and receive ready signal
(111) is turned off.

As described above, the control device (5) is provided with the reception holding device (10) for temporarily holding the instruction content of the instruction device (4) for instructing the loading of the industrial robot (1), The transmission signal (41) from the pointing device (4) is received even while the robot (1) is operating. Therefore, it is possible to reduce the time loss for sending and receiving the instruction signal in the control device (5), improve the loading efficiency, and obtain an automatic loading device with a high operating rate. In addition, as shown in FIG. 3, the indicating device (4) and the control device (5)
By using the parallel IO cable (15) to synchronize the transmission and reception of the data, the data can be transmitted and received more efficiently.

[0012]

As described above, the present invention is directed to an industrial robot for instructing the loading of an industrial robot for sequentially stacking articles to be supplied as described above, and an industrial robot according to a predetermined operation procedure based on the instruction of the instructing device. And a receiving and holding device for temporarily holding the instruction content of the instructing device and receiving an instruction from the instructing device even during the operation of the industrial robot. This enables the industrial robot to operate and at the same time to receive the instruction of the instruction device to the control device. Therefore, it is possible to reduce the time loss for transmitting and receiving the instruction signal in the control device, and it is possible to improve the loading efficiency.

[Brief description of drawings]

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

FIG. 2 is a diagram conceptually explaining the operation of the reception holding device of FIG.

FIG. 3 is a conceptual circuit diagram showing electrical connection of equipment of the apparatus of FIG.

FIG. 4 is a flowchart illustrating an operation of the reception holding device of FIG.

FIG. 5 is an overall configuration diagram conceptually showing a conventional automatic loading device.

[Explanation of symbols]

 1 Industrial Robot 4 Instruction Device 5 Control Device 10 Receiving and Holding Device

Claims (1)

[Claims] 1. An industrial robot for sequentially loading articles to be supplied, an instruction device for instructing loading of the industrial robot, and the industrial robot according to a predetermined operation procedure based on the instruction of the instruction device. An automatic loading device including: a control device that controls and has a receiving and holding device that receives and temporarily holds an instruction from the instruction device while the industrial robot is operating.