JPH0740398B2 - Object handling equipment - Google Patents

Description

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a robot for taking out an object mounted at a predetermined position such as a machine from a machine, and more particularly to an object handling device for carrying out a take-out operation, for example, a magnetic field. An information medium, such as a magnetic tape cassette containing a tape, a magnetic disk, a laser disk, or a record board, on which information represented by an electric signal (hereinafter simply referred to as information or data) is recorded is read from a recording / reproducing device position. The present invention relates to a recovery device.

[Conventional technology]

For example, an information registration station in an online system of a computer stores a huge amount of information such as a system exercise program, registration file information, original book information and / or system operation record information depending on the purpose of the system.
Information is read out and transferred in response to a request from each part of the system. For storing a relatively small amount of information, several information media such as a magnetic drum and a magnetic disk may be provided,
When the amount of information becomes enormous, the information registration station is equipped with, for example, a large number of magnetic tape recording / reproducing devices and an enormous number of cassette-shaped magnetic tapes, each information is recorded on a magnetic tape in a predetermined classification, and the information is recorded. The magnetic tape is stored in the storage shelf, and the recorded magnetic tape or unrecorded magnetic tape is manually taken out from the storage shelf in response to a reproduction request or a registration request, mounted on the magnetic tape recording / reproducing apparatus, and used magnetically. The tape is manually removed from the magnetic tape recording / reproducing device and stored in the storage shelf. Therefore, the tape operation requires manpower, and this labor saving is desired.

For example, in JP-A-55-122263, a magnetic tape cassette is taken out from a magnetic tape storage shelf, mounted on a cassette recorder, and a used cassette is taken out from the recorder and stored in the storage shelf, and a floppy disk. A robot arm has been proposed in which a floppy disk is taken out from a disk storage shelf, mounted in a floppy disk device, and a used disk is taken out from the disk device and stored in the disk storage shelf.

In addition, they are opposed to each other with a space relative to the thickness of the cassette.
Japanese Unexamined Utility Model Publication No. 61-16743 discloses a cassette attaching / detaching device which has suction cups at the bases of a pair of chucks and which sucks and supports the cassettes when the cassettes are inserted between the chucks.

[Problems to be Solved by the Invention]

However, since the robot arm disclosed in JP-A-55-122263 only has a function of gripping a cassette tape or the like, when the cassette recorder or the like is operated with one touch, the cassette tape or the like in the recorder is It can be used to collect more cassette tapes, such as cassette tapes that move or are exposed to a position or posture that is easy to grasp with a robot hand and are stable there, but in response to a one-touch operation,
It cannot be used for a cassette recorder or the like where the cassette or the like will spring out due to the spring pressure inside the cassette recorder or the like, or will be in a position or posture that is difficult to grasp with a robot hand unless it is supported by hand.

Further, in the cassette attaching / detaching device disclosed in Japanese Utility Model Laid-Open No. 61-16743, the cassette does not reach the suction cup unless the chuck support rod is pushed out to the cassette by pushing the cassette between the chucks. When taking out from the cassette deck, the chuck must be inserted into the cassette deck, and it cannot be used in a cassette deck or the like in which the cassette cannot be in the detached position or posture unless a lock release operation such as a one-touch operation is performed.

The present invention is, for example, that the lock of the cassette is released by one-touch operation and the cassette moves to the detached position or posture, and if it is not supported by hand, the cassette tape may be ejected by the spring pressure inside the cassette recorder, or the robot hand. An object of the present invention is to provide a recovery device that automatically recovers an object in a detached position or posture by a specific operation such as taking out a cassette tape from a cassette recorder that is difficult to grasp.

[Means for Solving the Problems]

The object handling device of the first invention of the present application is configured such that a finger means (37 to 39) including a movable finger (37) and an opposing finger (38) facing the movable finger (37) and the movable finger (37) are provided to the opposing finger (38). A hand device (37) having a finger driving means (60) which is opened / closed with respect to
~ 39, 60); stopper means (110) fixed to the base side of the tip of one finger (39) among the finger means (37 to 39); finger (39) to which the stopper means (110) is fixed. ) Mounted near the tip of the support member (MD); and the tip of the finger (39) to which the hand device (37 to 39, 60) is driven and the stopper means (110) is fixed. ) Is positioned through the opening with respect to the object (Cij) to be handled in the opening, and the hand device (37 to 39, 60) is driven to move the tip from outside the opening to the object (Cij), that is, the x direction. The front of the finger (39) to shift the object (Ci
It is inserted between j) and its support and drives the hand device (37-39, 60) to shift the finger, to which the stopper means (110) is fixed, in the y direction intersecting with the x direction, which results in y. The object (Cij) that has moved in the direction and is disengaged from the support and is prevented from moving backward from the opening by the stopper means (110), that is, in the x direction, is held by the suction means (40), Hand device (37
~ 39, 60) the object (Cij) which is held by driving the object (Cij) is supported in the direction of exiting the opening, that is, in the backward direction of the x direction, although a part of the object (Cij) is outside the opening. The object (Cij) is driven by driving to a position where it is supported by the body, then releasing the holding of the suction means (40), driving the hand device (37 to 39, 60) and driving the finger driving means (60). Grab by means (37-39),
Object transfer control means (69) for driving the hand devices (37 to 39, 60) and driving the finger driving means (60) to transfer the object (Cij) and release the object (Cij).

In the object handling device of the second invention of the present application, the finger means (37 to 39) including the movable finger (37) and the opposing finger (38) facing the movable finger (37) and the movable finger (37) are provided to the opposing finger (38). A hand device (37) having a finger driving means (60) which is opened / closed with respect to
~ 39,60), one finger (3 to 3) in the finger means (37 to 39)
Stopper means (110) fixed to the base side from the tip of 9),
And an object handling means (37 to 42, 46, 60, 110) including a suction means (40) mounted near the tip of the finger (39) to which the stopper means (110) is fixed; the object handling means (37 to 42,46,60,110) hand drive means (61
~ 66); and a plurality of object using devices (MD) having a support section (44, 45) for supporting one object in a predetermined posture and having an object receiving space and using the object (Cij) in the space. ) The number of the object receiving space, the band retaining device (R) including the band supporting means (43) having a larger number; The object storing device (S) in which a large number of objects are arranged in a group in the supplying / receiving device; Conveying means (50 to 59,67) for driving the strap holding device (R) to the position of the object storage device (S) and the position of the object using device (MD); Hand device (37 to 39,60) ) Is driven to position the tip of the finger (39) to which the stopper means (110) is fixed with respect to the object (Cij) to be handled in the object receiving space through an opening connected to the space, and a hand device (37 to 39, 60) to drive the tip from outside the opening toward the object (Cij), that is, in the x direction. Shifted against the tip surface extending in the x-direction of the object of the finger, hand apparatus driven stopper means (37～39,60) (110) is fixed finger (39) x to
The object (Cij) is shifted in the y direction intersecting with the direction, thereby moving in the y direction, the engagement with the object using device is released, and the stopper means prevents the backward movement in the x direction. ) Is held by the suction means (40) and the hand device (37 to 39, 60) is driven and held by the object (Cij) in the direction of exiting the opening, that is, in the backward direction of the x direction. Although the object is outside the opening, the object is driven to a position where it is supported by the object using device, and then the holding means (40) is released, the hand device (37 to 39, 60) is driven, and the finger driving means (60). Drive the object (Cij) to grasp the object (37-39) with the finger means (37-39), and handle the object (37-42,46,60,110) and the hand device (37).
~ 39, 60) to drive the object (Cij) to the support section (4
4,45) to separate the object (Cij) from the object transfer control means (69); and the transfer means (50 to 59,67) to the object storage device (S) of the strap retaining device (R). ) To drive the hand device (37 to 39, 60) and the finger driving means (60) at the position of the object storage device (S) to drive the object (Ci) of the strap holding device (R).
object storage control means (69); which holds j) and stores it in the object storage device (S).

In addition, in order to facilitate understanding, symbols in parentheses are attached to corresponding elements in Examples described later for reference.

[Action]

For example, the object transfer control means (69) uses the hand device (37-39,6).
Finger (39) to which the stopper means (110) is fixed by driving 0)
Position the tip of the tape to the bottom of the cassette tape (Cij) etc. inside the input port of the magnetic tape recording / reproducing device (MD) and the cassette take-out finger insertion space inside the input port.
9,60) is driven to shift the tip toward the cassette (Cij), that is, in the forward direction of the x direction, so that the tip enters between the cassette tape (Cij) and the inner wall of the feeding port to control the object transfer. Means (69) are hand devices (37-39,60)
The cassette tape (Cij) is lifted by driving the finger (39) fixed to the stopper means (110) in the y direction orthogonal to the x direction, and the cassette tape (Cij) is lifted.
ij) is disengaged from the upper side of the locking wall inside the insertion port, and it tries to jump out of the insertion port by the repulsive force of the return spring inside the magnetic tape recording / reproducing device (MD), so that it is directly attached to the stopper means (110). Alternatively, it indirectly collides and the jump is stopped there. Next, the object transfer control means (69) holds this cassette tape (Cij) by the suction means (40), and the hand device (37-39,6)
0) is driven to hold the cassette tape (Cij) in the backward direction of the x direction, and then the holding of the suction means (40) is released, whereby the cassette tape (Cij) is ejected for a predetermined length from the insertion port. It stays in the inlet in a posture. Then, the object transfer control means (69) drives the hand device (37 to 39, 60) to drive the finger drive means (60) to move the cassette tape (Cij) to the finger means (3).
7-39), the hand device (37-39, 60) is driven to drive the finger drive means (60) to transfer the cassette tape (Cij) and release the cassette tape (Cij) (Cij) was pulled out from the inlet and collected.

In this way, the stopper means (110) and the suction means (4
0) and the object transfer control means (69) first release the cassette tape (Cij) from the loading port from the mounting position to prevent the cassette tape (Cij) from popping out at this time, and the cassette tape at a predetermined position and posture. (Cij) is temporarily stopped, and then the cassette tape (Cij) is moved by finger means (37-3).
Since it is grabbed and collected with 9), the cassette tape (Ci) from the magnetic recording / reproducing device (MD) can be held in a position and posture that the cassette tape (Cij) can grasp with one-touch operation.
In addition to collecting j), the magnetic tape recording / reproducing device (MD) will cause the cassette tape to spring out due to the spring pressure inside the recording / reproducing device or be in a position or posture that is difficult to grasp by the robot hand if it is not supported by hand. ) Can be used to collect the cassette tape (Cij).

In the above description, the object (Cij) to be operated is the cassette tape, but the object handling device of the present invention can be any object that can be collected / separated by the functions and operations described above.

In the examples described below, finger means (37-39)
Consists of two movable fingers (37, 38) and a hand device (37-3
It is assumed that the fixed finger (39) is fixed to the fixed finger (39), the stopper means (110) is fixed to the fixed finger (39), and the suction means (40) is fixed by the stopper means (110).
The cassette tape (Cij) is supported by the suction means (40)
At this time, since the suction means (40) is supported by the stopper (110), the cassette tape (Cij) is prevented from jumping out, and a suction negative pressure is supplied to the suction means (40) to supply the cassette tape ( Cij) is adsorbed and held.

However, according to the present invention, the finger means (37 to 39) is made up of one fixed finger and one movable finger facing the fixed finger, or two movable fingers (37, 38) facing each other. The stopper means (110) may be fixed to the one finger (38). The suction means (40) is supported by the stopper means (110), or the suction means (40) is provided separately from the stopper means (110) immediately before the cassette tape (Cij) hits the stopper means (110). The cassette tape (Cij) may be attached to a fixed finger or a movable finger (preferably a fixed finger), or the suction means (40) may be retracted / advanced drive means (60) from the retracted position to the stopper means. The cassette tape (Cij) stopped at (110) may be driven.

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. In this embodiment, a large amount of magnetic tape in a cassette (hereinafter, simply referred to as tape)
And a tape storage rack S storing the
Remove the tape from the rack, store the tape in the rack S and
A tape handling robot R that mounts (mounts) / demounts (takes out and collects) a tape on a magnetic tape recording / reproducing device (hereinafter, simply referred to as a tape device) MD on a stand.

This robot R, between the tape device MD and the rack S,
It moves along the rail G, moves from the replenishment shelf 95 for temporarily storing the tape to be replenished in the rack S to the rack S, and vice versa, and moves from the rack S to the tape device MD and vice versa.

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

The computer CC is a system control computer for controlling various actions of the robot R and the shelving for pulling out the required shelves of the rack S to the supply / reception station.

The computer BC is one computer of an online system composed of a central computer (not shown), a terminal computer and the like and a tie line that connects them, and responds to an information registration / readout command from the data line in response to a central computer or other computer. According to the information processing schedule given from the computer or a certain operation board, the computer CC is instructed to extract the information medium, to the tape device, and to collect it from the tape device.
The computer 96 is an information management computer for instructing reproduction / recording and transfer of information.

That is, the system itself shown in FIG. 1 is the information registration station of the online system, the computer BC is a management computer for this station, the computer CC is a control computer for controlling the rack S and the robot R, and the computer 96 is a tape device. It is a recording / playback control computer that controls the recording and playback of MDs (8 units) and the transfer of playback data.

First, an outline of operation will be described. The central computer of the online system itself, its operator or other in-system computer or its operator, or the operator of the computer BC (hereinafter collectively referred to as the host) is the tape that is used to execute the business schedule for tape operation. A schedule for attaching / detaching to / from the tape device MD is created and input to the information management computer BC, and when it is necessary to use a tape that is not in the schedule or the schedule is changed, this is input to the information management computer BC. . Further, when the rack S is replenished with tape, the operator places the replenishment tape on the replenishment shelf 95, that is, the tape replenishment station, and at the information management computer BC, the position where the tape code and the tape are arranged (position within the shelf 95). And position data indicating the storage position of the rack S and a replenishment command are input.

The information management computer BC stores the attachment / detachment schedule,
The data of the attachment / detachment schedule is cut out to the computer CC for system control (prescribed data is called the work schedule) at a predetermined interval in the order of execution, and when the use of a tape that is not in the schedule is input or the schedule is changed When input, the tape handling required for this is instructed to the system control computer CC.
When the replenishment command is given, the input data and the replenishment command are given to the computer CC for system control.

In the computer CC for system control, the storage position (position data) of the tape already stored in the rack S is stored in correspondence with the tape name (tape code), and this memory is called a conversion table. Computer CC for system control
When there is a replenishment command, the robot R is driven to the replenishment shelf 95, the tape in the robot R is extracted, and the tape is stored in the storage position of the rack S which is given together with the replenishment command. The replenished tape code is used as an address and the storage position is written in the conversion table. When the work schedule is given, the computer CC for system control creates and holds a work table in which the tape code therein is converted into the storage position data of the rack S using the conversion table, and the work table is additionally stored in the robot R. The number of tapes that can be accommodated is monitored, and the robot R extracts and holds, from the tapes that are used first in the order of execution on the schedule, the tapes that can be additionally accommodated, in which the skirt 43 of the robot R is formed. Corresponding to the tape support section (10 sections x 2 rows, 20 sections in total: 1 tape is stored in 1 section), the holding tape code (here, the storage position data of the rack S) is stored in memory (this is A skirt table), attach the tape of the skirt 43 to the tape device MD according to a loading / unloading instruction issued at a designated time or when required, or use the tape device MD. Take out the tape to recover to the skirt 43. Tape cords (tape cords) and skirts attached to each of the insertion ports No. 1 to 8 of the tape device MD (8 units)
The code of the tape held in 43 informs the information management computer BC every time there is a change in them. 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 (the insertion port Nos. 1 to 8), and determines the tape usage status. Refer to the following for creating / updating / changing the attachment / detachment schedule and interrupt handling.

Next, the rack S shown in FIG. 1 will be described in detail. The vertical section of the rack S is shown in FIG. 2a. The rack S has 20 shelves 1 to 20 having Nos. 1 to 20 having exactly the same structure, and a total of 20 shelves are supported by the shelf feeding mechanism 22. The rack S has one shelving opening, and at this opening there is a drawer / storing mechanism 25 that allows the shelves (1 in the illustrated example) at the opening to be moved from the rack S to the position shown in FIG. 2a. Withdrawn to supply / receive station as shown. The tape stored in the shelf 1 thus drawn out is shown by C in FIG. C is a group of tapes stored in one shelf and is in a supply / reception device (supply / reception station).

When the tape of another shelf is needed, the shelf 1 in the supply / reception station is pushed into the rack S by the mechanism 25 and coupled to the shelf feed mechanism 22, and the mechanism 22 is driven.

An enlarged plane of the shelf 1 is shown in FIG. 2b, and an enlarged section taken along line IIC-IIC of FIG. 2b is shown in FIG. 2c. In this embodiment, the inside of the shelf 1 is
As shown in Fig. 2b, the frame 21 made of synthetic resin is arranged in 16 columns x 6 rows.
96 tape storage compartments are formed. The wall between the adjacent sections has a shape with a part cut away. This is to prevent the robot R, which will be described later, from hindering the fingers 37, 38 for grasping the tape from entering the inside of the shelf for taking out the tape.

Tape C stored in each compartment of shelf 1 in phantom in FIG. 2c
_{Shows 15} , C ₂₅ , C ₃₅ , and C ₄₅ . Since there are 20 shelves 1-20,
All shelves can store 96 x 20 = 1920 tapes.

The replenishment shelf 95 has a section of 2 columns × 6 rows and the same shape as the section of the shelf 1, and can accommodate 12 replenishment tapes. The replenishment shelf 95 is installed in a predetermined posture on the rack S,
It can be attached to and detached from the rack S.

FIG. 2d shows the configuration of the electric elements of the rack S. Shelf feed mechanism
The rack drive motor 23 and the rack HP (home position: standby position) detector 24 are included in the rack 22.
Generates an HP present signal when the shelf 1 is correctly aligned with the drawer opening in the rack S, and does not generate it in other states.

The drawer / storing mechanism 25 includes a carriage drive motor 26 that reciprocally drives a shelf drive carriage (not shown), a shelf coupling solenoid 27 that drives a latch mechanism that couples the rack S to the carriage, and a shelf that is coupled to the carriage. , A shelf OP detector 28 that produces a shelf OP signal when positioned exactly at the supply / reception station outside the opening (when the carriage is in that position), and which shelf shelf detector 28 and which shelf It includes a shelf RR detector 29 that produces a shelf RR signal when that one shelf in rack S exactly matches the aperture and otherwise does not.

Motor driver 30, detector 31, motor driver connected to the above electrical elements of the shelf feed mechanism 22 and the withdrawal / retraction mechanism 25
32, the solenoid driver 33, and the detection circuit 34, via a signal amplification and shaping circuit, a filter circuit, or a photo-coupler or the like, which prevents signal attenuation and noise in the signal line, if necessary. , Is connected to the system control computer CC, and this computer CC
The rack feed mechanism 22 and the drawer / retraction mechanism 25 operate based on the mechanism energizing / deactivating signal from.

That is, the storage position of the tape is represented by the shelf number code + column number.coat + row number code. When the system control computer CC is turned on and initialization is performed, when the initialization is input from the operation board CB of the computer CC, and when the shelf HP setting is instructed from the computer BC. , Motor 23 forward rotation (shelves 1-20 rotated clockwise in Fig. 2a)
To the rack S, the motor 23 is stopped when the detector 24 generates a shelf HP signal, and a code indicating 1 is set in the shelf No. register. After that, every time the rack RP detector 29 generates a rack RP signal while the motor 23 is rotating in the forward direction, the contents of the rack No. register are updated to a code indicating a larger number, and the rack RP detector 29 is rotating while the motor 23 is rotating in the reverse direction. Each time the shelf RP signal is generated, the contents of the shelf No. register are updated to a code indicating a smaller number. As a result, the numerical value stored in the shelf number register when the detector 29 is generating the shelf RP signal indicates the shelf number in the shelf drawer opening. In this way, the computer CC grasps the position of the shelf in the rack S, especially the shelf number at the shelf drawer opening. Then, when there is a tape that needs to be extracted or a tape that needs to be stored, the computer CC compares the contents of the shelf No. register with the shelf No. in the storage position data of the tape, and the contents of the shelf No. register. , The number of driving steps (driving time) for driving the motor 23 in the forward direction (clockwise) and in the reverse direction (counterclockwise) so that the rack number in the storage position data of the tape is reached is calculated. The motor 23 in such a direction that the number of drive steps is small, and when the contents of the shelf number register become the shelf number in the storage position data of the tape, the motor 23
Stop, and then reversely energize the motor 26 to drive the carriage into the shelf inside the shelf drawer opening and stop, whereupon the shelf coupling solenoid 27 is turned on, and then the electric motor 26 is energized forward. When the detector 28 generates a shelf OP signal, the motor 26 is stopped and the solenoid 27 is turned off. As a result, the same shelf number as the shelf number in the storage position data of the tape is pulled out from the opening and is in the supply / reception station.

When another shelf needs to be positioned on the supply / reception station, the motor 26 is reverse biased to bring the shelf into the opening and when the detector 29 produces a shelf RP signal, the motor 26
And then forward drive motor 26 forward until detector 28 produces a shelf OP signal. As a result, the shelf outside the opening is connected to the shelf feeding mechanism in the rack S, and the carriage is in the standby position outside the opening. Then, the motor 23 is energized to position the required shelf in the opening.

As described above, the computer CC controls the positioning of each rack of the rack S to the supply / reception station.

Next, the robot R will be described. Referring to FIG. 1 and FIG. 3a, the robot R has a torso that rotates in the J5 direction (circular rotation on the horizontal plane) with respect to the base, and an upper arm 46 that rotates in the J4 direction (vertical direction) with respect to the torso. And a lower arm 42 that rotates in the J3 direction (vertical direction) with respect to the upper arm 46, a wrist 41 that rotates in the J2 direction (vertical direction) with respect to the lower arm 42, and centering around the center axis of the wrist 41.
It has a hand 36 that rotates in the J1 direction. Also a skirt on the base
43 is stuck.

As shown in FIG. 3a, the hand is equipped with two gripping fingers 37 and 38, which are opened and closed by air pressure. Another finger 39 is fixedly attached to the hand 36, and an arm for supporting the suction disk 40 is set up slightly on the front side of the tip of the finger 39.

FIG. 3a shows a state in which the tape Cij mounted in one of the tape loading ports Nos. 1 to 8 of the tape device MD is pulled out from the loading port. As shown by the solid line, a finger 39 is inserted below the tape Cij mounted in the tape receiving space of the input port (forward direction in the x direction), and the finger 39 is slightly further inward (in the x direction). When pressed in the forward direction), the suction cup 40 moves the coil spring 11
The tape Cij can be moved upward by compressing 1 and moving backward. In this state, the hand 36 is driven upward (upward in the y direction). As a result, the tape Cij moves upward to the draw-out position, and tries to jump out of the insertion port by the repulsive force of the push spring inside the tape device MD, but hits the suction plate 40. The suction plate 40 is supported by the stopper 110 via the coil spring 111, and the coil spring 111 is momentarily compressed to retract the suction plate 40.
The suction plate 40 is pressed against the tape by the repulsive force of the coil spring, and the suction plate 40 adheres to the tape. That is, the tape which is about to be ejected is prevented from ejecting (moving backward in the x direction) by the stopper 110 via the suction plate 40. Here, air suction pressure is applied to the suction plate 40. This gives the tape Ci
The j is securely supported by the finger 39 and the suction plate 40. Then, the hand 36 is driven in a direction away from the tape mounting front wall (backward in the x direction) so that the tape Cij does not drop from the insertion port, and the fingers 37, 38
The drive of the hand 36 (backward in the x direction) is stopped with the pull-out length that can be grasped with, and a positive pressure is supplied to the suction plate 40 to suck it
Is released from the tape Cij and the hand 36 is further separated from the front wall of the tape device (backward in the x direction). Then rotate the hand 36 in the J1 direction and the wrist 41 in the J2 direction to attach the fingers 37 and 38 to the tape Cij.
Face the (imaginary line), open the fingers 37 and 38, move the hand 36 toward the front wall of the tape device (forward direction in the x direction) so that the tape Cij (virtual line) is placed between them, and Close 37,38 and grab the tape Cij with them. The gripped tape is entirely pulled out from the input port by further driving the hand 36 in the backward direction of the x direction. Then, the skirt 43 is carried on the pre-allocated storage compartment and dropped there. When the tape is loaded in the tape receiving space in the loading slot, that is, the information reading / writing position, the above-described tape ejecting operation in the loading slot is generally performed in reverse in time series.

Action to grab the tape of each section in the rack S rack, replenishment rack
The operation of grabbing the tape of each section in 95 and the operation of grabbing the tape of each section of the skirt 43 are easier than the above-mentioned operation when the tape is taken out from the input port. In this motion, roughly, the finger is positioned and opened just above the center of the required compartment, it is lowered and closed, and then lifted.

Further, the operation of accommodating the grasped tape in the compartment of the rack S or the compartment of the skirt 43 is easy. In this motion, roughly, position the tape directly above the required section,
Lower your hand and open your finger in place.

The enlarged plane of the skirt 43 fixed to the base RB of the robot R is shown in FIG. 3b, and the enlarged section IIIC-IIIC of FIG. 3b is shown in FIG. 3c. The skirt 43 has a fan shape having a spread of about 90 degrees, and has two rows of tape accommodating compartments 44 and 45 in the radial direction, and each row has 10 compartments. When the tapes are stored in the first row 44 and the second row 45, or the tapes are taken out from them, if the column numbers are the same, the rotation angle of the body of the robot R and the extension and retraction directions of the hand with respect to the center of the body. , The columns in the first and second columns are the same column N
The ones of o. are aligned so that they are located on the same radius. Also, although it can be seen in FIG. 1 that the second row of compartments 45 appear below the first row of compartments 44, they are substantially at the same height, exactly as shown in FIG. 3c. Since the robot R moves, the tape is likely to be randomly jagged in the compartments 44 and 45. If the partition is made smaller to accommodate the outer shape of the tape, such a shift is reduced, but this time, there is a problem that it is difficult to grip the tape or house the tape. Therefore, in this embodiment, the side walls of the compartments 44 and 45 are inclined about 31 ° with respect to the horizontal plane as shown in FIG.
The bottoms of 44 and 45 are also inclined at the same angle. This will give you Section 4
The tapes Ckm and Cnp dropped on 4,45 always contact the side wall on the body center side due to their own weight. This allows the fingers 37 and 38 to always grasp the center of the width of the tape. As will be described later, an operation program that takes out the tape from each section by teaching and stores the tape in each section is created, and thereafter, this operation program is repeatedly executed, so that the tape is randomly distributed in the section. If the robot R is jammed, there is a high possibility that the robot R will fail to grab the tape or store the tape in the compartment, and the misalignment of the tape will increase, resulting in failure to load the tape device MD into the loading slot or rack S. There is a high possibility that storage failure will occur on the shelves. As shown in FIG. 3c, the sections whose sidewalls are inclined will automatically perform centering (centering) of the tape, and such a problem does not occur.

FIG. 3d shows a main part of a mechanism which supports the base RB of the robot R and conveys the robot R along the rail G in the J6 direction (arrangement direction of the rack S and the tape device MD). The rails 47 and 48 are arranged in parallel to the floor of the information registration / reproduction station, and the rail 47 is attached with a flexible insulating sheet 49 on which a feeding conductor and a signal conductor are attached. 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 52 ₁ and 52 ₂ are coupled to the axle 50 and supported thereby, and the transport legs 52 ₃ and 53 ₄ are coupled to and supported by the axle 51, respectively, on the transport legs 52 _{1 to} 52 ₄ . Robot base
RB is fixed, the side plates of the base is covered conveying legs 52 _{1-52 4} and a wheel or the like. A transfer motor and a speed reducer 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 speed reducer.
4 are in mesh and these chains 53,54 are the axles 50 and 51.
Are driven to rotate in the same direction at the same speed.

The conveying legs 52 ₁ is fixed a hollow feed arm 56, the lower end of the arm 56, a flexible brush in contact with the feed conductor and signal conductor of the insulating sheet 49 is mounted, a power line and connected to these brushes The signal line is guided through the inside of the arm 56 to the electric component section of the robot R. A stopper 58 is fixed to the right end of the rail 47, and a right limit position is provided at a position of the arm 56 facing the stopper 58 (in this embodiment, this is the home position HP of the robot in the system shown in FIG. 1). ) A detector 56 for detection is attached, and its signal line is guided to the electrical equipment section of the robot R through the inside of the arm 56. Detector 5 for left limit position detection on leg 52 ₃
9 is installed.

Figure 3e shows the electrical components of the robot R. Robot R
Is a finger opening / closing mechanism 60 for opening / closing the fingers 37, 38, a tape suction mechanism 6
1, hand rotation mechanism 62, wrist rotation mechanism 63, lower arm rotation mechanism 64, upper arm rotation mechanism 65, torso rotation mechanism 66 and self-propelled mechanism 67, biasing electric elements such as motors included in these mechanisms Detection circuits 72 to 94 for processing the signals of the electric circuit and the detection element for detecting the mechanism state, the mechanism control computer (a microcomputer system mainly composed of CPU, RAM and ROM) 69, the communication control unit 70
And a communication interface 71.

The finger opening / closing mechanism 60 is an air compressor composed of an electric motor and an air compressor, and a pressure switching valve (solenoid valve) and a finger 37 for selectively supplying the suction negative pressure and the discharge positive pressure of the compressor to the finger drive cylinder of the hand 36, A limit detector that produces a signal indicating when 38 reaches the closed limit position.
The positive pressure of the discharge of the air compressor drives the fingers 37, 38 to close, but these forces do not cause any damage to the tape (cassette container), but the fingers 37, 38 are sufficient to hold the tape securely. The operating pressure of the compressor is set to a positive discharge positive pressure. That is, when the tape is held by the fingers 37 and 38, the positive discharge pressure is constantly supplied to the finger drive cylinder. When opening, suction negative pressure is switched and supplied to the finger drive cylinder. The limit detector is used to determine if the tape is grabbed, which includes both a tape miss but no tape catch and a tape mishandling that the tape never existed.

The tape suction mechanism 61 selectively sucks negative suction pressure and positive discharge pressure of the air compressor through a throttle orifice.
Includes pressure switching valve (solenoid valve) to supply to 40. The pressure switching valve normally supplies a positive pressure to the suction plate 40, and is at the take-out position from the inside of the inlet of the tape device (the tape shown by the phantom line in FIG.
A negative pressure is supplied to the suction plate 40 when the tape is pulled up to Cij).

The hand rotation mechanism 62 has a DC motor for rotating the hand and one pulse for each rotation of the hand rotation mechanism at a predetermined small angle.
When the rotary encoder that generates two sets of pulses that are offset from each other and the hand 36 are at a predetermined rotation angle (home position: HP), generate a signal indicating that (hand rotation HP signal).
Includes HP detector.

The wrist rotation mechanism 63, the lower arm rotation mechanism 64, the upper arm rotation mechanism 65, and the trunk rotation mechanism 65 also include the same elements as the electric elements of the hand rotation mechanism 62.

The self-propelled mechanism 67 is a DC motor for driving the chains 53, 54,
It includes a rotary encoder and limit detectors 57 and 59 that generate two sets of pulses, one pulse for each predetermined small angle rotation of the motor, the phases of which are 90 ° out of phase with each other.

The communication control unit 70 includes a mechanism control computer 69 and a computer CC.
(Communication control unit) is an electronic device for controlling the exchange of data, and when the mechanism control computer 69 instructs the transmission, the parallel data given by the computer 69 is serially converted and the sheet 49 of the seat 49 is transmitted via the communication interface 71. When the data is sent to the signal line and 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 serial reception data is converted into parallel data 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. 3i. Referring to this, when the computer 69 is turned on, the computer 69 initializes the system by leaving each mechanism in the non-energized state as it is (step 100; hereinafter, the word step in parentheses is omitted), and First, the states of the mechanisms 60 to 67 are detected to determine whether there is an abnormality (101), and if there is an abnormality, it is notified to the computer CC (103). If all are normal, first, the mechanisms 62 to 67 are initially positioned one by one from the hand rotation mechanism 62 in that order (102).

In the hand rotation mechanism 62, the rotation range of J1 of the hand 36 is HP
It is ± 180 ° in the inside, and rotation outside that range is impossible due to the mechanism. That is, even if the DC motor is continuously energized beyond that range, the hand 36 stops rotating at the limit of that range, and DC
The motor is overloaded because it is prevented from rotating, but the DC motor is designed so that it will not suffer damage if it is overloaded for the energization time required for one rotation during normal operation, that is, motor lock energization. In initial positioning of the hand rotation mechanism 62, the computer 69 first detects the hand 36 from the signal from the HP detector.
It is determined whether the rotation angle of J1 is HP by referring to the signal of the HP detector, and if the HP detector is generating the HP signal, 0 is set (register clear) in the hand rotation angle register. When the HP signal is not generated, the DC motor is energized in the normal rotation within the half-rotation time. When the HP signal appears during this energization, the motor is stopped there and the hand rotation angle register is set to zero. When the time corresponding to half a rotation elapses without the HP signal appearing, the DC motor is stopped there, and then the DC motor is energized in the reverse direction. When the HP signal appears, the motor is stopped there and the hand rotation angle register is set to 0. As a result, the initial positioning of the hand 36 in the J1 direction is completed, and the data indicating the position in the J1 direction is stored in the hand rotation angle register.

In addition, the rotation of the DC motor causes the rotary encoder to
A pair of pulses A and B are generated, and the detection circuit determines the direction of rotation of the motor from the order of generation and a signal indicating the direction and pulse A
Is given to the calculator 69. When the DC motor is energized after the initial positioning is completed, the computer 69 responds to the direction signal and the pulse A provided by the detection circuit, and when the direction signal indicates the DC motor forward rotation, the pulse A is Every time one pulse appears, the content of the hand rotation angle register is updated to a code indicating a larger number, and when the DC motor reverse rotation is indicated, the content of the hand rotation angle register is decreased by one each time a pulse A appears. When the HP detector generates an HP signal, the contents of the hand rotation angle register are cleared to 0 (HP). Therefore, after the initial positioning is completed, the rotation angle data in the J1 direction of the hand is always stored in the hand rotation angle register.

The computer 69 performs the initial positioning of the mechanisms 63 to 67 in the same manner as the initial positioning of the hand rotation mechanism 62 described above.
The rotation angle of the wrist rotation angle register, the rotation angle of the lower arm rotation mechanism 64 to the lower arm rotation angle register, the rotation angle of the upper arm rotation mechanism 65 to the upper arm rotation angle register, and the trunk rotation angle. The rotation angle of the mechanism 66 is stored in the trunk rotation angle register, and the position of the self-propelled mechanism 67 is stored in the self-propelled position register. The rotation range of the mechanisms 63 to 65 is an angle narrower than ± 180 ° about their HP, and the rotation range of the barrel rotation mechanism 66 is ± 180 ° about their HP. Note that when the initial positioning of the mechanisms 62 to 67 is normally completed, the computer 69 notifies the computer CC of the ready via the communication control unit 70.

When the computer 69 detects an abnormality in these initial positioning,
The computer CC is notified of the abnormality (103). When the processing ends normally, it sends a ready message to the computer CC and waits for the computer CC to instruct (transmit) a command (105). If there is a transmission from the computer CC, it will receive it, read the received data, and
The instruction is decoded (106), the instruction is executed (107), and when the instructed processing ends, the end is notified to the computer CC. One type of command execution is a control operation that causes the robot R to perform a desired operation. Details of the control operation will be described later with reference to FIGS. 3j and 3k.

Next, the computer CC will be described. The computer CC is a computer of a high-end personal computer level, which has three floppy disk devices CF, a CRT display CD, an operation board CB, a main computer, and a communication control unit and a communication interface, and stores an operation program of the main computer. Set the floppy disk in No. 1 of the disk unit CF and turn on the power to put the computer into operation. Execution of the No. 2 program (application program) of the disk unit CF is part of the operation program of the main computer. Disk device CF No.3 is
It is assigned to write or read data designated to be registered or read during execution of the operation program or application program.

An outline of the main operation of the computer CC is shown in Fig. 4a. When a computer operating floppy disk is set in No. 1 of the disk unit CF and the computer CC is turned on, the computer CC initializes its internal I / O port (routine 1 in Fig. 4a) and then operates. Program is read from the disc, and the operation menu is displayed on the display CD according to the operation program. There is "execution of application program" in the operation menu. In this embodiment, there are three types of application programs, teaching, actual work and test, which are stored in separate floppy disks.

When the operator sets the teaching disk to No. 2 of the device CF and specifies "execute application program", the computer 69 reads the data of the No. 2 disk of the device CF, stores it in the program memory, and reads the data. The operation (routine 3 in FIG. 4a) according to the program is executed.

When the operator sets the working disk in No. 2 of the device CF and specifies "execute application program", the computer 69
The data of the No. 2 disk of the device CF is read and stored in the program memory, and the operation according to the read program (routine 4 in FIG. 4a) is performed.

When the operator sets the test disk in No. 2 of the device CF and specifies "execute application program", the computer 69 reads the data of the No. 2 disk of the device CF and stores it in the program memory, The operation according to the read program is performed.

First, the teaching operation (routine 3) will be described. This is to create a program that causes the robot R to perform a required operation. The movements or data of the robot R that require teaching are shown in FIG. 4b.

The "1 standby posture" of the teaching item TA is also called a basic posture, and this posture is set on any of the rack S, the tape device MD, and the replenishment shelf 95 when the robot R moves along the rail G. Even if the operator is around them, the possibility of danger to the operator is small, and the arm extension from that position to the tape removal of the rack S is small, and the arm extension to the tape removal of the skirt 43 is also small. It is a basic posture that is set from the viewpoint that it is small and the arm extension to the insertion port of the tape device MD is also small.

"2 system HP" of teaching item TA is robot R
The stand-by position (base position of the robot R with respect to the entire system shown in FIG. 1) during rest is defined. In this embodiment, this is the stopper 58 (3d
The figure) is the robot position detected by the limit detector 57.

The teaching item TA “3 rack HP” defines the base point position of the robot R with respect to the rack S. This is in front of the shelf column No. 1 in the supply / reception station in this embodiment.

The teaching item TA “4 tape device HP” defines the base point position of the robot with respect to the tape device MD. This is the input port No. 1 of the tape device MD in this embodiment.
Before.

Teaching item TA "5 skirt HP" is skirt 43
It defines the base point position of the robot torso (ie, upper arm 46) with respect to. In this embodiment, this is the column No. 1 of the tape storage section of the skirt 43.

The teaching item TA "6 rack 1 column shift amount" defines one pitch length of the column pitch of the tape storage section of the shelf in the supply / reception station.

The "7 tape device 1 pitch shift amount" of the teaching item TA defines one pitch length of the array pitch of the insertion ports No. 1 to 8 of the tape device MD.

Teaching item TA "8 skirt 1 column shift amount" is
One pitch angle (rotation angle of the body) of the column arrangement pitch of the tape accommodation section of the skirt 43 is defined.

Teaching item TA, "Taking out tapes from each row of 9 racks", includes 6 types from the 1st row to the 6th row, and each row of the shelves in the supply / acceptance station of the rack S starting from the standby position. It is an operation until the tape is taken out from and the tape returns to the standby position while holding the tape.

Teaching item TA “10 tapes stored in each row of skirts” is of two types, the first row and the second row. It is a motion until it falls to and returns to the standby posture.

There are two types of teaching item TA, "Taking out tape from each row of 11 skirts", that is, 1st row and 2nd row. This is an operation of returning to the standby posture while holding.

Teaching item TA “13 tape mounting on tape device”
Is an operation that starts from the standby position and mounts the held tape in the loading slot of the tape device and returns to the standby position.

The teaching item TA, “14 tape ejection from tape device”, is an operation that starts from the standby position and pulls out the tape from the input port of the tape device and returns to the standby position while holding the gripping tape.

Teaching item TA “Tape storage in each row of 15 racks” has six types from the first row to the sixth row, and each of the tapes starting from the standby posture and holding the tape is supplied / received. This is an operation in which the shelves are dropped into each row and returned to the standby posture.

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

The teaching item TA "17 system HP waiting period" defines the end of work, and in this embodiment, this content is
It is to return to the standby position and move to the system HP.

The teaching item TA “18 replenishment station HP” defines the base point position of the robot R with respect to the replenishment shelf 95, which is the column No. 1 of the replenishment shelf 95 in this embodiment.

Teaching item TA “19 replenishment shelf 1 pitch shift amount”
Defines one pitch length of the column pitch of the tape storage section of the replenishment shelf 95.

Teaching item TA, "20 Removable Shelf Each Row Tape Removal"
There are 6 types of 1st to 6th rows. Starting from the standby position, the tape is taken out from each row of the replenishing shelves of the replenishment shelf 95 of each row, and the tape is kept in the standby attitude while holding the tape. It is the operation until returning.

Teaching item TA "21 Replenishment shelves 95 Storing tapes in each row" has six types from the first row to the sixth row. Starting from the standby position, the replenishment shelves 95 store the replenishment shelves in each row. This is the operation until the tape is dropped into each row of the section and the robot returns to the standby position.

In the "teaching" routine 3 shown in FIG. 4a, the computer CC displays the menu showing the above-mentioned teaching items on the display CD, and every time the operator designates one of the items, the robot operation of the item is performed. A program for setting data is executed to drive the robot R according to the input of the operation board CB to create data according to the input of the operation board BC, and when the operation input of the item is completed, the operation board CB
Register to the disk set in No. 3 of the floppy disk CF corresponding to the teaching item according to the input of.

In the teaching routine 3, 8 of the operation board CB is used.
Keys (for example, A, B, C, D, E, F, G, H) are assigned to each of the mechanisms 60 to 67, and turning on each key specifies each of the mechanisms 60 to 67. And the cursor of the mouse and display CD connected to the operation board CB
Assigned to movement direction indication, finger opening / closing and suction / release.

If the key A is turned on and the finger opening / closing mechanism 60 is specified and the downward movement cursor key is turned on when the teaching item “1 standby posture” is specified, the computer CC causes the computer 69 to turn on the air compressor of the mechanism 60 and The pressure switching valve ON (finger closing drive) is instructed to close the fingers 37 and 38 of the robot R. When the key B is turned on and the up-moving cursor key is turned on, the computer CC instructs the computer 69 to turn off the pressure switching valve of the mechanism 61 (release the negative pressure suction), and the suction plate of the finger 39 of the robot R.
Supply 40 with positive pressure. When the key C is turned on and the right move cursor key is turned on, while this is on, the computer CC instructs the computer 69 to rotate the DC motor of the mechanism 62 in the forward direction, rotate the hand 36 clockwise, and move the left move cursor key. When turned on,
While this is on, it instructs the reverse rotation of the DC motor to rotate the hand 36 counterclockwise. Similarly, when the downward movement cursor key is turned on after the key D is turned on, the DC motor of the mechanism 63 is normally rotated and the wrist 41 is rotated downward, and when the upward movement cursor key is turned on, the wrist 41 is moved. Rotate upwards. If the cursor E key is turned on after the key E is turned on, the mechanism 64
The DC motor rotates in the forward direction to rotate the lower arm 42 downward, and when the upward movement cursor key is turned on, the lower arm 42 rotates upward. When the F cursor is turned on after the key F is turned on, the DC motor of the mechanism 65 is normally rotated, the upper arm 46 is rotated downward, and when the upper movement cursor key is turned on, the upper arm 46 is joined upward. To do. When the right move cursor key is turned on after the key G is turned on, the DC motor of the mechanism 66 is normally rotated to rotate the body clockwise, and when the left move cursor key is turned on, the body is rotated counterclockwise. To do. When the right move cursor key is turned on after the key H is turned on, the DC motor of the mechanism 67 is normally rotated to move the robot R right, and when the left move cursor key is turned on, the robot R is moved left. When each mechanism is thus driven, the robot R is set to a desired posture, and registration is instructed, the computer CC transfers the current position data of the mechanisms 60, 61, 62, 63, 64 and 65 to the computer 69. And give these data
It is received from 69 and the mechanism 60, 61, 6 is set as “1 standby posture”.
The position data of 2,63,64,65 and 66 are registered in this order.

When "2 system HP" of the teaching item TA is designated, the mechanism 67 is urged to drive the robot R to the right, and the detector 57 detects the limit stopper 58 and the robot R is automatically stopped. When instructed, 1 as "2 system HP"
Data that specifies standby posture + right drive of robot R + detector 57 detects stopper + stop + finger open + suction release is registered.

If you specify "3 rack HP" in the teaching item TA, drive the robot R to the front of the rack column No. 1 in the supply / acceptance station of the rack S, and instruct to register, "3 rack H
As "P", data for designating 1 standby posture + robot R is driven in the No. 1 column of the rack S (this is the position data of the mechanism 67 at that time) is registered. This position data is calculated by
The CC instructs the computer 69 to transfer and obtains it from the computer 69.

Specify "4 tape device HP" of teaching item TA,
Drive the robot R in front of the insertion port No. 1 of the tape device MD,
When the registration is instructed, the data designating "4 tape device HP", 1 standby posture + robot R is driven to the insertion port No. 1 of the tape device MD (this is the position data of the mechanism 67 at that time) is registered. To be done.

If you specify "5 skirt HP" in the teaching item TA, drive the body so that the upper arm 46 of the robot R is in front of the skirt 43 column No. 1, and instruct to register, "5 skirt HP"
As a result, the data designating 1 standby position + upper arm (body) is driven to the skirt column No. 1 (this is the rotation angle of the body at that time) is registered.

Specify "6 rack 1 column shift amount" of the teaching item TA, first drive the robot R in front of the rack S to stop at an appropriate column No. (for example, column No. 1) and move the left cursor 1 When turned on, the computer CC will change from the computer 69 to the mechanism at that time.
67 position data is obtained and latched, then the robot R is moved to the next column position (column No. 2) of the rack S and the right move cursor is turned on once, and the computer CC causes the computer 69 to change the mechanism at that time. 67 position data is obtained and latched, the difference between the data at the two latched positions is calculated, and the difference value is registered as "6 rack 1 column shift amount".

Registration of "7 tape device 1 pitch shift amount" and "8 skirt 1 column shift amount" is similar to the above-mentioned "6 rack 1 column shift amount" processing.

The operator specifies "9-1 Take out tape in the first row of the rack" and sets the robot R to the appropriate column No. of the rack S.
When the robot R is positioned before (for example, No. 1) and the standby posture of the robot R is instructed, the computer CC sends the above-mentioned “1 standby posture” data to the computer 69, and the computer 69 responds to this by causing the robot R to move. Set to the standby position. Then the operator
Operate ~ 66 in the same way as in the case of "1 standby posture" teaching described above, and press the shift key. The position data of the mechanism 60-66 when the shift key is pressed is the target for one stage (operational section). It is read into the computer CC as position data (section data). The operator operates the mechanisms 60 to 66, presses the shift key, grasps the tape in the first row of the rack S with the fingers 37 and 38, and causes the robot R to perform an operation until it approaches the one standby posture described above. Press the shift key at the node that becomes the switching point. When the operator operates the end key, the computer CC displays the node data (1st node data + 2nd node data + ... + last node data) read by then + data instructing the standby posture in this order. Register in line.

The teaching process of taking out the tapes of the respective rows 9-2 to 9-6 of the teaching item TA is the same as that of the above-mentioned first row, and the row numbers of the tapes to be taken out are different.

The operator designates "10-1 Storing tape in the first row of the skirt" and sets the robot R to the appropriate column N of the skirt 43.
Position it in front of o. (for example, No. 1), operate the mechanisms 60 to 66 in the same way as in the above-mentioned "1 standby posture" teaching, and press the shift key to move the mechanism 60 when the shift key is pressed. The position data of ~ 66 is read into the computer CC as the target position data (node data) of one stage (node in operation). The operator operates the mechanisms 60 to 66 and presses the shift key to store the tape grasped by the fingers 37 and 38 in the standby position in the No. 1 row of the skirt 43, and then the robot R until it comes close to the one standby position described above. , And press the shift key at the node that becomes the switching point for time-series operation. When the operator operates the end key, the computer CC reads the node data (first node data + second node data + ...)
+ Last section data) + Register the data that indicates the standby posture.

The teaching process of storing the teaching item TA in the second row 10-2 is the same as that for the first row described above, and the skirt row number to be stored is different.

To remove the tape from each row of the skirts 11-1 and 11-2 of item TA, drive the hand 36 from the standby position to grab the tapes of the first and second rows of the skirt 43 and return to the standby position. Therefore, the operation is roughly the reverse of the above-mentioned operation of accommodating the tape in the skirt. The data registration for this is also performed in the same manner as the data registration for the above-mentioned storage.

In the setting of the operation program of "13 tape mounting in tape device", the robot R grasping the tape in the standby position is positioned in front of an appropriate insertion port (for example, No. 1) of the tape device MD, and the mechanisms 60 to 66 are used. Is operated in the same manner as in the above-mentioned "1 standby posture" teaching, and the operation of mounting the grasped tape in the insertion opening is performed. Then, the operation data from the mounting to the returning to the standby posture is registered.

In the operation program setting of "14 Take out tape from tape device", drive the robot R in the standby posture,
The operation data until the tape in the insertion slot is pulled out, grasped by the finger, and returned to the standby position is registered.

Registration of the operation program of "storing tapes in each row of 15 racks" is similar to the operation of "taking out tapes in each row of 9 racks". However, the difference here is that the robot R in the standby position is driven by grasping the tape and the grasped tape is stored in each row of the racks of the supply / reception station of the rack S.

In "16 work ends", 1 standby position + finger open + suction release,
The data indicating is registered.

In “17 system HP standby”, data indicating standby posture + finger opening + suction release + 2 system HP is registered.

The setting of the operation programs 18 to 21 of the teaching item TA is the same as the setting of the operation program for the rack S described above.

The operation program, etc. (operation program table) described above is calculated by the computer CC in the floppy disk drive CF N
Register to the floppy disk installed in o.3.

The operation of the computer CC and the operation of the computer 69 up to the registration will be described in a little more detail. For example, as described above, when the teaching item "1 standby posture" is specified, the key When the move cursor key is turned on, the computer CC creates the instruction frame 1 shown in FIG. 3g and sends it to the computer 69. The target mechanism of instruction frame 1 is the mechanism
The one that specifies 60, the specified circuit is the motor driver 72,
The instruction contents are ON, there is no target value, the detector is the limit detector, the detection state is OFF (open), and the hold designation is “Hold” (compressor ON continues). Following this instruction frame, the target mechanism is mechanism 60. The designated circuit is the valve driver 73, the instruction content is on, there is no target value, the detector is the limit detector, the detection state is off (open), and the hold designation is “hold”, and the command frame is transmitted. Calculator 69
As instructed by these instruction frames, the compressor is turned on and the pressure switching valve is turned on (finger closed). Then, the energizing state data is stored in the state register assigned to the mechanism 60, and the computer CC is notified of the end of the instruction execution.

When the upward movement cursor or the downward movement cursor is turned on after the key B is turned on, the computer CC sets the target mechanism of the instruction frame 1 shown in FIG. 3g to 61, the designated circuit to the valve driver, and the instruction content to the pressure. Switch valve off (upward moving cursor: positive pressure discharge from suction cup 40) or on (downward moving cursor: suction negative pressure supply to suction cup 40), no target value,
There is no detector, there is no detection state, and the hold designation is sent to the computer 69 as “hold” (maintaining ON or OFF), the computer 69 executes this instruction, and when it finishes, the computer
The CC is notified of the end of instruction execution, and the setting state of the mechanism is stored in the state register assigned to the mechanism 61.

When the right move cursor key is turned on after the key C is turned on, the computer CC displays the instruction frame 1 shown in FIG. 4g.
The target mechanism of is the mechanism 62, and the designated circuit is the motor driver 56
And the instruction content is forward rotation, no target value (infinity point),
It is transmitted to the computer 69 that there is no detector, no detection state, and no hold designation. The computer 69 energizes the motor in the forward direction.
When the right move 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 69 responds to this and stops the motor. When the left movement cursor key is turned on, the motor is similarly biased in the reverse direction, and when the left movement cursor key is turned off, the motor is similarly stopped. In any case, the rotation angle of the hand is stored in the hand rotation angle register. The operations of the computers CC and 69 when the other mechanisms 63 to 67 are designated are the same as described above. Then, when the registration is instructed, the computer CC causes the contents of the status register of the mechanism 60, the contents of the status register of the mechanism 61, and the mechanism 62.
Writing the contents of the register such as the rotation angle of ~ 67 and the detector state of the mechanism 67 (section data) to the RAM 103,
Instructions are given to the computer 69 using the instruction frame 2 shown in FIG. 3g. In this case, as the head of the write address, the write head address specified in "1 standby posture" is specified. Then, in the command frame 3, the transmission of these node data to the CC is instructed, and these node data are written in the writing area of the "1 waiting posture" of the floppy disk.

In the above-mentioned "2 system HP", "3 rack HP", "4 tape unit HP", and "5 skirt HP", the computers CC and 69 perform the same control operation as in the above-mentioned "1 standby posture". . "6 rack 1 column shift amount", "7 tape device 1
In the "pitch shift amount" and "replenishment shelf 1 column shift amount", the computer CC shows the driving / stopping command, the writing command, and the sending command necessary to obtain them: the command frame 1, the command frame 2 and the command shown in Fig. 3g. It is given to the computer 69 in the frame 3, and the data is written in the RAM 103 and also written in the No. 3 floppy disk.

In the complicated operation such as the above-mentioned "Taking out tape in the first row of 9-1 rack", each time the shift key is operated, the above-mentioned node data is sequentially transferred to the RAM 103 (from 9-1 registration start address). No.3 by writing to and sending to CC
The floppy disk (from 9-1 registration start address) is sequentially recorded.

As described above, the robot operation data (operation program table) for all TA items shown in FIG.
Register on 03 and No. 3 floppy disk.

In the working routine 4 (FIG. 4a), the computer CC reads the registration data (operation program table) of the floppy disk mounted in the floppy disk unit CF No. 3 and transfers it to the computer 69. This is commanded by sending the instruction frames 5 and 6 shown in FIG. 3g in succession.

That is, for each operation program (section data group) of each operation item (item in FIG. 4b), the instruction frame 5 instructs the reception and the instruction frame 6 instructs the RAM 103 write start address TAis.
Is specified, then the operation program is read from the No. 3 floppy disk and transmitted, and when the transmission of one operation program is completed, the next instruction frames 5 and 6 are sent.
To read and send the next operation program from the disk. As a result, the operation program registered in the floppy disk (entire operation program table; obtained by teaching) is stored in RAM1 of the computer 69.
Write to 03.

After that, the computer CC sends the data designating the above-mentioned teaching item (operation program) to the computer 69 every time a work is generated. This is the instruction frame 5 shown in Figure 3g,
Perform with 7 and 8. This is an operation command to the robot R. The computer 69 of the robot R sequentially reads out the ones (node data) designated by the command data among the operation program tables previously transferred based on the command data, and determines the postures designated by the node data. Mechanisms 60 to 66 are sequentially set in the state and position for each node.

For example, supply / reception station shelf No.a, column No.b, row N
Attach the tape x of oc to the input port No.d of the tape device MD,
When there is an instruction from the computer BC to the computer CC to store the tape y of the loading slot No. e of the tape device MD in the rack S, the computer CC will use the skirt table (memory) data to be described later to indicate the empty section column of the skirt 43. Search No.f, column No.g,
The empty partition is allocated for storing the tape x, and the computer 69
(1) 1 standby position + 3 rack HP + column No.b, and the rack No.a of the rack S is driven to the supply / reception station. This instruction from the computer CC to the 69 is the item TAis (“1 waiting posture”) of the operation program (which executes the teaching item in FIG. 4b) instructing the reception in the instruction frame 5 and then the operation in the instruction frame 7. Section data start address) and its write address to RAM103 ETAi
Similarly, the start address of the node data of "3 rack HP" is notified in the instruction frame 7, the column No.b is notified in the instruction frame 7, and finally "Inform end" is specified in the instruction frame 7. The data to be transmitted, and finally the instruction frame 8
Then, an operation is instructed based on the item and data written in the address ETAi of the RAM 103 in this way (execution start instruction)
To do. The computer 69 responds to these receptions, and in the RAM 103,
At the address ETAi (i is incremented for each writing), the start address of the node data of "1 waiting posture", "3
When the start address of the section data of "Rack HP", column No.b and "Notify end" are written in sequence, and the computer 69 receives the execution start instruction, the computer 69 starts the control operation shown in FIG. When the "1 waiting posture" item (starting node data storage starting address of the waiting posture) at the top address of the ETAi is read, the data (section data) from the read starting address to the last address (TAie) of the item is stored in the RAM 103.
The mechanism 60 to 67 is set to the position, posture and state (those set by teaching) specified by the read data. As a result, the robot R first comes to the standby posture. Next, ETAi's next address "3 rack H
When the "P" item (rack HP node data storage start address) is read, the data (section data) from the read start address to the end address of the item is sequentially read from the RAM 103 and specified by the read data. Mechanism 60 to 67 depending on the position, posture, and state (set by teaching)
To set. In this case, the robot R is in the rack S column N
Move before o.1 and stop there. Next, when the "column No.b" data of the next address of ETAi is read, the target position in 16 directions [rack HP position + (b-1) x rack 1 column shift amount]
The robot R compares the current position with the rack column No.b.
Move in front of and stop there. Next, when the "notification of end" data of the last address of ETAi is read, the computer 69 notifies the computer CC of "end of command execution (work end)".

When the computer CC finishes driving the rack and the computer 69 notifies the end of the work, the computer 69 informs the computer 69 (2) finger open + 9.
-C Take out the tape in the c-th row +1 Standby posture + 5 Skirt
HP + column No.f + 10-g Tape accommodating to row g of skirt + Standby posture + 4 Tape device HP + No.d + 5 Skirt HP + column No.f
＋ 11-g Remove the g-th row tape from the skirt ＋13 Attach the tape to the tape device +1 Standby posture ＋4 Tape device HP ＋ No.e
＋14 Take out tape from tape device ＋5 Skirt HP ＋ N
While instructing the computer 69 to store the tape in the i-th row of the o.h + 10-i skirt + 1 standby posture + 3 rack HP + No. j,
Shelf No. 1 of rack S (lowercase letter L: shelf No. in the storage position of tape y) is driven to the supply / reception station.
This command is also issued in the same manner as in the case of (1) described above. When this driving is completed and the computer 69 notifies the end of the work, the computer 69 is instructed to (3) store the tape in the j-th row of the 15-k rack and finish the work. This is also performed in the same manner as the command in the case of (1) described above. Note that h and i are
Section column No. and row N of the skirt 43 defined as a section for accommodating the tape y when carrying the tape y to the tape device MD
o, which has already been written on the skirt table, and j and k have already been determined as the storage position of the save y, the storage rack No. and row No. of the rack S and the rack l.
Is.

The operation of the computer 69 is summarized as follows. When the command of (1) 1 standby posture + 3 rack HP + column No.b is received, the operation program of “1 standby posture” in the operation program table is read out, and each mechanism 60-66 therein.
Using the position data for the destination as the target data, each mechanism is sequentially driven to the target position. When the "1 standby posture" is completed, the data of "3 rack HP" in the operation program table is read, the robot R is driven to the rack HP and stopped there, and then the column No. with HP as the base point. position b
The robot R is driven to this position by calculating from "6 rack 1 column shift amount" and b. When the robot R is stopped at this position, the computer CC is notified of the end of the work.

(2) Finger opening + 9-c Removing tape from the c-th row +1 Standing posture + 5 Skirt HP + Column No.f + 10-g Skirt g
Tape storage in a row + standby position +4 tape unit HP + No.d + 5
Skirt HP + Column No.f + 11-g Removing the g-th row tape from the skirt + 13 Attaching the tape to the tape device +1 Standby posture + 4
Tape device HP ＋ No.e ＋ 14 Tape removal from tape device ＋ 5 skirt HP ＋ No.h ＋ 10－i Tape storage in the i-th row of skirt +1 standby posture +3 rack HP + No.j When the command is given, the computer 69 uses the air compressor of mechanism 60. Turn on and turn on the pressure switching valve (apply positive pressure: finger open), read the tape take-out operation program of the 9-cth column c from the operation program table, first read the first section data of the operation program, Mechanism with the data as target value
Energize 60 to 66 to reach the target value. When the target value is reached, the data in Section 2 is read. When this operation program is completed in this way, the operation program of "1 standby posture" is read and executed. The same applies hereinafter.
When the work of (2) is completed in this way, the computer CC is notified of the completion of the work. Similarly, when the above (3) is instructed, the operation program instructed in (3) is read out and executed, and when the operation is completed, the work end
Notify CC.

By the operation of the computer CC and the operation of the computer 69 described above, the above (1), (2) and (3) are executed,
The robot R goes to the supply / reception station of the rack S, first stops at the rack HP, then moves to and stops before the column No.a, and in the rack S, the column No.a is positioned at the supply / reception station. Then, the robot R grabs the tape of the row No.c, stores it in the section of the skirt 43, column No.f, row No.g, returns to the standby position and moves to the tape apparatus HP, where the tape apparatus MD Stop in front of the slot No.d of the skirt 43
Column No.f, row No.g, the tape in the compartment is grabbed and installed in the slot, then moved to the slot in front of slot No.e and pulled out to grab the skirt 43. .h, row No.i compartment, return to standby position, move to rack HP, and stop in front of column No.j. Before and after this, the rack S column No.l
(Lowercase L) is positioned at the supply / reception station. Robot R is then in skirt 43, column No. h, row N
Grab the tape in the oi section, store it in the kth row of the shelf, return to the standby position, and wait there.

Here, the data processing of the computers CC and 69 will be summarized with reference to FIGS. 3f and 3h. In the teaching processing, operation programs for each of the teaching items (FIG. 4b) are created, and each of these operation programs is created. The RAM 103 write start address indicates an item. The entire operation program, that is, the operation program table is registered in the floppy disk. One operation program is composed of a plurality of node data (node data group) shown in Fig. 3f, and each node data indicates the required rotation angle, detection state, hold, etc. of one mechanism at a certain time. ,
It was set at the time of teaching. In addition to the rotation angle, the detection state, the hold, and the like, the node data may include constant data such as the column 1 pitch shift amount. When the actual operation is designated, the operation program table is read from the floppy disk and stored in the RAM 103. Then, the computer CC receives a work command from the BC and creates a program (execution order of items shown in FIG. 4b) for executing the instructed work. For example, the execution order of the items shown by the solid line in FIG. 3h is created. This is done by arranging TAas, TAbs, TAcs, (the RAM103 writing start address of the operation program corresponding to the item) in the order of item data time series execution, and arranging "end" at the end (work setting). And
These data are transferred to the RAM 103 write address as ETA ₁ , ETA
₂ , ETA ₃ and ETAn are specified and sent to the computer 69 (work specification data transmission), and RA is issued in the instruction frame 8 shown in FIG. 3g.
M103 Write address ETA _{1 to} ETAN Read and command operation (work execution instruction). The computer 69 writes the work designation data to the RAM 103 as instructed, and when there is a work execution instruction, reads the data TAas at the write address ETA ₁ ,
Data at addresses TAas to TAse of RAM103 (section data:
The content of TAse is sequentially read out (data indicating the item end), and the mechanism designated by the data (node data) is set to the rotation angle, position, detection state or hold state indicated by the data. When TAse data is read, this is the item end, so the next data TAbs of ETA ₂ is read, and similarly, the data of addresses TAbs to TAbe is read to set the mechanism. In the same way, when the last ETAN data is read, it is the work end data.
The computer CC is notified of the end of the work. As described above, the robot R has performed a certain work operation.

The “test” routine 5 shown in FIG. 4a is an operation for checking whether or not the robot R operates normally, accurately and stably immediately after the end of teaching and at a required time after experiencing actual work. This is a check routine. During the execution of this routine, the abnormality / normality of each part is checked, and the setting data, work end position data, abnormality / normality, etc. are displayed on the display CD for each check item.

4c to 4f show an outline of the main operation of the "actual work" routine 3. As shown in FIG. Then, with reference to these drawings, calculator CC
The "actual work" operation of will be described together with the operation of the computer 69.

(1) Computer CC initialization operation. With the routine selection menu displayed on the display CD, the operator sets the "actual" floppy disk in No. 2 of the floppy disk device CC and the "operating program table" floppy disk in No. 3 and operates the operation board. When you press the “Execute” key on CB, computer CC will change to floppy disk device CF.
When the "actual" program data of the No. 2 floppy disk is read and this reading is completed, the robot R and rack S status readings are performed, and after an abnormality determination, all are normal (the robot R computer 69 , Step 105 in FIG. 3i), the rack S is initially positioned, and then the operation shown in FIG. 4c is started.

(2) Setting of robot operation program. First, the robot R
Refer to the state of the computer 69 of. That is, immediately after the power is turned on, the computer 69 indicates that each mechanism is normal (100, 100 in FIG. 3i).
101), the initial posture (HP) of each mechanism is set (102 in Fig. 3i), and this is completed (position origin H of each mechanism).
P data collection is completed) and ready is set (10 in Fig. 3i).
4) Check if you are doing (step 6 in Fig. 4c).

If it is ready, the "operation program table" of No. 3 of the floppy disk device CF is read and this is transferred to (the computer 69 of) the robot R by the instruction frames 5 and 6 (7). The computer 69 writes the transferred operation program table in the RAM 103 in steps 106 and 107 of FIG. 3i. Next, the computer CC sets the robot R to the standby posture (8), positions it in the system HP (9), notifies the computer BC of the ready (10), and waits for the command from the computer BC to arrive. (11). That is, in the standby posture setting (8), the computer CC
Sends the instruction frame 5 + instruction frame 7 (start address of the program in the standby posture) + instruction frame 7 (informs the end) + instruction frame 8 to the computer 69. Calculator 69
When this is executed and the "work end" is notified, the computer CC sends the instruction frame 5 + instruction frame 8 (system HP) + instruction frame 7 (informs end) + instruction frame 8 in step 9 to the computer 69. Send to. When the computer 69 executes this and notifies "work end", the computer CC
Perform step 10.

(3) Work setting. When the computer BC sends the work schedule to the computer CC, the computer CC reads it (11-12-13) and uses the work schedule tape code as a conversion table [tape code is stored in the rack S to store the tape in the rack S. Position data (storage shelf No., shelf No.
And column No. data) is written in the memory] to create a work table converted to data storage position data. The contents of the work schedule and work table are shown in Figure 4g. In these data, the execution time is set as an approximate scheduled time at the time of creating the schedule in the computer BC. By the time the scheduled time arrives, unless the computer BC instructs the tape device MD to be attached to the tape device MD or to be recovered from the device MD at a separately required timing, as will be described later, the computer CC becomes the scheduled time. Install or collect. If the computer BC is instructed by the computer BC to be mounted / recovered by the arrival of the scheduled time, the computer CC will do this when instructed.

In addition, by the operation described later, after taking out from the rack S, accommodating in the skirt, mounting in the tape device MD / collecting from it, etc., the steps 11-12-13 (or 53)
-63-74-13), the work schedule was received first, so in addition to the unprocessed work (unoperated tape) in the work table corresponding to the work schedule that was received earlier, it was received this time. The work table data corresponding to the work schedule will be additionally written.

(4) Cutting out the work. The data read position of the work table is set to the most advanced data of the table (15), the data is checked to determine whether it is to be mounted on the tape device MD (16), and the mounting is instructed. If so, check whether there is a free storage space on the skirt table (17). What is a skirt table? 43
The memory of which tape storage is assigned to each of the 20 tape storage compartments
To the tape accommodation section of 43, the tape No. assigned to the section is allocated (here, since the tape code is converted to the tape storage position in the rack by the conversion table,
Tape storage position data).
If there is a space in the storage area of the skirt, that is, if there is a section b (address) in which the tape number is not written in the skirt table, the data currently specified by i of the work table in the take-out buffer table ( Add b to a) and write (18). Then, this data a is deleted from the work table. Then, i is updated to a large number (19), and steps 16 to 19 are executed again under the condition that the two conditions that there is a tape to be mounted on the tape device MD and that the skirt table has a space are satisfied. When one of the two conditions is not satisfied, it is checked whether i is 1 or more (data is stored in the fetch buffer table) (2
When 0) and i are 1 or more, "accommodating tape from rack S to skirt" (21) is executed. The contents are shown in FIG. 4d, and the details will be described later.

The relation between the work schedule given to the computer CC by the computer BC and the work table, the extraction buffer table and the skirt table created by the computer CC is shown in Fig. 4g.

(5) Outline of the operation until the work schedule is transmitted again after the work is cut out. When i is 1 or more in step i, after the tape accommodation (21) is executed,
When i is less than 1, directly execute "collect tape in skirt from tape device MD" (22). More on this in section 4e
It will be described later with reference to the drawings. Next, "from skirt to tape device
Attach tape to MD ”(24). For details, see 4f
It will be described later with reference to the drawings. Next, the computer CC drives the robot R to the rack HP (25) and stores the tape collected from the tape device MD and accommodated in the skirt 43 in the rack S (2).
6) Erase the stored tape data from the skirt table (27; this increases the skirt table space accordingly).

(5) -1 "Accommodating tape from rack S to skirt"
Operation of (21). Explaining with reference to FIG. 4d, the computer CC
First, the computer BC is notified of busy (response not possible) (3
8) Drive the robot R to the rack HP (39), check whether there are a plurality of take-out data (tapes) in the take-out buffer table (see 18), and if there are a plurality of take-out data (tapes), drive the rack in the rack S. From the viewpoint of the minimum and the minimum work of the robot R in taking out the tape from the rack, the taking-out order of each tape is set, and the data of the taking-out buffer table is rearranged (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, the shelf storing the tape to be taken out is driven to the supply / reception station (43), the robot R is driven to the storage column position of the tape (44), and the robot R is supplied to the tape (storage line).
Command to grab (9 of teaching item TA) (45),
Partition of the grabbed tape that is assigned to the skirt table (specified by the data in the eject buffer table)
(46), the tape data thus stored is written in the section of the skirt table (47), and the data of the tape thus operated is erased from the ejection buffer table (48). Then, the next data (tape) in the take-out buffer table is read, and similarly, take-out from the rack, accommodation in the skirt, and data processing related thereto are performed (41 to 48). When this kind of processing is completed for all data (tapes) in the take-out buffer table, this "storing tape in skirt from rack S"
Exit (21) and proceed to the next Step 22. If you proceed to step 23 by executing step 22, the tape device
A robot R that stores the tape that must be attached to the MD in the skirt
Will be on the tape drive HP.

(5) -2 The operation of "Recover the tape from the tape device MD on the skirt" (23). Explaining with reference to FIG. 4e, the computer CC firstly puts on the skirt table a tape or a tape device to be collected from the tape device MD within T seconds after the present time.
Check whether or not there is data on the tape to be mounted on the MD (49). If the data is present, a wait flag which is an index for not moving the robot R from there (tape device HP) to the rack S is set (50). When there is no such data, it is possible to go to the rack S (even if the tape is taken out from it and returned to the tape device MD, the schedule for mounting / recovering the tape in / from the tape device is not found), so the wait flag is cleared. (77) Check if there are 8 or more tapes collected from the MD on the skirt table (78), and if there is, return the robot R to the rack HP and proceed to step 25 to collect the tape from the skirt to the rack and the collection tape from the MD. Return (26),
The data on the skirt table is cleared for the collected tape (27).

Now, in step 49, when there is a tape that needs processing within T seconds and the wait flag is set (50), or even if there is no tape that needs processing within T seconds, the tape collected in the skirt from the MD. When the number of is less than 8, the computer BC is notified of ready (receivable) (51), and the timer t ₁ for setting the reception waiting time is set (52). Then, while waiting for the timer t ₁ to time out, it waits for a command or the like to arrive from the computer BC (53, 54).

If there is no command from the computer BC before the time is over, when the time is over, it sends a busy message to the computer BC (55), checks whether the wait flag is set (56), and waits. If there is no flag, the process returns to step 49. If there is a wait flag, the computer CC checks whether the skirt table has data (tape) whose execution time is at or before the current time (57), and if not, returns to step 51 again. However, if the data (tape) is present, it is necessary to mount the tape on the MD or collect it, so refer to whether the data is mounted or collected (58),
If it is mounting, go through this "collect tape from skirt MD from skirt" (23) and proceed to the next step 24, where the tape is mounted on the MD. When the tape is to be collected, the computer CC drives the robot R to the loading slot position where the tape is to be attached (59), pulls out the tape from the loading slot and grasps it (60), and collects the tape from the skirt or skirt. Collect it in the storage area allocated on the table (6
1). Then, the tape recovered from the MD (storage position data at this point) is converted back into a tape code using the conversion table, and the data indicating the recovery from this tape code and MD and the recovered slot number are calculated on the computer BC. To inform. The computer BC updates the data of its own table for monitoring the mounted tape of the tape device MD. This monitoring table means that the code of the tape currently mounted on the device MD is memorized toward the input port. Then the calculator CC
The data in the skirt table is changed to the data indicating "present in skirt" for the collected tape. On the skirt table, the tape whose MD attachment / detachment instruction data indicates “0” and the presence / absence data on the skirt is “1”,
It is a tape collected from MD. A tape whose MD attachment / detachment instruction data indicates “1” and the presence / absence data on the skirt is “1” indicates a tape which is not attached to the MD but is present in the skirt, and the MD attachment / detachment data is attached. 1 "
And the tape in which the presence / absence data is “0” is present in the skirt indicates the tape currently mounted on the MD (not present in the skirt). When the skirt table data is changed (62), the process returns to step 49.

Steps 49-50-51-52-53-54-55- described above
By repeating 56-57-58-59 to 62, the tape at the scheduled recovery time is recovered from the MD to the skirt.

Now, when there is a transmission from the computer BC while waiting for the time-out at steps 53-54, the computer CC reads the transmission data and commands it to attach / detach (63) or the work schedule ( 74), check whether it is an end command or another command (75).
If it is another command, the actual working flag indicating that the current state needs to be restored is set (76) and the process proceeds to step 35 in FIG. 4c.

When instructing termination, the steps in Fig. 4c
Proceed to 30.

If it is a work schedule, step 13 above
Proceed to.

If the instruction is for attachment / detachment, write data to the attachment / detachment buffer table (64) and set busy on the computer BC (6
5), referring to the skirt table, collect the unnecessary tape in the removable buffer table from the MD input port and store it in the skirt (66). The code of the stored tape and the collected input port number and MD The computer BC is notified of the recovery from the skirt table, and the data on the skirt table is corrected so that the tape has been accommodated (67). Then, the data of the removed tape is erased from the removable buffer table (68), and it is checked whether the removable buffer table has a required tape which is not on the skirt table (69). If there is, it is an error, so there is a data abnormality in the computer BC and the code of all tapes mounted in MD is input N
o. (71), notifies the computer BC of the ready, and waits for the computer BC to send any command or data. When it is sent, go to step 63. If there is no unnecessary tape that is not on the skirt table, check whether the removable buffer table has the required data (7
0), and then proceed to "Installing tape from skirt to tape device MD" (24). If not, the process returns to step 49.

Thus, even when the robot R is at the position of the tape device MD, it receives data from the computer BC,
When the tape is collected from the MD device, if the tape is on the skirt table and the loading port is being installed, it is immediately taken out of the device MD and accommodated in the skirt. If this command is issued before the execution time of the tape, it will be executed before the execution time according to the instruction of the computer BC. The execution time is therefore meaningful as a rough schedule in advance. Of course, it is also possible to set the execution time accurately in advance and then collect the tape at the execution time. It is also possible to give an instruction when required without specifying the execution time.

(5) -3 Operation of "Device to put tape on MD device from skirt" (24). Explaining with reference to FIG. 4f, the computer CC first checks whether or not there is data required for loading in the removable buffer table, and if there is, it proceeds to the step 80 and thereafter to load the tape specified by the data in the device MD. . This detailed description will be given later.

If there is no data required for loading in the removable buffer table, the calculator
The CC checks if there is a tape on the skirt table whose execution time is before the current time. Otherwise, return to the above-mentioned “Collecting the tape from the tape device MD on the skirt” (23).
Then, the robot R is driven to the loading slot where the tape should be loaded (85), the tape is taken out from the skirt and loaded into the loading slot (86), and the code of the loaded tape and loading port number and loading are attached. The computer BC is notified of the data indicating that the data has been processed, and the data on the tape on the skirt table is changed to the data indicating that the MD is being mounted (87). Then, return to the above-mentioned "Collecting tape on skirt from tape device MD" (23).
In this way, it is the subroutine 23 that returns to the subroutine 23.
In (1), the command waiting from the computer BC (command reception with the robot R left at the tape device MD position) is set.

Now, at step 79, when there is data required for loading in the removable buffer table, one of the required tapes in the removable buffer table, which is in the skirt, is loaded in the loading slot (80). And the attached tape code and slot N
The computer BC is notified of the data indicating o. and mounting, and the data of the tape on the skirt table is changed to the data indicating that mounting is in progress (81). Then, the data on the loaded tape is erased from the removable buffer table (82), and when the removable buffer table has no skirt table that needs to be mounted in this way, the removable buffer table is loaded with the skirt table. Check if there is a mounting required tape that does not exist (83), and if there is not, proceed to step 84. If there is, check whether the number of tapes required for loading / unloading buffer table is less than or equal to the number of empty sections in the skirt, and even if the number of empty sections is less than or equal to the number of empty sections, check the mounting slot for the required tapes for loading (88) If it is over or if another tape is being loaded in the loading slot, the computer BC will be notified of a data error, the MD loading tape code for the loading slot number, and the tape that is being loaded in the skirt. Inform the code and (96), calculator
It informs the BC that it is ready and waits for data or commands to be transmitted from the computer BC. When there is a transmission, the steps in Fig. 4e
Proceed to 63.

In step 88, if the number of tapes required to be mounted on the attachment / detachment buffer table is equal to or less than the number of empty sections in the skirt, and if the input port for which the tapes to be attached are designated is empty, computer CC drives robot R to rack HP. (89), store the tapes of the skirts collected from the MD in the rack S (92), erase the data of those tapes from the skirt table (91),
Next, the tape required for mounting the removable buffer table is accommodated in the skirt from the rack S (92), written to the tape data accommodation section accommodated in the skirt table (93), the robot R is driven to the tape device HP, and the steps 79 and below are performed. Then, the tape newly accommodated from the rack S in this way is mounted in the device MD.

When the data received in step 53 or 11 is the tape replenishment / recovery, the process proceeds from step 35 to step 36 to replenish / recover the tape between the rack S and the replenishment shelf 95. The contents of this tape replenishment / collection instruction data are
Tape code + rack storage position (shelf No. + column No. + row N
o.) + replenishment shelf storage position (column No. + row No.) + replenishment shelf 95 stored in rack S (A) / rack S stored in replenishment shelf 95 (B). In routine 36, the computer CC puts the robot R in the standby posture and first drives the robot R to the rack HP, where the replenishment shelf 95 is loaded from the rack S.
The number of tapes to be moved to and the number of tapes to be moved to the opposite are calculated, and the larger value is compared with the number of empty skirt sections.
When the number of empty sections is small, the tapes corresponding to the number of insufficient sections are stored in the rack S from the skirt, and the data related thereto is saved (data saving). When the number of empty sections is equal to or larger than the large value, or when the number of open sections is larger than or equal to the large value as described above, the computer CC causes the robot R to store the tape to be stored in the replenishment shelf 95 from the rack S in the rack S. Take it out and store it in a skirt. And the robot R is a replenishment shelf
Driven to the HP, the tape thus stored in the skirt is first stored in the designated column No. and row No. of the replenishment shelf 95, and then stored in the rack S of the replenishment shelf 95. The tape stored in the skirt, the robot R is driven to the rack HP, the tape stored in this way is stored in the rack S, and when there is data to be evacuated, the tape is read out to divide the skirt. Rack S to empty
The tape stored in was stored in the skirt, and the skirt table was restored to the original data accordingly.
The tape code + rack storage position (shelf No. + column No. + row
No.) + replenishment shelf storage position (column No. + row No.) + replenishment shelf 95 stored in rack S (A) / rack S stored in replenishment shelf 95 (B) based on the conversion table ( (Fig. 4g) is updated, and this conversion table is updated to the one corresponding to the tape currently stored in the rack S. And step
Proceed to 11-28-15, and in steps 15 to 19, pick up as many tapes as can be accommodated in the empty skirt section from the work table, and store them in the skirt 43 from the rack S (20
-21), drive the robot R to the tape device HP, and execute the routine
Will return to 23.

When the data received in step 53 or 11 indicates "end", the computer CC drives the robot R to the rack HP and stores all the tapes in the skirt 43 in the rack S (30). Corresponding to, the skirt table data is updated (31) and the work table data is updated (the data of the tape that has not been mounted in the MD and returned to the rack S and the tape that has not been collected from the MD is corrected and written in the work table). , The robot R is placed in the standby posture, driven to the system HP, and stopped there.

(6) Operation of the computer 69 when a work is commanded. The control operation of the computer 69 for executing the instructed work is described in Section 3j.
This will be described with reference to the drawings and FIG. 3k. This control operation is
This is performed in the subroutine 107 of FIG. 3i. Calculator CC now for ease of explanation and understanding
Is the work [two-dot chain line block; the solid line block therein is the operation for executing the items shown in FIG. 4b, and TAas, TAbs, and TAcs are the item designation data (start address of operation program storage address). )] And data designating "notification of end of work" are given to the computer 69, and
Stores these in the addresses ETA _{1 to} ETAN of RAM 103, and the computer CC sends the instruction frame 8 (start address = ETA ₁ , end address ETAn) to the computer 69, and in response thereto, the computer 69 sends the instruction frame 8 to FIG. 3j. It is assumed that the work execution flow shown in (1) has been reached.

The computer 69 (CPU 100 thereof) _first stores ETA ₁ (= ETAs) in the first address register j (109), reads the data (TAas) of the address j (ETA ₁ ) of the RAM 103 (110), and stores this data. Since it is not workend data, step 11
After passing 1, the data (TAas) is stored in the second address register k (112). Then, the data (first section data) at the address k (TAas) of the RAM 103 is read. Since this data is not the item end, it goes through step 114 and decodes the designation mechanism of the first section data (115, 116,
123,129).

Here, the mechanisms 60 and 61 are mechanisms having a state (finger open / close, suction / release) setting element without a positioning [target position (corner)] element, and the mechanisms 62 to 66 have a positioning [target position (corner)] setting element. )] It is a mechanism that has elements but no status setting element, and mechanism 67 is a mechanism that has a positioning [target position (angle)] element and a detector (57) for setting status (system HP). I want to be done.

When the mechanism 60 is specified by the node data, this node data indicates finger opening / closing, so step
At 124, the compressor and pressure switching valve of the mechanism 60 are turned on / off to the state specified by the node data. In addition,
When finger closing is specified, the detection state of the limit detector is checked (125, 126) and it is fully closed (the finger is fully closed even though it is a finger closing instruction = failure to grab,
Or reach full closure), notify computer CC of this (12
7) Wait for the next instruction (128).

When the mechanism 61 is specified by node data, this node data specifies adsorption / release.
Set the pressure switching valve of to ON / OFF as specified by the data.

When any one of the mechanisms 62 to 66 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 (11
7) Energize the motor forward / reverse in the direction in which the contents of the register reach the target value, and when the target value is reached, stop the motor there (118, 119, 120).

When the mechanism 67 is specified by the node data, whether the data specifies whether the detector 57 is turned on (system HP) or has target value data (rack HP, tape device HP or replenishment shelf HP). If it is determined (122) and the system is HP, the motor of the mechanism 67 is forwardly biased and stopped when the detector 57 is turned on (131-133). In the case of the target value data, the motor of the mechanism 67 is biased in the forward / reverse directions in steps 117 to 120, and the motor is stopped when the content of the position register assigned to the mechanism 67 reaches the target value.

As described above, the operation of section 1 designated by the section 1 data is performed. Therefore, the routine proceeds to step 111, where the contents of the second address register k is incremented by one, and step 113
Return to step 2 and read the section 2 data.

The operation based on the section 2 data is similar to the operation based on the section 1 data described above.
The content of the address register k is incremented by 1. While repeating this, the data read from the RAM 103 using the content of the register k as an address indicates the item end (end of execution of the operation programs TAas to TAae).

Therefore, the routine proceeds from step 114 to step 112E, where the contents of the first address register j is incremented by 1 (thus j = ETA ₂ ), and TAbs is read from the RAM 103 at step 110 and stored in the second address register k (112). , Then TAb
The node data of s to TAbe are sequentially read, and step 113 and the following steps are executed for each reading. Finally, when the data "item end" of TAbe is read, the process proceeds from step 114 to step 112E to increment the content of the first address register j by 1 (thus j = ETA ₃ ).

Next, as in the case of j = ETA ₁ described above, at step 110 R
TAcs is read from the AM 103 and stored in the second address register k (112), then the node data of TAcs to TAce is sequentially read, and step 113 and the following steps are executed for each reading. Finally, when you read the TAce data “item end”,
From 114 to step 112E, the first address register j
Increment the contents of 1 by this (j = ETAn).

When the ETAn data is read in step 110, this data is the end data that specifies "notify the end of work", so the flow proceeds to step 108A to notify the computer CC of "end of work".

The work instruction operation of the computer CC and the computer described above
By the mechanism control operation of 69, the robot R drives the tape device MD while the skirt 43 accommodates as many required tapes as possible.
When the loading time of the tape being accommodated is reached or the loading instruction is given from the computer BC even before that, the loading required tape is loaded into the tape device MD, and the recovery time of the tape being loaded is reached. Alternatively, even before that, when there is a recovery instruction from the computer BC, the recovery required tape is recovered from the tape device MD to the skirt. When the number of collected tapes on the skirt reaches 8 or more, the collected tapes are stored in the rack S, and the tape to be used after the tape currently accommodated in or mounted on the skirt or the tape device MD is rack S according to the work schedule. Take it out and store it in a skirt and go to the tape device MD. The tape device MD has eight input ports, whereas the skirt accommodates 20 compartments. Even if the tape is attached to all the inlets and the skirt is divided into eight sections for the purpose of collecting it, the
-8 = 12 tapes can be stored in a standby mode.
Even if the skirt always holds the eight tapes to be attached next to the eight input slots, respectively, there are still four compartments in the skirt, and the tape of the later schedule can be accommodated in the skirt. While the tape is being mounted on the MD, the 8 skirts 43 of the skirt 43 are empty for accommodating the tape being mounted, and the robot R with the remaining 12 sections accommodating the tapes according to the schedule execution order.
To wait for a long time at the position of the tape device MD, and the used tape is immediately collected from the MD, stored in the skirt, and the tape held in the skirt is quickly attached to the empty input port. .

In the teaching item TA “14 tape ejection from tape device” for taking out the tape loaded in the loading port of the tape device MD, the robot R is positioned in front of one loading port in which the tape is loaded, After the robot R is set in the standby posture, the robot operation of the item is executed by the operator via the operation board CB and the computer CC (see the description of teaching operation). In this case, the operator first positions the tip of the fixed finger 39 between the lower bottom of the tape in the loading slot and the wall surface supporting it, and presses the shift key (this enables data such as the states of the mechanisms 60 to 66, the rotation angle, etc. 7 pieces of node data are stored as 1 piece of node data for 1 mechanism), and then the tip of the fixed finger 39 is inserted between the tape and the wall surface and the stopper 11 via the suction plate.
Stop the tape by pressing the tape to the very back and press the shift key. (By this, the data such as the state of the mechanism 60 to 66, the rotation angle, etc. can be sent to one mechanism as one node data. Then, the fixed finger 39 is driven upward in the y direction until the tail end of the tape (the surface that contacts the suction cup) is located slightly above the detent wall surface in the MD insertion slot. And press the shift key. (By doing this, data such as the state of mechanism 60-66, rotation angle, etc. can be displayed as one node data for one mechanism.
The individual section data is stored). In this state, the tape tries to jump out of the insertion opening by the repulsive force of the push spring inside the tape device MD, but hits the suction plate 40. The suction board 40 is
It is supported by the stopper 110 via the coil spring 111,
Although the coil spring 111 is momentarily compressed and the suction plate 40 retracts, the suction plate 40 is pressed against the tape by the repulsive force of the coil spring, and the suction plate 40 is in close contact with the tape. In other words, the tape that is about to pop out is stopped by the stopper 11 via the suction plate 40.
At 0, jumping out (moving backward in the x direction) is prevented. Here, the operator applies an air suction pressure to the suction plate 40 and presses the shift key (this causes the state of the mechanism 61: suction is stored as 1-section data). As a result, the tape is reliably supported by the finger 39 and the suction plate 40. Then, the operator drives the hand 36 in the direction away from the tape mounting front wall (backward in the x direction) so that the tape does not drop from the insertion port and can be grasped by the fingers 37 and 38 with the pull-out length of the hand 36. Stop the drive (backward in the x direction) and press the shift key (this causes the data of the states of the mechanisms 60 to 66, the rotation angle, etc. to be stored as one node data for one mechanism, and seven node data are stored). . Next, the operator supplies a positive pressure to the suction disk 40 to release the suction disk 40 from the tape and presses the shift key (this causes the state of the mechanism 61: release is stored as one-section data). Next, the operator further separates the hand 36 from the front wall of the tape device (rearward in the x direction) to a position where none of the fingers comes into contact with the cassette even when the hand rotates, and presses the shift key (this causes the mechanism 60- Data such as 66 states and rotation angles are stored as one node data for one mechanism, and seven node data are stored). Then, open the fingers 37 and 38 and press the shift key (the state of the mechanism 60: finger opening is stored as one node data for one mechanism), then the hand 36 in the J1 direction and the wrist 41 in the J2 direction. Rotate in the direction, bring your fingers 37 and 38 to the tape, and press the shift key.
The data such as the rotation angle is addressed to one mechanism as one node data,
7 node data are stored). Next, advance the hand 36 toward the front wall of the tape device (forward direction in the x direction) so that the tape can be put between them, stop the finger 37, 38 at a position where the tape can be sufficiently grasped, and press the shift key. (Thus, the data of the states of the mechanisms 60 to 66, the rotation angle, etc. are stored as one node data for one mechanism, and seven node data are stored). Next, the fingers 37 and 38 are closed, the tape is grasped with them, and the shift key is pressed (the state of the mechanism 60: finger closing is stored as one-section data). Since there is a slight delay between the time when the finger is closed and the time when the finger firmly grasps the tape, the operator specifies the wait + time T data on the operation board CB.
Input into the calculator CC with and press the shift key. In this case, the computer CC holds the 1st node data indicating the wait + time T in the memory and sends it to the computer 69 to be stored in the RAM 103. When this section data is in actual operation, computer 69 (CPU100
When read from RAM 103, robot R
It waits for the time T to elapse in the state at that time. Then, the operation according to the next section data is performed. Next, the operator pulls out the entire gripped tape from the insertion opening by further driving the hand 36 in the backward direction of the x direction and presses the shift key (the data such as the states of the mechanisms 60 to 66 and the rotation angle are 1 Seven node data are stored as one node data addressed to the mechanism). Then, with the finger closed, the robot R is placed in the standby posture and the shift key is pressed (the mechanism 60-
Data such as 66 states and rotation angles are 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 node data stored by the above operation is sent from the computer 69 to the computer CC in the storage order, and the computer CC sends these to the No. of the floppy disk device CF. Write it to the floppy disk of .3 as the operation program of "14 Eject tape from tape device".

When the actual operation is specified, the computer CC sends this program to the computer 69 and writes it in the RAM 103, and when it is necessary to "14 Eject the tape from the tape device", the work start command stores the start address of this operation program. In addition to the above, the computer CC sends it to 69, and the computer 69 reads this operation program from the RAM 103 in the work control of the robot R, and causes the robot R to perform the operation set by the above-mentioned teaching.

Therefore, after the operator performs the teaching as described above, the robot R performs the above-described teaching operation during "actual work" until the teaching is performed again.

The tape device MD has eight input ports, whereas the skirt accommodates 20 compartments. Even if the tape is attached to all the inlets, and 8 sections of the skirt are allocated to collect the tape, 20-8 = 12 tapes can be stored in the skirt in standby. Even if the skirt always holds the eight tapes to be attached next to the eight input slots, respectively, there are still four compartments in the skirt, and the tape of the later schedule can be accommodated in the skirt. While the tape is being mounted on the MD, the 8 sections of the skirt 43 are empty for accommodating the tape that is being mounted, and the robot R is placed at the position of the tape device MD for a long time with the remaining 12 sections accommodating the tapes according to the schedule execution order. After the tape is put on standby, the used tape is immediately collected from the MD, accommodated in the skirt, and the tape held in the skirt is quickly attached to the empty inlet.

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

〔The invention's effect〕

As described above, in the object handling device of the present invention, the object transfer control means (computer 69) drives the hand device (hand 36) and the finger (39) to which the stopper means (stopper 110) is fixed.
Position the tip of the cassette in the cassette ejecting finger insertion space inside the insertion opening (No. 1 to 8) of the magnetic tape recording / reproducing device (tape device MD), for example, the lower bottom of the cassette tape (Cij) and the insertion opening. Then, by driving the hand device to shift the tip forward in the x direction, the tip enters between the cassette tape and the inner wall of the loading slot, and the object transfer control means drives the hand device and the stopper means operates. By shifting the fixed finger in the y direction, the cassette tape is lifted,
The cassette tape comes off above the locking wall inside the slot,
The repulsive force of the return spring inside the magnetic tape recording / reproducing device tries to jump out of the insertion opening, and directly or indirectly hits the stopper means to prevent the jumping out.
Next, the object transfer control means holds this cassette tape by the suction means (suction board 40), drives the hand device to drive the held cassette tape backward in the x direction, and then releases the holding of the suction means. The cassette tape stays in the loading slot in a predetermined posture, which is a predetermined length out of the loading slot. Then, the object transfer control means drives the hand device to drive the finger drive means to grasp the cassette tape with the finger means, and to drive the hand device to drive the finger drive means to transfer the object to the designated position to move the object. By releasing the cassette tape, the cassette tape is pulled out from the loading slot and collected at the designated position.

In this way, the stopper means, the suction means, and the object transfer control means first release the cassette tape at the insertion port from the mounting position to prevent the cassette tape from protruding at this time and temporarily stop the cassette tape at a predetermined position and posture. After that, the cassette tape is grabbed by finger means and collected at the specified position. Therefore, with one-touch operation, the cassette tape must be in a position and attitude that can be gripped by the magnetic recording / reproducing device. For example, the cassette tape can be used for the recovery of the cassette tape from the magnetic tape recording / reproducing apparatus in which the cassette tape pops out due to the spring pressure inside the recording / reproducing apparatus or the robot hand is in a position or posture that is difficult to grasp.

[Brief description of drawings]

FIG. 1 is a perspective view showing the outer appearance of an embodiment (robot R) of the present invention. FIG. 2a is a vertical sectional view of the rack S shown in FIG. FIG. 2b shows a shelf 1 attached to the rack S shown in FIG.
FIG. FIG. 2c is an enlarged sectional view taken along line IIC-IIC of FIG. 2b. FIG. 2d is a block diagram showing an outline of electric elements of the rack S shown in FIG. FIG. 3a shows the hand 36 and wrist 41 of the robot R shown in FIG.
3 is an enlarged side view showing the external appearance of FIG. FIG. 3b is an enlarged plan view of the base RB and the skirt 43 of the robot R shown in FIG. FIG. 3c is an enlarged sectional view taken along line IIIC-IIIC in FIG. 3b. FIG. 3d is an enlarged perspective view of the transfer mechanism that supports the base RB of the robot R shown in FIG. FIG. 3e is a block diagram showing an outline of electric elements of the robot R shown in FIG. FIG. 3f is a plan view showing the structure of 1-section data showing the state of one mechanism of the robot R shown in FIG. FIG. 3g is a plan view showing the structure of instruction data given to the computer 69 by the computer CC shown in FIG. FIG. 3h is a plan view showing a combination of operation programs for causing the robot R to perform a time-series action (work). FIG. 3i is a flow chart showing an outline of the control operation of the computer 69. 3j and 3k are flow charts showing the control operation of the computer 69 that causes the robot R to perform a time-series action (work). FIG. 4a is a flow chart showing the outline of the operation of the computer CC shown in FIG. FIG. 4b is a plan view showing a teaching item menu displayed on the display CD by the computer CC shown in FIG. FIG. 4c, FIG. 4d, FIG. 4e and FIG. 4f are flow charts showing the outline of the control operation in the working routine of the computer CC shown in FIG. Fig. 4g shows the contents of the work schedule given to computer CC by computer BC shown in Fig. 1 and created by computer CC.
It is a top view showing the contents of a work table, the contents of an extraction buffer table, and the contents of a skirt table. MD: Tape device (specified position of input slot No. 1 to 8) S: Rack, 1 to 20: Shelf 21: Frame, 22: Shelf feed mechanism 23: Motor, 24: HP HP detector 25: Drawer / retract mechanism , 26: Motor 27: Shelf coupled solenoid, 28: Shelf OP detector 29: Shelf RP detector, 30: Motor driver 31: Detection circuit, 32: Motor driver 33: Solenoid driver, 34: Detection circuit 35: Interface C, Pc, C ₁₅ , C ₂₅ , C ₃₅ , C ₄₅ , Cij, Cnp, Ckm: Tape R: Robot, 36: Hand (hand device) 37 to 39: Finger (finger means), 40: Suction plate (suction means) 110: stopper (stopper means), 111: coil spring 41: wrist, 42: lower arm 43: skirt, 44,45: compartments 44a, 45a: opening, 44b, 45b: lower base W: width 46: upper arm, G, 47, 48: Rail 49: Flexible insulator sheet, 50, 51: Axle 52 _{1 to} 52 ₄ : Conveyor leg, 53, 54: Chain 55: Electric cable, 56: Arm 57: HP detector, 58: Limit Stopper 59: Left limit detector, 60: Finger opening / closing mechanism (finger driving means) 61: Tef suction mechanism 62: Hand rotation mechanism 63: Wrist rotation mechanism, 64: Lower arm rotation mechanism 65: Lower arm rotation mechanism, 66: Body rotation mechanism 67: Self-propelled mechanism, 68: Input / output interface 69: Computer (object transfer Control means) 70: communication control unit, 71: communication interface

Claims (4)

[Claims] 1. A hand device having a finger means including a movable finger and an opposing finger facing the movable finger, and a finger driving means for driving the movable finger to open / close with respect to the opposing finger; Stopper means fixed to the base side from the tip; suction means provided near the tip of the finger to which the stopper means is fixed; and tip of the finger to which the hand device is driven to fix the stopper means,
Positioning through the opening with respect to the object to be handled in the opening of the support, driving the hand device to shift the tip from the outside of the opening toward the object, i.e., in the forward direction in the x direction, the tip of the finger is moved. Inserted between the object and its support, driving the hand device to shift the finger fixed with the stopper means in the y direction intersecting with the x direction, thereby moving in the y direction and locking with the support. Is held by the suction means and the hand device is driven to hold the object which is blocked from moving backward from the opening by the stopper means, that is, in the x direction. Direction, a part of the object is outside the opening, but the object is driven to a position where it is supported by a support, and then the holding means is released, and the hand device is driven to drive the finger driving means. Hold the object with your finger and drive the hand device to Drives the moving means release the said object by transferring the said object, the object transfer control means; material handling device comprising a. 2. The object handling according to claim 1, wherein the suction means is located between the stopper means and the tip of the finger to which the stopper means is fixed, and is supported by the stopper means. apparatus. 3. The finger means is composed of a movable finger, a movable counter finger opposed to the movable finger, and a fixed finger, and the stopper means is fixed to the fixed finger. The object handling device according to the item (2). 4. A hand device having a finger means including a movable finger and an opposing finger facing the movable finger, and a finger driving means for driving the movable finger to open / close with respect to the opposing finger, one of the finger means. Object handling means including stopper means fixed to the base side from the tip, and suction means provided near the tip of the finger to which the stopper means is fixed; hand driving means for driving the object handling means; and 1 A strap section supporting means for supporting a plurality of objects in a predetermined posture, having a larger number of object receiving spaces of a plurality of object using devices having an object receiving space and using objects in the space; A strap retaining device including; an object storage device in which a large number of objects are arranged in a supply / acceptance position in a group; a transport means for driving the strap retaining device to the position of the object storage device and the position of the object using device; apparatus The end of the drive and the stopper means is fixed finger,
The object to be handled in the object receiving space is positioned through an opening connected to the space, a hand device is driven, and the tip is shifted from the outside of the opening toward the object, that is, in the forward direction in the x direction. The tip of the finger is brought into contact with the surface of the object extending in the x direction, and the hand device is driven to shift the finger to which the stopper means is fixed in the y direction that intersects the x direction.
As a result, the object that moves in the y direction and is disengaged from the device using the object and is prevented from moving backward from the opening by the stopper means, that is, in the x direction, is held by the suction means and the hand device is driven. In the direction in which the held object is moved out of the opening, i.e. in the backward direction of the x direction, the object is driven to a position where a part of the object is outside the opening but is supported by the object using device, and then the holding means is released. Then, the hand device is driven to drive the finger driving means to grab the object by the finger means, and the object handling means and the hand device are driven to transfer the object to the support section and release the object. Means; and instructing the conveying means to drive the strap retaining device to the object storage device, and driving the hand device and the object handling means at the position of the object storage device to grab the object of the strap retaining device. Storage An object handling device, comprising: an object storage control means that is housed in a storage.