JPS63168872A - Object handling device for robot - Google Patents

Abstract

PURPOSE:To collect a cassette tape in a single-touch operation by releasing the cassette tape set at a slot position from a loading position to prevent the pop-out of the tape then and to stop temporarily the tape at a prescribed position and in a prescribed posture and holding the tape by the finger means to collect it at a prescribed position. CONSTITUTION:A cassette tape Cij set at a slot position is released from a loading position via a stopper means 110, a sucking means 40 and an object transfer control means. In this case, the pop-out of the cassette tape Cij is prevented and the tape Cij is temporarily stopped at a prescribed position and in a prescribed posture. Then the tape Cij is held by finger means 37-39 and collected at a designated position. Thus it is possible to collect automatically an object like the tape Cij, etc., in response to a single-touch operation out of such a cassette recorder where the tape Cij pops out by the internal spring pressure of the cassette recorder unless it is held by a hand or where the tape Cij is set at such a position and in such a posture that makes it difficult to hold the tape by a robot hand.

Description

DETAILED DESCRIPTION OF THE INVENTION [Field of Industrial Application] The present invention relates to a robot that takes out an object attached to a predetermined position of a machine, etc., from a machine.

Regarding object handling equipment that performs retrieval operations,
For example, an information medium such as a magnetic tape cassette containing magnetic tape, a magnetic disk, a laser disk, a record disc, etc., on which information represented by electrical signals (hereinafter simply referred to as information or data) is recorded, is attached to a recording/reproducing device. The present invention relates to a collection device for taking out from a location.

[Conventional technology]

For example, the information 8 registration station in a computer online system may contain system operating programs and registration file information depending on the purpose of the system.

A huge amount of information such as original book information and/or system operation performance information is stored, and the information is read out and transferred in response to requests from each part of the system. In the case of storing a relatively small amount of information, it is sufficient to have several information media such as magnetic drums or magnetic disks, but when the amount of information becomes enormous, the information registration station is equipped with, for example, many magnetic tape recording/reproducing devices. Equipped with a huge number of cassette-shaped magnetic tapes, various information is recorded on the magnetic tapes according to predetermined classifications, the magnetic tapes with recorded information are stored in storage shelves, and records are recorded in response to playback requests and registration requests. Used magnetic tapes or unrecorded magnetic tapes are manually taken out from storage shelves and loaded onto magnetic tape recording/playback devices, and used magnetic tapes are manually taken out from magnetic tape recording/playback devices and stored in storage shelves. . Therefore, tape operations require manpower, and it is desired to save this labor.

For example, Japanese Patent Application Laid-Open No. 55-122263 discloses a robot arm that takes out a magnetic tape cassette from a magnetic tape storage shelf, attaches it to a cassette recorder, takes out the used cassette from the recorder, and stores it in the storage shelf, and a floppy disk. A robot arm has been proposed that takes out a floppy disk from a disk storage shelf, attaches it to a floppy disk device, takes out a used disk from the disk device, and stores it in the disk storage shelf.

[Problem that the invention seeks to solve]

However, this robot arm only has the function of grasping cassette tapes, etc., so when a cassette recorder, etc. is operated with a single touch, the cassette tape, etc. inside the recorder moves to a position or posture where it can be easily grabbed by the robot hand. Alternatively, it can be used to collect cassette tapes, etc. from cassette recorders, etc., which are exposed and stabilized there, but if you do not support them by hand in response to a one-touch operation, the cassette tapes, etc. may pop out due to the spring pressure inside the cassette recorder, etc. It cannot be used for cassette recorders, etc., or because it is in a position or posture that is difficult to grasp with a robot hand.

The present invention is useful for cassette recorders, etc., in which, in response to a one-touch operation, if the cassette tape, etc. is not supported by hand, it may pop out due to the spring pressure inside the cassette recorder, or may be in a position or posture that is difficult to grasp with a robot hand. The present invention aims to provide a collection device that automatically collects objects such as cassette tapes.

[Means for solving problems]

The object handling device of the present invention that achieves the above object includes:
At least one movable finger and another movable finger opposite to this movable finger.
a hand device having a finger means including two fingers, and a finger driving means for driving the movable finger to open/close with respect to the opposing finger; a stopper means fixed to the base side of the tip of one finger of the finger means; A suction means equipped near the tip of the finger to which the stopper means is fixed; and a suction means that drives the hand device to position the tip of the finger to which the stopper means is fixed at a specified position, and drives the hand device to move the tip of the finger in the X direction. the hand device is driven to shift the finger to which the stopper means is fixed in the X direction;
The object whose rearward movement in the X direction is directly or indirectly prevented by the stopper means is held by the suction means, the one-hand device is driven to drive the held object backward in the X direction, and then the holding of the suction means is released. , driving the hand device and driving the finger driving means to grasp the object with the finger means, driving the hand device and driving the finger driving means to move the object to a designated position and release the object.

Object transfer control means; [Operation] For example, the object transfer control means drives a hand device to place the tip of the finger to which the stopper means is fixed under a cassette tape or the like inside the input slot of the magnetic tape recording/playback device. By positioning the cassette in the cassette extraction finger space in the bottom and inlet, and 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 input port, and the object transfer control means drives the hand device and shifts the finger to which the stopper means is fixed in the X direction, so that the cassette tape is lifted and the cassette is removed. The tape comes off the upper side of the locking wall inside the slot and tries to fly out of the slot due to the repulsive force of the return spring inside the magnetic tape recording/playback device.
It directly or indirectly collides with the stopper means and is thereby prevented from flying out. Next, the object transfer control means holds this cassette tape with the suction means, drives the hand device to drive the held cassette tape backward in the X direction, and then releases the holding of the suction means, so that the cassette tape is
It stays in the input port in a predetermined posture with a predetermined amount of roasted food coming out of the input port. Next, the object transfer control means drives the hand device, drives the finger drive means, grasps the cassette tape with the finger means, drives the one hand device, and drives the finger drive means to transport the object to a designated position to remove the object. By releasing the tape, the cassette tape is pulled out from the input slot and collected at the specified position.

In this way, the stopper means, suction means, and object transfer control means first release the cassette tape in the input slot from the loading position, prevent the cassette tape from flying out at this time, and temporarily hold the cassette tape in a normal position and posture. After stopping the cassette tape, the cassette tape is grabbed with the finger means and retrieved to a designated position, so with one-touch operation, the cassette tape is in a position and posture where it can be gripped.Not only can the cassette tape be retrieved from a magnetic recording/playback device, but it can also be supported with one hand. It can be used to recover a cassette tape from a magnetic tape recording/reproducing device, where the cassette tape would otherwise be ejected due to the spring pressure inside the reproducing device, or be in a position or posture that is difficult to grasp with a robot hand.

In the above description, the object to be manipulated is a cassette tape, but the object handling device of the present invention can treat any object that can be recovered/separated by the functions and operations described above.

In the embodiment described below, the finger means consists of two movable fingers facing each other and one fixed finger fixed to the hand device, to which the stopper means is fixed. The suction means is supported by the stopper means, the cassette tape hits the suction means, and the suction means is supported by the stopper, thereby preventing the cassette tape from flying out.

Then, suction negative pressure is supplied to the suction means to suction and hold the cassette tape.

However, according to the present invention, the finger means consists of one fixed finger and one movable finger facing it, or two movable fingers facing each other, and the stopper means is fixed to one finger. It's okay.

The suction means is supported by a stopper means, or the suction means is attached separately from the stopper means to a fixed finger or a movable finger (preferably a fixed finger) so that the cassette tape hits the stopper means immediately before the cassette tape hits the stopper means. Alternatively, the suction means may be driven by a retraction/advance drive means from the retracted position to the cassette tape stopped by a stopper means.

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 (hereinafter simply referred to as tape) is made into a cassette.
Tape storage rack S that stores
Retrieving the tape from the rack, storing the tape in the rack S, and 8
Tape handling robot R that mounts (installs)/demounts (takes out: collects) tapes on a magnetic tape recording/reproducing device (hereinafter simply referred to as a tape device) MD.
It is.

This robot R moves along the rail G between the tape group [IMD and the rack S, and moves from the replenishment shelf 95 that temporarily stores tapes to be refilled in the rack S to the rack S and vice versa. The rack S is moved to the tape device MD and vice versa.

The computer 96 controls the reproduction of each of the tape family fiMDs and transfers reproduction data to the data line.

The computer CC is a system control computer that controls various operations of the robot R and the shelving process for pulling out the required shelves of 5 racks S to the supply/receiving station.

The computer BC is one of the computers in an online system consisting of a central computer, terminal computers, etc. (not shown), and a data line connecting them. According to the information processing schedule given from another computer or a certain operation board, the computer CC extracts the information medium,
This is an information management computer that instructs the computer 96 to install and retrieve information from the tape device, and instructs the computer 96 to reproduce/record and transfer information.

That is, the system shown in FIG. 1 itself is the information registration station of the online system, the computer BC is the management computer of this station, and the computer CC is the rack S.
A computer 96 is a recording/playback control computer that controls recording, playback, and transfer of playback data of the tape devices MD (8 units).

First, an overview of the operation will be explained. The central computer of the online system itself, its operator, or any other computer in the system or its operator, or the operator of computer BC (hereinafter collectively referred to as host), shall be responsible for the tape operation of the tapes used to execute the business schedule with respect to tape operations. When a schedule for loading and unloading the device MD is created and inputted into the information management computer BC, it becomes necessary to use a tape that is not included in the schedule.

Alternatively, if there is a change in the schedule, this is input into the information management computer BC. Also, when the rack S needs to be replenished with tape, the operator places the replenishment tape on the replenishment shelf 95.
That is, it is placed at the tape replenishment station, and the information management computer BC records the tape code and the position where the tape is placed (
position data indicating the storage position of the rack S) and the storage position of the rack S, and a replenishment command are input.

The information management computer BC saves the attachment/detachment schedule, and provides the data of the attachment/detachment schedule to the system control computer CC at predetermined intervals in the order of execution (the extracted data is referred to as a work schedule). When the use of the system or the schedule change is input, the tape handling necessary for this is instructed to the system control computer CC.

When there is the replenishment command, input data and the replenishment command are given to the system control computer CC.

In the system control computer CC, storage positions (position data) of tapes already stored in the rack S are stored in memory in association with tape names (tape codes), and this memory is called a conversion table.

When receiving a replenishment command, the system control computer CC drives the robot R to the replenishment shelf 95, has the robot R take out the tape there, and places it in the rack S at the storage position given along with the replenishment command. Then, the stored position of the tape code, which has been replenished and stored in this way, is written in the conversion table as an address.

When the system control computer CC is given a work schedule, it creates and maintains a work table in which the tape code therein is converted into storage position data of the rack S using the conversion table, and the work table is additionally stored in the robot R. The robot R monitors the possible number of tapes and has the robot R extract and hold the tapes that can be additionally accommodated from the tapes to be used first in the order of execution according to the schedule. Tape support section (] 0 column x 2 columns, total 20 sections: 1 tape stored in 1 section) N
Holding tape code (here, rack S) is associated with Oo.
The tape of the skirt 43 is loaded into the tape device MD according to loading/unloading instructions issued at a specified time or required time.

Alternatively, the tape is taken out from the tape device MD and collected in the skirt 43. Tape loading [each input slot N of MD (8 units)
The cords of the tapes (tape cords) attached to the tapes o, l to 8 and the cords of the tapes held in the skirt 43 are notified to the information management computer BC every time they are changed. Based on this notification, the information management computer BC determines whether each tape is
Rack S Arobon 1-R and tape device ifMD
(input slot No. 1 to 8), determines the usage status of the tape, and creates and updates the next loading/unloading schedule.

Refer to Change 2 Interrupt Handling, etc.

Next, the rack S shown in FIG. 1 will be explained in detail.

A longitudinal section of the rack S is shown in FIG. 2a. The rack S has a total of 20 shelves numbered 1 to 20 with the same structure, and these are supported by a shelf feeding mechanism 22.

The rack S has one railing opening, and this opening has a drawer/storage mechanism 25, which allows the shelf (1 in the illustrated example) in the opening to be moved from the rack S to Figure 2a. It is pulled out to the feed/receive station as shown. The tape stored in the mt pulled out in this way is shown by C in FIG. C is a group of tapes stored on one shelf, and the supply/receiving position (supply Kr/receiving station)
It is in.

When another shelf of tape is required, shelf 1 at the supply/receiving station is pushed into rack S by mechanism 25 and coupled to shelf transport mechanism 22.

Mechanism 22 is activated.

The enlarged nose of the palm is shown in Fig. 2b, and [C-■CC in Fig. 2b]
It is shown in Figure 2c, a large cross-section with line entry. In this embodiment, as shown in FIG. 2b, the interior of the shelf 1 is divided into 16111 x 6 columns by one synthetic resin frame 21 to form 96 tape storage compartments. The walls between adjacent compartments have a partially cut-out shape. This is a robot R that will be described later.
This is to prevent the tape gripping fingers 37 and 38 from entering the inside of the shelf for taking out the tape.

In FIG. 2c, the tapes C15+C25jC351C451 stored in each compartment of the shelf l are shown by phantom lines. Shelves 1-20
Since there are 20 pieces, 96x 20 = 19 for all types
It can store 20 tapes.

Note that the replenishment shelf 95 has 2a x 6 rows of compartments having the same shape as the compartments of the shelf 1, and can accommodate 12 IA of replenishment tape.

This replenishment shelf 95 is installed in engagement with the rack S in a predetermined posture, and can be attached to and detached from the rack S.

Figure 2d shows the configuration of the electrical elements of the rack S.

The shelf feeding mechanism 22 includes a shelf drive motor 23 and a shelf HP (
The shelf HP detector 24 generates an HP presence signal when the shelf 1 is correctly aligned with the drawer opening in the rack S, and other state does not cause it.

The drawer/retraction mechanism 25 includes a shelf drive carriage (not shown).
a carriage drive motor 26 for reciprocating the carriage; a shelf coupling solenoid 27 for driving a latch mechanism for coupling the shelf of the rack S to the carriage; a shelf OP detector 28 that generates a shelf OP signal when the shelf coupled to the carriage is precisely located at the supply/receive station outside the opening (when the carriage is in that position) and does not otherwise produce this; , and a shelf RR detector 29 which generates a shelf RR signal when any one shelf is precisely aligned with an opening in the rack S, and does not otherwise produce this.

A motor driver 30 connected to the shelf feed fi 412 and the above electrical elements of the drawer/retract mechanism 25. Detection circuit 31.
Motor driver 32. The solenoid driver 33 and the detection circuit 34 include a signal amplification shaping circuit, a filter circuit, and a filter circuit that prevent signal attenuation and noise in the signal line.
Alternatively, it is connected to the system control computer CC via an interface 35 made of a photocoupler or the like as necessary, and the shelf feeding mechanism 22 and the drawer/retractor are connected based on the mechanism activation/deactivation signal from the computer CC. Mechanism 25 operates.

In other words, the tape storage position is shelf number, code +&l
NO, code Represented by 10 sequence No., code. Calculation for system control 4! ! When the ICG is powered on and initializes itself, the operation board C of the computer cc
When initialization is input from B and when shelf HP setting is commanded from computer BC.

The motor 23 instructs the rack S to rotate in the normal direction (clockwise rotation of the shelves 1 to 2o in FIG. 2a), and the motor 23 is stopped when the detector 24 generates the HP signal.

Set a code indicating 1 in the register. Thereafter, each time the shelf RP detector 29 generates a shelf RP signal while the motor 23 is rotating forward, the shelf No. and the contents of the register are updated to a code indicating a number larger by 1. Shelf No. generates a shelf RP signal.

Update the contents of the register to a code indicating a number one smaller.

As a result, when the detector 29 is generating the shelf RP signal 11 N o , the numerical value stored in the register indicates the shelf number in the shelf drawer opening. In this way, the computer CC calculates the position of the shelf in the rack S.

In particular, keep track of the shelf number in the shelf drawer opening. Therefore, when there is a tape that needs to be extracted or a tape that needs to be stored, calculation @CC compares the contents of the shelf number register with the shelf number in the storage position data of the tape, and [No, register The content of is the shelf number in the storage position data of the tape,
Calculate the number of drive steps (drive time) when driving the motor 23 forward (clockwise) and in the reverse direction (counterclockwise) so that The motor 23 is stopped when the shelf number register reaches the shelf number in the storage position data of the tape, and the motor 26 is then reversely energized to pull the carriage out of the shelf. It is driven to the shelf inside the opening and stopped, and then the shelf coupling solenoid 27 is turned on.
Next, the electric motor 26 is energized to rotate normally, and the detector 28 is set to 110.
When the P signal is generated, the motor 26 is stopped and the solenoid 27 is turned off. As a result, the shelf with the same number as the shelf number in the tape storage position data is pulled out from the opening and placed at the supply/receiving station.

When another shelf needs to be positioned at the supply/receiving station, the motor 26 is reverse energized to send the shelf inside the opening, the motor 26 is stopped when the detector 29 generates the fMRP signal, and then The motor 26 is energized to rotate in the normal direction until the detector 28 generates a shelf OP signal. As a result, the shelf outside the opening is connected to the fence feeding mechanism inside the rack S,
The carriage will be in a standby position outside the opening. Then, the motor 23 is energized to position the desired shelf in the opening.

As explained above, the computer CC controls the positioning of each column of the rack S to the supply/receive station.

Next, robot R will be explained. Referring to FIGS. 1 and 3a, the robot R has a body that rotates in the J5 direction (inward rotation on the horizontal plane) with respect to the base, and a body that rotates in the J4 direction (inward rotation on the horizontal plane) with respect to the base.
The upper arm 46 rotates in the vertical direction) and the upper arm 46 rotates
A lower arm 42 that rotates in three directions (up and down), a wrist 41 that rotates in the J2 direction (up and down) relative to the lower arm 42, and a hand 36 that rotates in the J1 direction around the central axis of the wrist 41. has. Further, a skirt 43 is fixed to the base.

As shown in Figure 3a, each hand has two grasping fingers 37 and 3.
8 are attached, and these are opened and closed by air pressure.

Another #139 is fixed to the hand 36, and an arm supporting the suction cup 40 is erected slightly toward the base of the tip of the finger 39.

FIG. 3a shows tape input ports No. 1 to 1 of the tape device MD.
8 shows a state in which the tape C1j attached to one of the tapes C1j is pulled out from the input port. As shown by the solid line, insert your finger 39 under the tape C1j installed in the tape receiving space of the input slot (forward in the X direction), and then insert your finger 39 a little further.
9 towards the inside of the input slot (forward in the X direction), the suction cup 4
0 compresses the coil spring 111 and retreats, and the tape C1j
can be moved up. In this state, the hand 36 is driven upward (upward in the X direction). As a result, the tape C1j moves upward to the drawable position and tries to jump out of the input slot by the repulsive force of the push spring inside the tape device MD, but the suction cup 4
It's hitting 0. The suction cup 40 is supported by a stopper 110 via a coil spring tti.
1 is momentarily compressed and the suction cup 40 retreats, but the suction cup 40 is pressed against the tape by the repulsive force of the coil spring, and the suction cup 40 comes into close contact with the tape. That is, the tape that is about to fly out is prevented from moving rearward in the X direction by the stopper 110 via the suction cup 40.

Here, air suction pressure is applied to the suction cup 40. Thereby, the tape C1j is reliably supported by the fingers 39 and the suction cup 40.

Therefore, the hand 36 is driven in the direction away from the tape mounting front wall (backward in the X direction), and the hand 36 is driven ( (backwards in the X direction) and stop the suction plate 4.
0, the suction cup 40 is released from the tape C1j, the hand 36 is further separated from the front wall of the tape device (backward in the X direction), the hand 36 is moved in the J1 direction, and the wrist 41 is moved in the J1 direction.
Rotate in two directions so that fingers 37 and 38 face tape C1j (imaginary line), open fingers 37 and 38, and press tape C1j
Move the hand 36 forward (forward in the X direction) toward the front wall of the tape device so that the (imaginary line) is inserted between them, and
7. Close the 38 and grab the tape C1j with them. The grabbed tape is pulled out entirely from the input slot by further driving the hand 36 backward in the X direction. Then, it is carried onto the pre-assigned accommodation section of the skirt 43 and dropped there. When loading a tape into the tape receiving space in the input slot, that is, the information reading/writing position, the above-described operation for taking out the tape in the input slot is roughly performed in reverse chronological order.

The action of grasping the tape in each compartment within the shelf of rack S.

The operation of grasping the tape in each compartment in the replenishment shelf 95 and the operation of grasping the tape in each compartment of the skirt 43 are easier than the above-mentioned operation when taking out the tape in the input slot.

This action generally involves positioning the fingers directly above the center of the desired compartment, opening it, lowering it, closing it, and lifting it up.

Further, the operation of storing the gripped tape in a compartment in the shelf of the rack S or a compartment in the skirt 43 is also easy. In this operation, the tape is roughly positioned directly above the desired section, the five hands are lowered, and the fingers are opened at a predetermined position.

FIG. 3b shows an enlarged plan view of the skirt 43 fixed to the base RB of the robot R, and FIG. 3c shows an enlarged cross section of the skirt 43 along the line mc--C in FIG. 3b. The skirt 43 has a fan shape with an approximately 90 degree extension, and has two rows of tape storage sections 44 in the radial direction.
．． 45, and each column has 101i partitions. When storing tapes in or taking out tapes from the first row 44 and second row 45, if the column No. are the same, the first
The columns of the column and the second column are aligned so that the sections with the same 41I No. are located on the same radius. Also, although at first glance in Figure 1 it appears that the second row of compartments 45 is below the first row of compartments 44, they are actually at substantially the same height, as shown in Figure 3c.

Since the robot R moves, the tape tends to shift randomly within the sections 44 and 45. If the partitions are made smaller to match the external shape of the tape, this kind of deviation will be reduced, but this will cause problems such as difficulty in grasping the tape and difficulty in accommodating the tape. Therefore, in this embodiment, the side walls of the compartments 44.45 are inclined at an angle of about 31° with respect to the horizontal plane, as shown in FIG. 3c, and the bottoms of the compartments 44.45 are correspondingly inclined at the same angle. As a result, the tapes Ckm and Cnp dropped into the sections 44 and 45 constantly come into contact with the side wall on the center side of the cylinder due to their own weight. This makes it possible to always grasp the center of the width of the tape with the fingers 37 and 38. In addition,
As described later, an operating program is created to take out the tape from each compartment and store the tape in each compartment by teaching, and from then on, this operating program is repeatedly executed, so the tapes are randomly shifted within the compartment. This increases the possibility that the robot R will fail to grasp the tape or fail to accommodate it in one compartment, and the position of the tape will become more misaligned. The possibility of storage failure on the shelf increases. Each section having sloped side walls as shown in FIG. 3c automatically centers the tape and does not cause such problems.

In Fig. 3d, the base RB of the robot R is supported and the robot R is moved along the rail G in the J6 direction (rack S and tape group @MD
This shows the main parts of the mechanism that transports the paper in the direction of arrangement of the paper. Rails 47 and 48 are arranged parallel to the floor of the information registration/reproduction station, and a flexible insulating sheet 49 is attached to rail 47 to which a power supply 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 a computer CC.

The transport legs 52t+522 are connected to and supported by the axle 50, the transport #523 and 53a are connected to and supported by the soil shaft 51, and these transport membranes 521-5
A robot base RB is fixed to the upper part of the robot 24, and the side plates of this base cover the transport membranes 521 to 524, wheels, and the like. A transport motor, a reducer, etc. 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 reducer, and chains 53 and 54 are meshed with these gears. chains 53, 54 drive axles 50 and 51 to rotate at the same speed and in the same direction.

A hollow power supply arm 56 is fixed to the transport membrane 52+, and a brush that contacts the power supply conductor and signal conductor of the flexible insulating sheet 49 is attached to the lower end of the arm 56. A wire passes through the inside of the arm 56 and is led to the electrical equipment section of the robot R. A stopper 58 is fixed to the right end of the rail 47, and the arm 56 is located at a position opposite to the stopper 58, which is the right stopper position (in this embodiment, this is the home position of the robot in the system shown in FIG. 1). HP) Detector 56 for detection
is attached, and its signal line is led to the electrical equipment section of the robot R through the inside of the arm 56. A detector 59 for detecting the left limit position is attached to the leg 523.

FIG. 3e shows the electrical elements of robot R. robot R
These include a finger opening/closing mechanism 60 that opens and closes the fingers 37 and 38, a tape suction mechanism 619, a hand rotation mechanism 629, a wrist rotation mechanism 63. House Rotary Mechanism 64. Upper arm rotation mechanism 65. The body rotation mechanism 66 and the self-propelled mechanism 67, electric circuits that energize electric elements such as motors included in these mechanisms, and detection circuits 72 to 942 that process signals from detection elements for detecting the mechanism state; , RAM, ROM) 692 communication communication control unit F0
and a communication interface 71.

The finger opening/closing mechanism 60 includes an air compressor consisting of an electric motor and an air compressor, a pressure switching valve (electromagnetic valve) that selectively supplies the suction negative pressure and discharge positive pressure of this compressor to the finger drive cylinder of the hand 36, and the finger 37°. and a limit detector that generates a signal indicating when 38 has reached a closed limit position. Due to the positive discharge pressure of the air compressor, the finger 37.
38 is closed.

driven, but those forces are tape (cassette container)
The operating pressure of the compressor is set at a positive discharge pressure sufficient to ensure that the fingers 37,38 retain the tape without causing any wear on the tape. That is, the tape is 37.38
When gripping the finger drive cylinder, positive discharge pressure is constantly supplied to the finger drive cylinder. When opened, suction negative pressure is switched and supplied to the finger drive cylinder. The limit detector is used to determine a tape grip failure (this includes both a failure in which the tape was not gripped even though it was present, and a tape handling error in which the tape was not originally present).

The tape suction mechanism 61 includes a pressure switching valve (electromagnetic valve) that selectively supplies suction negative pressure and discharge positive pressure of the air compressor to the suction cup 40 through a throttle orifice. The pressure switching valve normally supplies positive pressure to the suction cup 40, and absorbs negative pressure when the tape is pulled out from the inlet of the tape device to the take-out position (tape Ci, j indicated by the imaginary line in Fig. 3a). It is supplied to the board 40.

The hand rotation mechanism 62 includes a DC motor that rotates the hand, and two sets of motors whose phases are shifted by 90 degrees, each generating one pulse each time the hand rotation mechanism rotates by a predetermined small angle. (includes a rotary encoder that generates a rotation angle and an HP detector that generates a signal (hand rotation HP times signal) indicating when the hand 36 is at a predetermined rotation angle (home position: HP).

Wrist rotation mechanism 63. House Rotary Mechanism 64. Upper arm rotation mechanism 6
5 and the trunk rotation mechanism 66 also include elements similar to the electric elements of the manual rotation mechanism 62.

The self-propelled mechanism 67 includes a DC motor that drives the chain 53, 54, a rotary encoder that generates two sets of pulses whose phases are shifted by 90 degrees, each time the motor rotates by a predetermined small angle, and a limit sensor. Contains 57.59 containers.

The communication control unit 70 is an electronic device that controls the exchange of data between the mechanism control computer 69 and the computer CC (the communication control unit of the computer CC). Serial conversion and communication interface 71
-49 signal line, and when the data is received from the signal line of sheet 49 via interface 71, this is notified to computer 69, and the serially received data is converted into parallel data and provided to computer 69. Computer CC also performs similar transmission/reception to computer 69.

An outline of the control operation of the computer 69 is shown in FIG.

Referring to this figure, when the computer 69 is powered on, it initializes the system by leaving each mechanism in a non-energized state (step 100; hereinafter, the word step is omitted in parentheses), and then Next, the state of the mechanisms 60 to 67 is detected to determine whether there is an abnormality (101), and if there is an abnormality, it is notified to the computer CC (103). If everything is normal, the mechanisms 62 to 67 are initialized one by one, starting with the manual rotation mechanism 62 (10
2) In the hand rotation mechanism 62, the rotation range of Jl of the hand 36 is ±180' with its HP as the center, and mechanically speaking, rotation outside that range is impossible. In other words, even if the DC motor continues to be energized beyond that range, the hand 36 will stop rotating at the limit of that range, and the DC motor will be prevented from rotating, resulting in an overload. The DC motor is designed so that it will not be damaged by an overload during the energization time, that is, by motor lock energization. In the initial positioning of the hand rotation mechanism 62, the computer 69 first determines that the rotation angle of jl of the hand 36 is HP based on the signal from the HP detector.
It is determined by referring to the signal of the HP#L detector, and if the HP detector is generating the HP double signal, the manual rotation angle register is set to 0 (register cleared). When the HP double signal is not generated, the DC motor is urged to rotate forward within a half-rotation time limit, and when the HP signal appears during this activation, the motor is stopped and O is entered in the manual rotation angle register. When a time equivalent to half a rotation has elapsed without the HP double signal appearing, the DC motor is stopped, and then the DC motor is reversely energized, and when the HP double signal appears, the motor is stopped and O is set in the manual rotation angle register. With this, hand 3
6 has been completed, and data indicating the position in the J1 direction is stored in the manual rotation angle register.

As the DC motor rotates, the rotary encoder generates two sets of pulses A and B, and based on the order in which they are generated, the detection circuit determines the rotational direction of the motor and provides a signal indicating the direction and pulse A to the computer 69. .

When the DC motor is energized after the initial positioning is completed, the computer 69 determines, in response to the direction signal and pulse A given by the detection circuit, that when the direction signal indicates normal rotation of the DC motor, pulse A is activated. Every time one pulse appears, the contents of the manual rotation angle register are updated to a code indicating a number larger by one.

When the DC motor is in reverse rotation, the content of the manual rotation angle register is updated to a code indicating a number smaller by 1 every time pulse A appears, and when the HP detector generates the HP double signal, it indicates the rotation of the motor. Clear the contents of the angle register to O(HP). Therefore, after the initial positioning is completed, the rotation angle data of the hand in the J1 direction is always stored in the hand rotation angle register.

The computer 69 also performs initial positioning of the mechanisms 63 to 67 in the same manner as the initial positioning of the hand rotation mechanism 62 described above, and records the rotation angle of the wrist rotation mechanism 63 in the wrist rotation angle register and the rotation angle of the lower arm rotation mechanism 64. The rotation angle is stored in the lower arm rotation angle register, the rotation angle of the upper arm rotation mechanism 65 is stored in the upper arm rotation angle register, the rotation angle of the m rotation mechanism 66 is stored in the torso rotation angle register, and the position of the self-propelled mechanism 67 is stored in the upper arm rotation angle register. is stored in the free running position register. In addition.

The rotation range of the mechanisms 63 to 65 is ± around their HP.
The angle is narrower than 180°, and the rotation range of the trunk rotation mechanism 66 is ±180° around its HP. Note 1 Mechanism 6
When the initial positioning of steps 2 to 67 is completed successfully, the computer 6
9 notifies the computer CC of ready status via the communication control unit 70.

When the computer 69 detects an abnormality in these initial positioning steps, it notifies the computer CC of the abnormality (103). When the process ends normally, it sends a ready message to the computer CC and waits for the computer CC to instruct (send) a command (105). computer cc
When there is a transmission from , it receives it, reads the received data, decodes the command from the computer CC (106), executes the command (107), and notifies the computer CC of the completion when the commanded process is completed. One type of command execution is a control action that causes the robot R to perform a required action. Details of the control operation will be described later with reference to FIG. 3j and the third diagram.

Next, the computer CC will be explained. Computer CC has three floppy disk drives, CF and CRT, which are equivalent to high-end personal computers.
It is a computer equipped with a display CD, an operation board CB, a main computer, a communication control unit, and a communication interface.

The floppy disk containing the operation program of the main computer is stored in N001 of the disk drive CF.
A part of the operating program of the main computer 0, which becomes operational when the main computer 1 is set and the power is turned on, includes the execution of the program No. 2 (application program) of the disk group ICF. Disc family [CF
No. 3 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 operations of the computer CC is shown in FIG. 4a.

When the computer operation floppy disk is set in No. 1 of the disk group @CF and the computer CC is powered on, the computer CC initializes its internal input/output ports (routine 1 in Figure 4a) and then performs the operation. A program is read from the disk, and an operation menu is displayed on the display CD according to this operation program. Among the operation menus is "Execute application program". In this embodiment, there are three types of application programs: teaching, actual operation, and test, each of which is stored on a separate floppy disk.

The operator inserts the teaching disk into the machine CF No.
2 to specify "execution of application program", the computer 69 reads the data on the disk No. 2 of the device icF and stores it in the program memory.

The operation according to the read program (routine 3 in FIG. 4a) is performed.

When the operator sets the actual disk to No. 2 of the device CF and specifies "execution of application program," the computer 69 reads the data on the No. 2 disk of the device CF, stores it in the program memory, and executes the read. The program performs the operation (routine 4 in FIG. 4a) according to the program.

Also, the operator inserts the test disk into the device CF No.
2 to specify "execution of application program", the computer 69 reads the data on the No. 2 disk of the device CF and stores it in the program memory.

It performs operations according to the read program.

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

The "1 standby posture" of teaching item TA can also be called the basic posture, and in this posture, when the robot R moves along the rail G, the rack S, tape mount [MD
and the replenishment shelf 95, and even if the operator were to be around them, the possibility of danger to the operator is small.Furthermore, the arm extension from that position to taking out the tape from the rack S is small, and the skirt 43 This basic posture is set from the viewpoints that the arm extension until the tape is taken out is small, and the arm extension to the input port of the tape device MD is also small.

The teaching item TA "2 system HPJ" defines the standby position of the robot R while it is at rest (the base position of the robot R with respect to the entire system shown in FIG. 1).

In this embodiment, this is the stopper 58 (
3d) is the robot position detected by the limit detector 57.

Teaching item TA “3 rack HPJ is rack S
This defines the base position of the robot R relative to the robot R.

In this example, this is in front of shelf 41iNo,l at the supply/receiving station.

The teaching item TA "4 Tape Mount [HPJ] defines the base position of the robot with respect to the tape device MD. In this embodiment, this is in front of the input port No. 1 of the tape device iWMD.

The teaching item TA "5 Skirt HPJ" defines the base position of the robot body (that is, the upper arm 46) with respect to the skirt 43. There is.

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

The teaching item TA "7 Tape device 1 pitch shift amount" defines the 1 pitch length of the arrangement pitch of the tape device [MD input port No. 1 to 8].

The teaching item TA "8 Skirt 1 Column Shift Amount" defines the 1 pitch angle (rotation angle of the body) of the column arrangement pitch of the tape storage section of the skirt 43.

The teaching item TA, "Retrieving tapes from each row of 9 racks," has 6 types from the 1st to 6th rows, and each row starts from the standby position and takes out each row of the shelves at the supply/receiving station of the rack S. This is the operation of taking out the tape from the machine and returning to the standby position while holding the tape.

Teaching item TA "Storing tape in each row of 10 skirts" has two types: the first row and the second row, and each starts from the standby position and stores the held tape in each row of the skirt 43. This is the movement from which the robot drops down to the standby position and returns to the standby position.

There are two types of teaching item TA, ``Removal of tape from each row of the skirt 43'': the first row and the second row, and each starts from the standby position, grabs the tape from each row of the skirt 43, and removes the tape. This is the action of returning to the standby position while holding the position.

The teaching item TA "13 Tape installation in tape device" is an operation that starts from the standby position, loads the held tape into the input slot of the tape device, and then returns to the standby position.

Teaching item TA "14 Retrieving tape from tape device" is an operation in which the user starts from the standby position, pulls out the tape in the input slot of the tape device, and returns to the standby position while holding the tape.

There are six types of teaching item TA, ``Storage of tape in each row of 15 racks'', from the 1st to the 6th column, and each one starts from the standby position and stores the held tape at the supply/receiving station. This is the action of dropping into each row of shelves and returning to the standby position.

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

"Teaching item TA r17 system HP wait" is,
This defines the end of the work, and in this embodiment, the contents include returning to the standby position and moving to the system HP.

Teaching item TA “18 Replenishment station HPJ
defines the base position of the robot R with respect to the replenishment shelf 95, which is 4IiNo.1 of the replenishment shelf 95 in this embodiment.

The teaching item TA "19 replenishment shelf 1 pitch shift amount" defines the 1 pitch length of the field pitch of the tape storage section of the replenishment shelf 95.

The teaching item TA "Remove tape from each row of 20 replenishment shelves" has six types from the 1st to 6th rows, and each of the 95 replenishment shelves starts from the standby position and takes out each tape on the replenishment shelves of each row of replenishment shelves. This is the operation of taking out the tape from the row and returning to the standby position while holding the tape.

The teaching item TA "21 Storing tapes in each row of the replenishment shelf 95" has six types from the 1st to 6th columns, and each one starts from the standby position and stores the tape in each row of the replenishment shelf 95. This is the operation of dropping the tape into each row of storage compartments and returning to the standby position.

In the "teaching" routine 3 shown in FIG. 4a, the computer CC displays a menu showing the aforementioned teaching items on the display CD, and each time the operator specifies one of the items, the computer CC displays the robot movement or Execute the program to set the data, drive the robot R according to the input from the operation board CB, create data according to the input from the operation board CB, and when the operation input for the item is completed, the input from the operation board CB will be executed. Accordingly, it is registered in the disk set to No. 3 of the floppy disk CF corresponding to the teaching item.

In teaching routine 3, eight keys (for example, A, B, C, D, E) on the operation board CB are used.

F, G, H) are assigned to each of the mechanisms 60-67, and turning on each key specifies each of the mechanisms 60-67. A mouse connected to the operation board CB and a cursor on the display CD are assigned to movement direction instructions, phase opening/closing, and suction/release.

When the teaching item "l standby posture" is specified, if key A is turned on to specify the finger opening/closing mechanism 60 and the up cursor key is turned on, the computer CC will change to the computer 69.
to turn on the air compressor and pressure switching valve (finger-to-finger drive) of the mechanism 60, and turn the robot R's finger 37.38 on.
is closed.

When key B is turned on and the up cursor key is turned on, the computer CC instructs the computer 69 to turn off the pressure switching valve of the mechanism 61 (cancel negative pressure suction), and applies positive pressure to the suction plate 40 of the finger 39 of the robot R. Let it be supplied.

When key C is turned on and the right movement cursor key is turned on, the quantity calculator CG which is turned on instructs the calculator 69 to rotate the DC motor of the mechanism 62 in the forward direction, rotates the hand 36 clockwise, and presses the left movement cursor key. When turned on, while it is on, the DC motor is instructed to reverse rotation, causing the hand 36 to rotate counterclockwise. Similarly, when the up cursor key is turned on after key D is turned on, the DC motor of the mechanism 63 rotates in the forward direction, rotating the wrist 41 downward, and when the up cursor key is turned on, the wrist 41 rotates downward. Rotate upward. When the up cursor key is turned on after key E is turned on, mechanism 6
When the DC motor No. 4 rotates normally and the lower arm 42 rotates downward, and the up movement cursor key is turned on, the lower arm 42 rotates upward. When the up cursor key is turned on after the key F is turned on, the DC motor of the mechanism 65 rotates in the forward direction and the upper arm 46 rotates downward, and when the up cursor key is turned on, the upper arm 4
6 rotates upward. When the right movement cursor key is turned on after key G is turned on, the DC motor of the mechanism 66 rotates in the normal direction and the body rotates clockwise, and when the left movement cursor key is turned on, the body rotates counterclockwise. do. When the cloth movement cursor key is turned on after the key I is turned on, the DC motor of the mechanism 67 rotates forward and the robot R moves to the right, and when the left movement cursor key is turned on, the robot R is moved to the left.

By driving each mechanism in this way, the robot R is placed in the desired posture.
When you set and instruct registration, the computer CC changes to the computer 69
, instructs to transfer the current position data of mechanisms 60, 61, 62, 63, 64 and 65, receives these data from 69, and transfers them to mechanisms 60, 61, 6 as "1 standby posture".
2, 63, 64° 65 and 66 position data are registered in this order.

Specify the teaching item TA "2 system H, P J, energize the mechanism 67 and drive the robot R to the right. When the detector 57 detects the limit stopper 58 and the robot R automatically stops, When registration is instructed, data specifying 1 standby posture 10 robot R right drive + detector 57 detects stopper + stop 10 fingers open + suction release is registered as r2 system HPJ.

Specify the teaching item TA "3 Luc HPJ,"
When robot R is driven in front of shelf column No. l at the supply/receiving station of rack S and instructed to register, [3
1 standby posture 10 robot R as Rack HPJ Rack S
No. 11g (this is the position data of the mechanism 67 at that time) is registered with data specifying drive. This position data is obtained from the computer 69 by the computer CC instructing the computer 69 to transfer it.

Teaching item TA "4 Specify tape device HPJ, and move robot R to input port No. 1 of tape device fl1MD.
When you drive the machine and instruct it to register, it says "4 tape device HP".
As J, 1 standby posture 10 robot R is connected to tape device iMD
Data specifying the input port No. 1 (this is the position data of the mechanism 67 at that time) is registered.

If you specify "5 Skirt HP" in the teaching item TA, drive the body so that the upper arm 46 of robot R is in front of column No. 31 of skirt 43, and instruct registration, "5
Data specifying 1 standby posture + driving the upper arm (torso) to the skirt iNo.l (this is the rotation angle of the trunk at that time) is registered as the skirt HPJ.

Teaching item TA “6 rack 1 lfl shift amount”
, first drive the robot R in front of the rack S, stop it at an appropriate field number (for example, 1iNo, 1), and turn on the left movement cursor once, the computer CC will be moved to the computer 6.
Obtain the position data of the mechanism 67 at that time from 9 and latch it,
Next, move robot R to the next column position of rack S (llJNo,
2) and turn on the right movement cursor once, the computer CC obtains the current position data of the mechanism 67 from the computer 69, latches it, calculates the difference between the data of the two latched positions, and calculates the difference value. Register as "6 rack 1a shift amount".

The registration of ``7 tape device 1 pitch shift amount'' and ``8 skirt 1 column shift scene'' is also the same as the above-mentioned process of ``6 rack lfl shift failure''.

The operator specifies "take out the tape from the first row of rack 9-1" and moves robot R to the appropriate column number of rack S.
(for example, No. 1) and instructs the standby posture of the robot R, the computer CC sends the data of the above-mentioned "l standby posture" to the computer 69, and the computer 69 responds to this and directs the robot R to the standby posture. Set to standby position. Next, when the operator operates the mechanisms 60 to 66 in the same manner as in the teaching of the above-mentioned "l standby posture" and presses the shift key, the position data of the mechanisms 60 to 66 at the time the shift key was pressed will be changed to one stage (operation). It is read into the computer CC as the target position data (section data) of the above section).

The operator operates the mechanisms 60 to 66 and presses the shift key to make the robot R move until it is close to the above-mentioned 1 standby posture by grasping the tape in the first row of the rack S with fingers 37 and 38, and performs the chronological movement. Press the shift key at the node that becomes the switching point. When the operator presses the end key, the computer cc reads the previously read node data (1st node data + 2nd node data + . . . node data after the soil layer) and the data instructing the standby posture in this order. Register in sequence.

The teaching process for taking out the tapes in each row of 9-2 to 9-6 in the teaching item TA is the same as that for the first row described above, and the teaching process is based on the row number of the tape to be taken out.

are different.

The operator specifies "storing the tape in the first row of the riO-1 skirt", positions the robot R in front of an appropriate 1QNo. When you press the shift key in the same way as when teaching "1 standby posture," the position data of mechanisms 60 to 66 when the shift key was pressed will be changed to the target position data (node data) of the 1st stage (node in operation). ) is read into the computer CC. The operator is mechanism 60-6
Operate 6, press the shift key, and move your finger to 37°3 in the standby position.
Store the tape gripped by 8 in the No. 1 row of the skirt 43, then have the robot R perform the operation until it approaches the 1 standby posture described above, and press the shift key at the node that is the switching point of the time-series operation. . When the operator operates the end key, the computer CC registers the node data that has been read so far (first node data + second node data + ... node data after the soil layer) and data that instructs the standby posture. .

The teaching process for storing the teaching item TA 10-2 in the second column is also the same as that for the first column described above, but the skirt row number to accommodate is different.

To take out the tapes in each row of the skirt 11-1 and 11-2 in item TA, the hand 36 is driven from the standby position, grabs the tapes in the first and second rows of the skirt 43, and returns to the standby position. This is roughly the opposite operation to storing the tape in the skirt described above. This data registration is also performed in the same manner as the data registration in the case of storage described above.

In the setting of the operation program "13 Loading tape into tape device", robot R, which is holding a tape in standby position, is placed in an appropriate input slot (for example, No., L) of tape device ifMD.
Then, the mechanisms 60 to 66 are operated in the same manner as in the teaching of the "1 standby posture" described above, and the tape being held is inserted into the input slot. Then, operation data from the time the device is put on until it returns to the standby position is registered.

In the setting of the operation program "14 Taking out the tape from the tape device", the robot R in the standby position is driven to pull out the tape in the input slot and let it be caught by a finger, and then
Register the operation data until returning to the standby position.

The registration of the operation program for "Store tapes in each row of N5 racks" is similar to the operation for "take out tapes from each row of 9 racks" described above. However, the difference here is that the robot R, which is in a standby position while gripping the tape, is driven to store the gripped tape in each row of the shelves of the supply/receiving station of the rack S.

In "r16 Work End", data indicating 1 standby posture, 10 fingers open, 10 suction released, is registered.

In "17 System HP standby", data indicating the standby posture 10 fingers open + suction release + 2 system HP is registered.

The settings of the operation programs of teaching items TA 18 to 21 are the same as the settings of the operation program regarding the rack S described above.

The operating programs etc. (operating program table) explained above are stored in the computer CC on the floppy disk drive ICF.
Register it to the floppy disk installed in No. 3 of the computer.

To explain in a little more detail the operation of the computer CC and the operation of the computer 69 up to the above-mentioned registration, for example, as mentioned above, when the teaching item "1 standby posture" is specified,
When the up cursor key is turned on after key A is turned on, computer CC creates command frame 1 shown in FIG. 3g and sends it to computer 69. The target mechanism of instruction frame 1 specifies the mechanism 60, the specified circuit is the motor driver 72, the instruction content is on, and there is no target value.

The detector is a limit detector, the detection state is off (open), and the hold designation is "hold" (compressor continues to be on). Next to this command frame, the target mechanism is mechanism 60,
The specified circuit is the valve driver 73, the instruction content is on, there is no target value, the detector is a limit detector, and the detection state is off (
open), the hold designation sends a command frame with "hold".

The computer 69 turns on the compressor and turns on the pressure switching valve (phase open) as instructed by these command frames. Then, this energization state data is stored in the state register assigned to the mechanism 60, and the completion of instruction execution is notified to the computer CC.

Calculator CC, when the up cursor or up cursor is turned on after key B is turned on.

゛ The target mechanism of the command frame 1 shown in Fig. 3g is 61, the designated circuit is the valve driver, and the instruction content is OFF the pressure switching valve (upward moving cursor: positive pressure discharge from the suction cup 40).
or on (upward moving cursor: suction negative pressure is supplied to the suction cup at 40), there is no target value, there is no detector, there is no detection state, and the hold designation is "hold" (maintaining the on or off state), and the calculator 69 The computer 69 executes this instruction, and upon completion, notifies the computer CC of the completion of instruction execution and stores the setting state of the mechanism in the status register assigned to one mechanism 61.

When the right movement cursor key is turned on after the key C is turned on, the computer cc sets the target mechanism of the command frame 1 shown in FIG. It is transmitted to the computer 69 as normal rotation, no target value (infinity point), no detector, no detection state, and no hold designation. The computer 69 urges the motor to rotate normally. When the right 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 by stopping the motor. When the left cursor key is turned on, the motor is similarly energized in the reverse direction, and when the left cursor key is turned off, the motor is similarly stopped. In any case, the rotation angle of one hand is stored in the one-hand rotation angle register. Other mechanisms 6
When 3 to 67 are specified, the operations of computers cc and 69 are the same as described above. Then, when registration is instructed, the computer CC registers the contents of the status register of 1 mechanism 60, 9 the contents of the status register of mechanism 61, the contents of the registers such as the rotation angle of 2 mechanisms 62 to 67, and the detector status of mechanism 67. (section data) to RAM 103.
A command is given to the computer 69 using the command frame 2 shown in FIG. In this case, the start of the write address is specified as the write start address specified for "1 standby posture". Then, in command frame 3, a command is given to transmit these node data to the CC, and these node data are written in the write area of the floppy disk in the "l standby position".

The aforementioned "2 system HPJ, r3 rack HPJ.

In the 4-tape device HPJ and the r5-skirt HPJ, the computers CC and 69 perform the same control operations as in the 1-standby position described above. "6 easy 1 column shift amount"
, "7 tape device 1 pitch shift amount" and "replenishment shelf 1 column shift amount", the computer CC generates the drive/stop command, write command, and transmission command necessary to obtain these command frames l and 1 shown in FIG. 3g. Instruction frame 2 and instruction frame 3
to the computer 69, and the data is stored in the RAM 103.
At the same time, it is also written to the floppy disk of N013.

When performing a complicated operation such as the above-mentioned ``9-1 rack ejecting the tape in the first column,'' each time the shift key is operated, the above-mentioned section data is stored in the RAM 103 (from the 9-1 registered start address). ) are sequentially written, and the data is sequentially recorded on the floppy disk No. 3 (from the 9-1 registered start address) by sending it to the CC.

As described above, the robot motion data (motion program table) for all the TA items shown in FIG. 4b are registered in the RAM 103 and the No. 3 floppy disk.

In the actual routine 4 (FIG. 4a), the computer CC reads out the registered data (operation program table) from the floppy disk loaded in N003 of the floppy disk device CF and transfers it to the computer 69. This is the third
Commands are issued by successively sending command frames 5 and 6 shown in figure g.

That is, for each operation program (section data group) for each operation item (item in Figure 4b), command frame 5 instructs reception, command frame 6 specifies the RAM 103 write start address TAis, and then the operation program is read out from the floppy disk No. 3 and transmitted. (2) When the transmission of the operation program is completed, command frames 5 and 6 are sent again to read out and transmit the next operation program from the disk. As a result, the operation program registered on the floppy disk (the entire operation program table; obtained through teaching) is written into the RAM 103 of the computer 69.

Thereafter, the computer CC sends data specifying the aforementioned teaching item (operation program) to the computer 69 every time a work is generated. This is done using instruction frames 5, 7 and 8 shown in Figure 3g. This is robot R
This is an operation command for

Based on the command data, the computer 69 of the robot R sequentially reads out those specified by the command data (node data) from the previously transferred motion program table, and determines the posture specified by the nodal data.

The mechanisms 60 to 66 are sequentially set in state and position corresponding to each node.

For example, supply/receiving station shelf No., a, aN
The tapes X of rows o, b, and c are loaded into the input ports No. and d of the tape device MD, and the tapes X of rows No.
Computer B gives instructions to store tape y of e in rack S.
When the information is sent to the computer CC from C, the computer CC searches the empty compartment tank No., f, column No., g of the skirt 43 based on the data of the skirt table (memory) described later, and uses the empty compartment for storing tape X. and instructs the computer 69 to (1) 1 standby posture + 3 rack HP + 1 iNo, b, and drives the shelf No. a of rack S to the supply/receiving station. This instruction from the computer CC to the computer 69 is an item T Ais (r 1
``Standby posture'' section data start address) and its RA
Send the write address ETAi to M 103, and similarly, in command frame 7, notify the start address of the node data of 3 racks HPJ, then in command frame 7, notify the column No. and b, and finally in command frame 7, It notifies data specifying the end notification J, and finally, in instruction frame 8, it specifies an operation based on the items and data written to the address ETA1 of the RAM 103 (execution start instruction). In response to these receptions, RA 69
In M103, the address ETAi (i is incremented each time it is written) is the start address of the node data of "1 standby posture".

"Start address of node data of 3 rack HPJ, IaNo
, b, and "notify completion" are sequentially written, and when the computer 69 receives the execution start instruction.

The control operation shown in FIG. 3j is started, and the address ETAi is
When the "1 standby posture" item (the node data storage first address of the standby posture) of the first address is read out, the last address of the item (TAie) is read from the read first address.
The data (node data) up to
Mechanisms 60 to 67 in the state (set by teaching)
Set. As a result, the robot R first assumes a standby posture. Next, the next address of ETAi is "3RAKHPJ"
When an item (section data storage start address of the rack HP) is read, data (section data) from the read start address to the end address of the item is sequentially read from the RAM 103, and the position specified by the read data is read out. , posture, and state (set by teaching) of mechanism 6.
Set from 0 to 67. In this case, the robot R moves to the front of the column No. 1 of the rack S and stops there. Then E
When the rliNo and bJ data of the next address of T A i are read, the target position in the J6 direction [rack UP position + (
b-1) X rack 1a shift amount] is calculated, and the robot 1-R moves in front of the rack 1lJNo.b and stops there compared to the current position.

Next, when reading the "end notification" data at the last address of ETAi, the computer 69 notifies the computer CC of "end of instruction execution (end of work)".

When the computer CC finishes driving the shelf and the computer 69 informs the computer 69 that the work is finished, the computer CC tells the computer 69: (2) Finger interval + 9 - Retrieval of tape in C-th column + 1 standby posture + 5
Skirt HP + 1iNo, f + 10-G tape storage in the gth row of the skirt + standby posture + 4 tape installation [HP +
No, d + 5 skirt HP + 1iNo.

f+1l-ff Removal of tape in row g of skirt +1
3 Attach tape to tape device + 1 standby posture + 4 tape device HP + No, e + 14 Take out tape from tape device + 5 Skirt HP + No, h + 10 - i Store tape in first row of skirt + 1 standby posture + 3 rack II P
+No, j, is commanded to calculation n69, and rack S
drive the shelf-Jo, l (lowercase L: shelf number in the storage location of tape y) to the supply/receive station.

This command is also performed in the same manner as in the case (1) above. When this drive is completed and the computer 69 notifies the end of the work r, the computer 69 is instructed to (3) store the tape in the first row of the rack at 15-+end the work 16; This is also done in the same way as the command in case (1) above. Note that h and 1 are the sections WJ of the skirt 43 that are defined as the sections that accommodate the tape y when it is transported to the tape device MD.
WNo. and column number, which have already been written in the skirt table, and j and k are the storage column number and column of shelf 1 of rack S, which has already been determined as the storage position of tape y. No.

The operation of the computer 69 is summarized as follows.

When the above command (1) 1 standby posture + 3 rack HP column 10 No. b is received, the operation program for ``Standby posture'' in the operation program table is read out, and the commands addressed to each mechanism 60 to 66 therein are read out. Using position data as target data,
Each mechanism is sequentially driven to the target position. When the "l standby posture" is finished, the data of "3 rack HPJ" in the operation program table is read out, the robot R is driven to the rack HP and stopped there, and then the data of 1iNo. The position is calculated from "6 racks 1411 shift amount" and b.

Drive robot R to this position. When the robot R is stopped at this position, the completion of the work is notified to the computer CC.

(2) Phase opening + 9-c Removal of tape in column C + 1 standby posture + 5 scar 1- I P + Column No. f + 10-g
Tape storage in the gth row of skirt + standby posture + 4 tape device HP + No, d + 5 skirt HP + 1lJN
o, f+11-g Removal of tape in row g of skirt+
13 Attach tape to tape device + 1 standby posture + 4 tape device HP + No, e + 14 Take out tape from tape device + 5 Skirt HP + Noura + 10 - i Store tape in first row of skirt + 1 Standby posture + 3 rack HP + Na
.

When receiving the command j, the computer 69 turns on the air compressor of the first mechanism 60 and turns on the pressure switching valve (applying positive pressure:
between fingers), and from the operation program table, 9-c No. C
The tape ejecting operation program for the row is read out, the first section data of the operation program is first read out, and the mechanisms 60 to 66 are energized to the target value using the data as the target value.

When the target value is reached, the data in the second section is read. When this operation program is ended in this way, the operation program for "l standby posture" is read out and executed, and the same procedure goes on from step 6 onwards. When the work (2) is completed in this way, the computer CC is notified of the completion of the work. Said (3
) is commanded, similarly, the operation program commanded in (3) is read out and executed, and upon completion, the computer CC is notified of the end of the work.

Through the operations of the computer CC and the computer 69 described above, (1), (2), and (3) are executed, and the robot R goes to the supply/receiving station of the rack S and first stops at the rack HP. then moves and stops in front of iNO,a, and in rack S, shelf No.a is positioned at the supply/receiving station where robot R
grabs the tape in row No. c and aN of skirt 43
o, f, column No., g, return to standby position, move to tape device HP, stop there in front of tape device MD input port No., d, and store columns No., f of skirt 43.
, grab the tape in the section of row No. g and attach it to the slot, then move to the front of slot No. e, pull out the tape in the slot and grab it, and attach it to the mNO, hT row N0 of the skirt 43.
It is stored in the compartment No. 01, returned to the standby position, moved to the rack HP, and then stored in the column No.

Stop in front of j. Before and after this, rack S shelf No. 1 (
Lowercase L) is positioned at the feed/receive station. The robot R then checks the iNo, h of the skirt 43.
, grab the tape in the section of row No. i, store it in the first row of the shelf, return to the standby position, and wait there.

Here, to summarize the data processing of computers CC and 69 with reference to Figures 3f and 3h, in the teaching process,
Operation programs for each teaching item (Figure 4b) are created, and the R of each of these operation programs is
The AM I O3 write start address is used to indicate the item. The entire operating program, ie, the operating program table, is registered on the floppy disk.

■The operating program consists of a plurality of section data (
Each one-section data indicates the required rotation angle, detection state, hold, etc. of one mechanism at a certain point in time, and is set at the time of teaching. Note that, in addition to data indicating the rotation angle, detection state, hold, etc., the node data also includes constant data such as column 1 pitch shift amount. When production is specified,
! jJ's program table is read from the floppy disk and stored in the RAM 103. and,
Computer CC receives a work instruction from 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 in solid lines in Figure 3h is created. This is T in the item data chronological execution order.
Aas, T Abs, T Acs.

(the RAM 103 write start address of the operation program corresponding to the item) are lined up and the "end" is placed at the end (work setting). Then, write these data to the RAM IC) 3 write address by ETAI,
ETA2. Calculator 6 by specifying ETA3 and ETAn
9 (transmission of work designation data), and in the command frame 8 shown in FIG. 3g, the RAM 103 write address E T
A I7 ET An command to read and execute the operation (work execution instruction).

The computer 69 inputs the work specification data to RA as instructed.
When there is a write to M103 and a work execution instruction, the data TAas at the write address ETAI is read and stored in the RAM.
The data at addresses TAas-TAse of 103 (clause data: however, the content of TAse indicates the end of the item) is read out sequentially, and the data is placed in the rotation angle 1 position, detection state, or hold state indicated by the data. Sets the mechanism specified by (section data). When reading the TAse data, this is the item end, so the primary ETA2
Read the data of the data TAbs, and similarly read the data of the address TAbs"TAbe to set the mechanism. In the same way, when the data of ETAn is finally read, it is the data that indicates the end of the work, so the work is finished. By notifying the computer CC of 0 or more, the robot R
This means that a certain work movement has been performed.

The "test" routine 5 shown in FIG.
This is an operation check routine to check whether the robot R operates normally, accurately, and stably. During the execution of this routine, the abnormality/normality of each part is checked, and each check item is set on the display CD. data,
Work end position data, abnormality/normality, etc. are displayed.

4c to 4f outline the main operations of the "actual" routine 3. Next, the "actual" operation of the computer CC will be explained together with the operation of the computer 69 with reference to these drawings.

(1) Initialization operation of computer CC, display CD,
With the routine selection menu displayed, the operator inputs "actual operation" to N022 of the floppy disk drive CC.
Set the floppy disk No. 3 with the "operation program table" floppy disk, and press the operation board C.
When the "execute" key of B is operated, the computer CC reads the "actual" program data from the floppy disk of the floppy disk group [CF No. 2], and when this reading is finished, it reads the status of the robot R and the rack S. After passing through the process and abnormality determination, everything is normal (Robot R
The computer 69 performs the initial positioning of the rack S (at step 105 in FIG. 31), and then starts the operation shown in FIG. 4c.

(2) Setting the robot operation program. First, robot R
The state of the computer 69 is referred to. That is, immediately after the power is turned on, the computer 69 determines the initial posture of each mechanism (100, 101 in FIG.
HP) settings (102 in Figure 31), complete this (completion of collection of position origin HP data for each mechanism), and check whether ready is set (104 in Figure 31) (Figure 4c). step 6).

If you are ready, the floppy disk group [CF No.
3 reads the "operation program table" and transfers it to the robot R (computer 69) in instruction frames 5 and 6 (7).The computer 69 reads the transferred operation program at steps 106 and 107 in FIG. table to ram
Write to 103. Next, the computer CC sets the robot R to the standby posture (8), positions it at the system HP (
9), Notify computer BC of ready (10), and wait for command to arrive from computer BC (11), that is,
In setting the standby posture (8), the computer CC sets the instruction frame 5.
+ Command frame 7 (start address of program in standby position) 10 command frame 7 (notifies completion) 10 command frame 8
is sent to the computer 69. The computer 69 executes this [
When the computer CC is notified of "work completed," in step 9, the computer CC sends instruction frame 5 + instruction frame 8 (system).
(P)+instruction frame 7 (informs completion) 10 Sends instruction frame 8 to computer 69. When the calculation [69 executes this and notifies ``end of work'', the computer CC executes step 10.

(3) Work settings. When the computer BC sends the work schedule to the calculation IOC, the computer CC reads it (11-12-13) and converts the tape code of the work schedule into a conversion table (using the tape code as an address and storing the tape in the rack S). Position data (storage shelf No., aNo., and column No.

Create a work table that has been converted into tape storage position data using the memory in which the data was written. The contents of the work schedule and work table are shown in Figure 4g. Among these data, the execution time is
This is the approximate scheduled time that is set when creating the schedule. Note that if the computer BC does not specify the tape and issue a separate command to load it onto the tape device MD or retrieve it from the device MD at the required timing by the scheduled time, the computer CC will not be able to do so at the scheduled time, as will be described later. Attach or collect. If the computer BC instructs the CC to attach/recover before the scheduled time, the computer CC performs this upon receiving this instruction.

In addition, by the operation described later, after the removal from the rack S, the storage in the skirt, the tape mounting [attachment to MD/recovery from there, etc.), step 11-12-13
(or 53-63-74-13),
Since the work schedule was received earlier, in addition to the unprocessed work (unoperated tape) in the work table corresponding to the work schedule received earlier, additionally write the work table data corresponding to the work schedule received this time. become.

(4) Cutting out the workpiece. Set the data reading position of the work table to the most advanced data on the table 15), and check whether the data is an instruction to load the tape device MD (16), which instructs loading. Then, check to see if there is any storage space available on the skirt table (17). The skirt table is a memory that stores which tapes are assigned to each of the 20 tape storage compartments of the skirt 43, and the tape storage compartments of the skirt 43 are assigned to each tape storage compartment. Tape No. 09 (here, the tape code is converted to the tape storage position in the rack using the conversion table, so this is tape storage position data) is stored. If there is space in the storage compartment of the skirt, that is, if there is a compartment b (address) in which no tape number has been written in the skirt table, the data (a ), add b and write (18). Then, this data a is deleted from the work table. Then update i to a number larger by 1 (19), and if two conditions are met: there is a tape that needs to be installed in the tape device MD, and there is space on the skirt table, then step 16 to 19
Execute. If one of the two conditions no longer holds, i becomes 1.
Check whether the data has been stored in the extraction buffer table (20). It is shown in Figure 4d and details will be described later.

Note that the relationship between the work schedule given by computer BC to computer CC and the work table, takeout buffer table, and skirt table created by computer CC is shown in the fourth table.
It is shown in figure g.

(5) Outline of the operation after cutting out the work until the work schedule is sent again. If i is greater than or equal to 1 in step i, perform tape storage (21), and if i is less than 1, directly perform "recover tape from tape device MD to skirt" (22). . Details of this will be described later with reference to FIG. 4e. Next, ``Attach the tape to the tape device MD from the skirt (24)''.The details will be described later with reference to Fig. 4f.Computer CC
Next, the robot R is driven to the rack HP25), the tape loaded from the MD and stored in the skirt 43 is stored in the rack S26), and the data regarding the stored tape is erased from the skirt table. do (27;
This will free up space on the skirt table.)

(5) - Storing the tape from the tr rack S to the skirt” (
The operation of 21) will be explained with reference to FIG. 4d.

First, computer CC notifies computer BC that it is busy (unresponsive)38), and then drives robot R to rack HP3.
9) Check whether there is a plurality of data to be taken out (tapes) in the take-out buffer table (see 18). If it is, the minimum shelf drive in the rack S and the robot R in taking out tapes from the rack are checked. Set the ejection order of each tape from the viewpoint of the minimum work, and rearrange the data in the ejection buffer table in that order (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, drive the shelf storing the tape to be taken out to the supply/receiving station 43), drive the robot R to the storage column position of the tape 44), and instruct the robot R to grasp (teach) the tape (storage row). Command item TA 9) 45) to store the grabbed tape in the section assigned to the skirt table (specified by the data in the takeout buffer table).
6) The tape data stored in this manner is written in the corresponding section of the skirt table (47), and the data of the tape thus operated is erased from the take-out buffer table (48). Then, the next data (tape) from the take-out buffer 7 table is read out, and similarly, the tape is taken out from the rack, stored in the skirt, and related data processing is performed (41-48). When such processing is completed for all data (tapes) in the take-out buffer table, the process exits from this "accommodate tape from rack S to skirt" (21) and proceeds to the next step 22. When the process advances to step 23 by executing step 22, the tape device MD
The tape that needs to be attached is stored in the skirt, and the robot R is in the tape device 1-IP.

(5) Collecting the tape from the -2r tape device MD to the skirt J (23) operation. To explain with reference to FIG. 4e, the computer CC is first placed on the skirt table.

It is checked whether there is data on a tape to be collected from the tape device MD or to be mounted on the tape device MD within the next T seconds from the current time (49). If the data exists, a wait flag is set as an index for not moving the robot R from there (the tape device HP) to the rack S (50).

If there is no such data, you can go to the rack S (even if you take out the tape from there and return to the tape device MD, the schedule for loading/recovering the tape in the tape device will not be visible), so the wait flag should be cleared. 77), Check if there are 8 or more tapes collected from the MD on the skirt table.78), If there are, proceed to step 25, return the robot R to the rack HP, and return the collected tapes from the MD from the skirt to the rack. 26), and the data in the skirt table is cleared for the collected tape (27).

Now, in step 49 described above, when there is a tape that needs processing within T seconds and the wait flag is set (50), or
Even if there are no tapes that require processing within T seconds, if the number of tapes collected from the MD to the skirt is less than 8, the computer B
A ready (receivable) message is notified to C (51), and a timer t1 for setting a reception waiting time is set (52). Then, while waiting for the timer t1 to time out, it waits for a command or the like to arrive from the computer BC (53, 54).

If no command or the like is sent from the computer BC by the time-out, a busy message is sent to the computer BC when the time-out occurs (55), and a check is made to see if the wait flag is set (56).

If there is no wait flag, the process returns to step 49. If there is a wait flag, the calculation *CC checks whether there is data (tape) whose execution time is at or before the current time in the skirt table (57), and if there is not, it returns to step 51. However, if the data (tape) exists, it is necessary to mount the tape on the MD or retrieve it. Collect the tape from the MD to the skirt J Pass through (23) and proceed to the next step 24, where the tape is attached to the MD. When it is collected,
The computer CC drives the robot R to the input slot position where the tape is to be installed (59), pulls out the tape from the input slot and grabs it (60), and allocates the collected tape on the skirt table. It is collected in the storage compartment (61).

Then, the tape collected from the MD (storage position data at this point) is reversely converted into a tape code using a conversion table, and this tape code, data indicating collection from the MD, and the collected input port N◇ are calculated using a computer. Notify BC. Computer BC updates the data in its own table for monitoring the attached tape of tape device MD. This monitoring table stores the code of the tape currently loaded in the device MD near the input port.Then, the computer CC stores the data in the skirt table for the "skirt" code for the collected tape. Change the data to indicate "exists in". In the skirt table, the MD attachment/detachment instruction data is “0”.
” and the presence/absence data on the skirt indicates “1” is the tape collected from the MD. In addition, M
A tape whose D attaching/detaching instruction data indicates wearing rlJ and presence/absence data on the skirt indicates "1" indicates a tape that is present on the skirt without being attached to the MO yet, and MD attaching/detaching instruction data indicates wearing "1". In addition, the tape whose presence/absence data indicates no rOJ on the skirt is currently attached to the MD (
Shows tape (not present on skirt). After changing the data in the skirt table (62), the process returns to step 49.

Steps 49-50-51-59-62 explained above
By repeating this process, the tape whose scheduled collection time has come is transferred to the MD
It is collected from the skirt.

Now, when there is a transmission from the computer BC while waiting for a time-out in steps 53-54, the computer CC reads the transmitted data and determines whether it is a command to attach or detach (63
), it is checked whether it is a work schedule (74), and whether it is a command to end or something else (75).

If the other command is to be issued, an actual flag indicating the necessity of returning to the current state is set again (76), and the process proceeds to step 35 in FIG. 4C.

If the command is to terminate, the process advances to step 30 in FIG. 4C.

If it's a work schedule, follow step 1 above.
Proceed to step 3.

When the instruction is to attach/detach, write data to the attach/detach buffer table (64), set busy to the computer BC (65), and collect the tape that needs to be removed from the attach/detach buffer table from the MD input port by referring to the skirt table. Then, the computer BC is notified of the code of the stored tape, the input port number from which it was collected, and the collection from the MD, and the data in the skirt table is corrected to indicate that the tape has been stored (67). Then, the data of the tape that has been removed is erased from the attachment/detachment buffer table (68), and the attachment/detachment buffer table is checked to see if there is a tape that needs to be removed but is not in the skirt table (69).

If there is, it is an error, so a data error is reported to computer BC.
While the MD bag is attached, insert all the codes into the slot number.

71), notify the computer BC of the readiness,
Wait for computer BC to send some command or data. If it is transmitted, the process advances to step 63. The tape that needs to be removed is not on the skirt table.

If there is not, check whether there is any data that requires loading in the 1 loading/unloading buffer table (70).
Proceed to. If not, return to step 49.

In this way, when the robot R is in the position of the tape device MD, it also receives data from the computer BC, and when the tape is being retrieved from the tape device MD, the tape is on the skirt table. If the slot is being loaded, the slot is immediately removed from the MD and stored in the skirt. If this command is issued before the execution time of the tape, computer B
This will be done before the execution time according to the instructions of C. Therefore, the execution time has a meaning as a rough schedule in advance. Of course, it is also possible to accurately set the execution time in advance and then collect the tapes at the execution time.

It is also possible to issue a command at any time without specifying an execution time.

(5) Operation of device J (24) to transfer the tape from the -3r skirt to tape device 1MD. To explain with reference to FIG. 4f, the computer CC first checks whether there is data that requires installation in the attachment/detachment buffer table, and if so, proceeds to step 80 and subsequent steps, and attaches the tape specified by the data to the device MD. . A detailed explanation will be given later.

If there is no installation required data in the attachment/detachment buffer table, the computer CC checks whether there is a tape in the skirt table whose execution time is before the current time.

If not, return to the above-mentioned step ``Retrieving the tape from the tape device MD to the skirt (23). If there is, the robot R is driven to the input slot where the tape is to be installed (85), and the tape is taken out from the skirt. When the tape is attached to the input slot (86), the code and input slot number of the attached tape and data indicating that the tape is attached are notified to the computer BC, and the data regarding the tape on the skirt table is changed to indicate that the MD bag is attached. (87).Then, the process returns to the above-mentioned "tape loading [recover tape from MD to skirt J (23)." The reason for returning to subroutine 23 in this way is that in subroutine 23, waiting for a command from computer BC (robot R to tape tape) This is because the device is set to receive commands while the device is in the MD position.

Now, in step 79, if there is data that requires installation in the 1-removable buffer table, one of the required tapes in the 1-removable buffer table, which is in the skirt, is installed in the input slot (80), and the code of the installed tape and The input slot number and data indicating the installation are notified to the computer BC, and the data of the tape in the skirt table is changed to indicate that the tape is being installed (81). Then, the data of the tape that has been loaded is erased from the attachment/detachment buffer table (82), and in this way, when there are no tapes that need to be attached in the skirt table in the attachment/detachment buffer table 82), Check whether there is any tape that needs to be installed (83), and if there is no tape, proceed to step 84.

If there is, check whether the number of tapes that need to be installed in the removable buffer table is less than or equal to the number of empty sections of the skirt, and if the number of empty sections is less than the number of empty sections, check whether the slot for the tape that needs to be installed is empty. However, if the input slot is loaded with another tape, a data error will be displayed on the computer BC, indicating that the MD bag addressed to input slot number is loaded - P code, and that the tape is scheduled to be loaded and stored in the skirt. Notify the code of the tape (95), notify the computer BC that it is ready,
Waits for data or commands to be sent from computer BC.

When there is a transmission.

Proceed to step 63 of Figure 4e.

In step 88, if the number of tapes that need to be installed in the removable buffer table is less than or equal to the number of empty sections of the skirt, and the input slot where the tape that needs to be installed is specified is empty, the computer CC
drives the robot R to the rack HP (89) and stores the tape collected from the MD on the skirt in the rack S (92).
), erase the data on those tapes from the skirt table 91), then store the tapes that need to be installed in the removable buffer table from the rack S into the skirt 92), and write them to the tape data storage section stored in the skirt table (93). ), drive the robot R to the tape mount [HP, and execute step 79 and subsequent steps.

In this way, the newly loaded tape from the rack S is transferred to the device E.
Attach it to the MD.

If the data received in step 53 or 11 is tape replenishment/retrieval, steps 35 to 36
The contents of this tape replenishment/recovery instruction data include the tape code 10 rack storage position (shelf number, 10th column number, 10th column). No.) 10th replenishment shelf storage position (liNo, 10th column No.) Stored from the 10th replenishment column 95 to the rack S (A)/Stored from the rack S to the replenishment shelf 95 (B), and upon receiving this data, In routine 36, computer CC calculates robot R.
With the robot R in the standby position, first drive the robot R to the rack HP, then calculate the number of tapes to be moved from the rack S to the replenishment shelf 95 and vice versa, and set the larger value as the number of empty sections of the skirt. Contrast. When the number of vacant sections is small, the tapes corresponding to the insufficient number of sections are stored from the skirt to the rack S, and the data related thereto is saved (data evacuation). If the number of empty sections is greater than or equal to the large value, or if the number of open sections is greater than the above-mentioned large value, the computer CC instructs the robot R to transfer the tapes to be stored in the replenishment shelf 95 from the rack S to the rack S. Take it out and store it in the skirt. Then, the robot R is driven to the replenishment shelf [(P), and the tape stored in the skirt is first transferred to the replenishment shelf 9.
The tape stored in the specified 1iNo. and row No.
P to store the tapes thus stored in the rack S, and if there is data to be evacuated, read it and move the tape stored in the rack S to the rack S in order to free up a section of the skirt. At the same time, the skirt table is restored to its original data, and the tape cord 10 rack storage position (shelf No. +1
iNo, 10th row No.) 10th replenishment shelf storage position (1! INo.
10th row No.) Storage from 10th replenishment shelf 95 to rack S (A)/
The conversion table (FIG. 4g) is updated based on the data stored (B) from the rack S to the replenishment shelf 95, and this conversion table is updated to correspond to the tape currently stored in the rack S. Then, the process proceeds to step 11-28-15, and in steps 15 to 19, as many tapes as can be stored in the empty sections of the skirt are picked up from the work table, and stored in the skirt 43 from the rack S (20-21
), the robot R is driven to the tape mount [11 HP, and the process returns to routine 23.

When the data received in step 53 or 11 is an instruction to "end", the computer CC instructs the robot R.
to the rack HP to store all the tapes on the skirt 43 in the rack S (30), update the data on the skirt table accordingly (31), and update the data on the work table (if the tapes are not installed in the MD but are stored in the rack S). The data of the tapes returned to S and the tapes not collected from the MD are corrected and written to the work table).The robot R is set in a standby position and driven to the system HP, where it is stopped.

(6) Operation of the computer 69 when a workpiece is commanded.

The control operation of the computer 69 to execute the instructed work will be explained with reference to FIG. 3j and the third diagram. This control operation is performed in subroutine 107 in FIG. 31. For ease of explanation and understanding,
Now, the computer CC is running the work shown in Fig. 3h [double-dashed line block; the solid line blocks therein are the operations to execute the items shown in Fig. 4b, TAas, TAbs, and TAc.
, s is the item designation data (starting address of the operation program storage address)] and data specifying "work end notification" to the computer 69, and the computer 69 stores these in the RAM.
103 at addresses ETAt to ETAn, and the computer CC stores the instruction frame 8 (start address = ETA
11 end address E T An) is sent to the calculation fi 69, and in response, the computer 69 advances to the beginning of the work execution flow shown in FIG. 3j.

The computer 69 (its CPU 100) first stores ETA1 (=ETAs) in the first address register j.
), read the data (TAas) at address j (ETA1) of RAMI 03 (110), and since this data is not work-end data, it passes through step 111 and stores this data (TAas) in the second address register k.
as) is stored (112).

Then, data (first section data) at address k (TAas) of RAM 103 is read. Since this data is not an item end, step 114 is passed and the designation mechanism of the first section data is deciphered (115).

116.123,129).

Here, the mechanisms 60 and 61 are used for positioning [target position (corner)
] element but has a state (between fingers/closed, adsorption/release) setting element; mechanisms 62 to 66 have a positioning [target position (corner)] element but no state setting element; It should be noted that the mechanism 67 is a mechanism that includes a positioning (target position (corner)) element and a detector (57) for setting the state (system HP).

When the mechanism 60 is specified by the node data, this node data instructs finger opening/closing, so in step 124, the compressor and pressure switching valve of the mechanism 60 are set to the state specified by the node data. Set on/off. Furthermore, when the finger spacing is specified, the detection status of the limit detector is checked (125, 126) and it is determined that the finger is fully open (the finger is fully open even though it is a finger spacing instruction).
If the grip fails or the grip reaches full throttle, the computer CC is notified of this (127) and waits for the next instruction (128).

When mechanism 61 is specified by clause data.

Since this clause data specifies adsorption/release, the pressure switching valve of the mechanism 61 is turned on/off as specified by the data.

When any of the mechanisms 62 to 66 is specified by the clause data, the contents (current position) of the rotation (motion) angle register assigned to the @ mechanism are compared with the target value in the data (117). ), the motor is energized forward/reversely in the direction in which the contents of the register reach the target value, and when the register reaches the target value, the motor is stopped there (118° 119.120).

When the mechanism 67 is specified by node data, the data specifies whether the detector 57 is turned on (system HP) or the target value data (rack 1 (P, tape device H) is specified.
12 to determine whether it has P or replenishment shelf 1 (P).
2) In the case of system HP, the motor of the first mechanism 67 is energized for normal rotation, and when the detector 57 is turned on, the motor is stopped (131 to 133). In the case of target value data,
In steps 117 to 120, the motor of the mechanism 67 is energized in the forward/reverse direction, and the motor is stopped when the contents of the position register assigned to one mechanism 67 reach a target value.

With the above, the operation of one section specified by the first section data has been performed. Therefore, proceeding to step 111, the contents of the second address register are incremented by 1, and step 1
13 and read out the second section data.

The operation based on the second section data is also the same as that based on the first section data described above, and when this operation is executed, the second
Increment the contents of the address register by 1. While repeating this, the data read from the RAM 103 using the contents of the register as an address indicates the end of the item (the end of execution of the action program 1XT Aas=T Aae).

Therefore, the process proceeds from step 114 to step 112E, and the contents of the first address register j are incremented by 1 (thereby, j=ETA2) L, and in step 110, the contents of the RAM are
Read TAbs from 103 and store it in the second address register k (112), then T A bs = T
The section data of A be is read out sequentially, and steps 113 and subsequent steps are executed each time it is read out. Finally, the TAbe data “
When "Item End" is read, the process advances from step 114 to step 112H, where the contents of the first address register j are set to 1.
Increment (thereby j = ET A3).

Next, in step 110, TAcs is read from the RAM 103 and the second
112), then T Ac
5 = Sequentially read muscle data of T Ace.

Step 113 and subsequent steps are executed for each read. Finally T
When the data "Item end" of Ace is read, the process proceeds from step 114 to step 112H, where the contents of the first address register j are incremented by 1 (thereby, j =
E T An).

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

The work instruction operation of the computer CC and 1f explained above.
Due to the mechanism control operation of the computer 69, when the robot R is in the position of the tape device MD with as many required tapes as possible stored in the skirt 43, and the time comes to load the tapes being stored, or even before that. When receiving a loading instruction from the computer BC, the tape that needs to be loaded is loaded into the tape device MD, and the M
When the collection execution time of the tape being loaded in D arrives or even before that time, when a collection instruction is received from the computer BC, the tape requiring collection is collected from the tape device MD into the skirt.

If the number of tapes collected on the skirt is 8 or more, Utsuku S
Store the collected tapes in accordance with your work schedule.
A tape to be used after the tape currently stored or installed in the skirt or tape storage (MD) is taken out from the rack S, stored in the skirt, and sent to the tape device MD.

The tape device MD has eight input ports, whereas the number of storage compartments in the skirt is 20. Even if tape is attached to all input slots and 8 sections of the skirt are allocated for collection, the skirt has 2° - 8 = 1.
Two tapes can be stored on standby. Even if the next 8 tapes to be loaded into each of the 8 slots are always held in the skirt, there are still 4 empty slots, which can be used to accommodate tapes from later schedules.
The tape is being attached to the MD, and the 8 sections of the skirt 43 are
The robot R is made to wait for a long time at the tape device MD position with the remaining 12 sections, which are empty for storing the tape being loaded, storing tapes in the order in which the schedule is executed, and the used tapes are immediately collected from the MD. Then, the tape stored in the skirt and held on the skirt can be quickly attached to the vacant input slot.

In the teaching item TA "14 Retrieving a tape from the tape device" which takes out the tape installed in the input slot of the tape device ifMD, the robot R is
After positioning the robot R in front of the input slot where the tape is attached and setting the robot R to a standby posture, the robot operation for the item is executed by the operator via the operation board CB and the computer CC (teaching operation). (see explanation).

In this case, the operator first positions the tip of the fixed finger 39 between the bottom of the tape in the input slot and the wall that supports it and presses the shift key.
2) Data such as rotation angle is stored as 1 node data for 1 mechanism, and 7 node data are stored), then the fixed finger 3
9 enters between the tape and the wall surface, and the stopper 110 pushes the tape very slightly inward through the suction cup, stopping and pressing the shift key. This causes the mechanism 6 to move.
0 to 66 status 9 Rotation angle, etc. data is stored as 1 node data for 1 mechanism, 7 node data) Next, move the fixing finger 39 upward in the y direction and touch the tail end of the tape. Drive the machine until the surface that touches the suction cup is slightly above the detent wall inside the MD inlet, then press the shift key (
As a result, data such as the states and rotation angles of the mechanisms 60 to 66 are stored as one node data for one mechanism, and seven node data are stored. In this state, the tape tries to jump out of the slot due to the repulsive force of the push spring inside the tape mounting device (MD), but it hits the suction cup 4o. The suction cup 40 is supported by the stopper 110 via a coil spring 111, and the coil spring 111 is momentarily compressed and the suction cup 40 retreats, but the suction cup 40 is pressed against the tape by the repulsive force of the coil spring. The suction cup 40 is in close contact with the tape. That is,
The tape that is about to fly out is prevented from moving rearward in the X direction by a stopper 110 via a suction cup 40. The operator now applies air suction pressure to the suction cup 40 and presses the shift key (this causes the state of the mechanism 61: suction to be stored as 1-section data). This ensures that the tape is supported by the fingers 39 and suction cup 40. Therefore, the operator moves the hand 36 in a direction away from the tape mounting front wall (backward in the X direction) to prevent the tape from falling from the input slot.

Moreover, at the drawer length that can be grasped with fingers 37 and 38, stop the drive of hand 36 (backwards in the Seven pieces of clause data are stored as one piece of clause data). Next, the operator supplies positive pressure to the suction cup 40 to release the suction cup 40 from the tape, and presses the shift key (thereby, the state of the mechanism 61: released is stored as one-section data). Next, the operator moves the hand 36 to
Push the shift key (backward in the X direction from the front wall of the tape device) to a position where none of your fingers touch the cassette even if your hand rotates (this will change the state of mechanisms 60 to 66 9 Rotation angle, etc.) Seven pieces of clause data are stored, with each piece of data addressed to one organization as one piece of clause data). and finger 37.3
8 and press the shift key.This will cause the state of the mechanism 60 (the distance between the fingers to be stored as one piece of node data for one mechanism), then move the hand 36 in the J1 direction and the wrist 41 in the J,! Rotate the direction so that fingers 37 and 38 are facing the tape, and shift! -Press the key (by doing this, the data such as the state 1 rotation angle of mechanisms 60 to 66 will be sent to 7 as 1 node data addressed to 1 mechanism)
section data is stored). Next, move the hand 36 forward toward the front wall of the tape device (forward in the X direction) so that the tape is inserted between them, stop at a position where the fingers 37 and 38 can sufficiently grasp the tape, and press the shift key. (Thus, data such as the state and one rotation angle of the mechanisms 60 to 66 are stored as one piece of node data for one mechanism, and seven pieces of node data are stored.) Next, close your fingers 37, 38, grasp the tape with them and press the shift key (this will change the state of the mechanism 60).
:Finger closure is stored as one section data). Since there is a slight delay after the phase-opening instruction is given until the finger firmly grasps the tape, the operator inputs data specifying the waiting time T into the calculator CC using the operation board CB and presses the shift key. . In this case, the computer CC holds in its memory the 1-section data indicating the waiting period of 10 hours, and also sends 29 to the computer 69 and stores it in the RAM 103.

When this section data is in actual operation, the computer 69 (CPU1
00) is read out from the RAM 103, the robot R waits for the time T to elapse in the current state, and then performs an operation according to the next node data. Next, the operator pulls out the entire grabbed tape from the input slot by further driving the hand 36 backward in the X direction and presses the shift key (this causes the mechanisms 60 to 66 to be in the
Data such as rotation angle is sent as one piece of node data to one mechanism.
7 pieces of node data are stored). Then, press the shift key with the robot R in the standby position while keeping the robot R in the standby position (this causes the data such as the state and rotation angle of mechanisms 60 to 66 to be stored as one node data for one mechanism, and seven node data are stored. 1) Next, when the operator inputs the registration on the operation board CB, the section data stored in the above operation is sent from the computer 69 to the computer CC in the order in which they are stored, and the computer CC stores them on the floppy disk drive. CF's N01
Write the operation program "14 Ejecting tape from tape device" to floppy disk No. 3.

When actual operation is specified, the computer CC sends this program to the calculation fi69, writes it to the RAM 103, and executes "
14, when it is necessary to take out the tape from the tape device, the computer CC sends it to the computer 69 by including the storage start address of this operation program in the work command.
During the work control of the robot R, this operation program is read from the RAMIO 3 and the robot R is caused to perform the operation set by the above-mentioned operator through teaching.

Therefore, after the operator executes teaching as described above, the robot R performs the operation during the above-mentioned teaching in "actual operation" until the operator executes teaching again.

The tape family [MD has 8 input ports, whereas the number of storage compartments in the skirt is 20. Even if tape is attached to all input slots, and eight sections of the skirt are allocated for collection.

20-8 to 12 tapes can be stored in the skirt. Even if the skirt always holds the next eight tapes to be attached to each of the eight input slots, there are still four empty compartments that can be used to store tapes from later schedules.

8 tapes are being loaded into the MD, 8 sections of the skirt 43 are empty for storing the tapes being loaded, and the remaining 12 sections are loaded with tapes in the order of schedule execution when robot R is loaded.
The used tape is immediately collected from the MD and stored in the skirt, and the tape held in the skirt is quickly loaded into the empty slot. .

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

〔Effect of the invention〕

As described above, in the object handling device of the present invention, the object transfer control means (computer 69) drives the slave device (hand 36), and the stopper means (stopper 110) moves the tip of the fixed finger (39) once. For example, magnetic tape recording/playback equipment (
Position the cassette tape (Cij) inside the input port (No. 1 to 8) of the tape device MD), for example, in the bottom of the cassette tape (Cij) and the cassette ejection finger space inside the input port, and drive the child device to move the tip in the X direction. By shifting forward, the leading end enters between the cassette tape and the inner wall of the input port, and the object transfer control means drives the one-handed device, and the stopper means shifts the fixed finger in the y direction. .

When the cassette tape is lifted, the cassette tape comes off the upper side of the locking wall inside the slot, tries to fly out of the slot due to the repulsive force of the return spring inside the magnetic tape recording/playback device, and directly hits the stopper means. collides with or indirectly, and is prevented from flying out. Next, the object transfer control means holds this cassette tape with the suction means (suction cup 40), drives the child device to drive the held cassette tape backward in the X direction, and then releases the holding of the suction means. , the cassette tape remains in the input slot in a predetermined posture in which it comes out from the input slot in a predetermined manner. Next, the object transfer control means drives the slave device and the finger drive means to grasp the cassette tape with the finger means, and drives the slave device and the finger drive means to transport the object to a specified position. By releasing the tape, the cassette tape is pulled out from the input slot and collected at the specified position.

In this way, the stopper means, suction means, and object transfer control means first release the cassette tape in the input slot from the loading position, prevent the cassette tape from flying out at this time, and temporarily stop the cassette tape at a predetermined position and posture. Then, the cassette tape is grasped with the finger means and collected at a specified position, so the cassette tape can be grasped in a position and posture with one-touch operation.In addition to collecting the cassette tape from the magnetic recording/playback device, the cassette tape must be supported with one hand. The present invention can be used to recover a cassette tape from a magnetic tape recording/reproducing device in which the cassette tape is ejected due to the spring pressure inside the recording/reproducing device or is in a position or posture that is difficult to grasp with a robot hand.

[Brief explanation of the drawing]

FIG. 1 is a perspective view showing the appearance of an embodiment (robot R) of the present invention. FIG. 2a is a longitudinal sectional view of the rack S shown in FIG. 1. FIG. 2b is an enlarged plan view of the shelf 1 mounted on the rack S shown in FIG. FIG. 2c is a large-scale sectional view taken along the line nc-nc of FIG. 2b. FIG. 2d is a block diagram showing an overview of the electrical elements of the rack S shown in FIG. 1. FIG. 3a is an enlarged side view showing the appearance of the hand 36 and wrist 41 of the robot R shown in FIG. FIG. 3b is an enlarged plan view of the base RB and skirt 43 of the robot R shown in FIG. 1. FIG. 3c is an enlarged sectional view taken along the line mc-mc of FIG. 3b. FIG. 3d is an enlarged perspective view of the carrier ellipse that supports the base RB of the robot R shown in FIG. 1. FIG. 3e is a block diagram showing an outline of electrical elements of the robot R shown in FIG. 1. FIG. 3f is a plan view showing the structure of one section data indicating the state of one mechanism of the robot R shown in FIG. 1. FIG. 3g is a plan view showing the structure of command data given to the computer 69 by the computer CC shown in FIG. Figure 3h shows robot R's chronological actions (work).
FIG. 3 is a plan view showing a combination of operation programs for performing the following steps. FIG. 31 is a flowchart showing an overview of the control operation of the computer 69. Figures 3j and 3 are flowcharts showing the control operation of the computer 69 for causing the robot R to perform time-series actions (work). FIG. 4a is a flowchart showing an overview of the operation of the computer CC shown in FIG. 1. FIG. 4b shows that the computer CC shown in FIG.
It is a top view which shows the teaching item menu displayed on D. Figures 4c, 4d, 4e and 4f are the first
2 is a flowchart showing an overview of control operations in an actual working routine of the computer cc shown in the figure. FIG. 4g shows the contents of a work schedule given by computer BC to computer CC shown in FIG. 1, and the contents of a work table created by computer CC. FIG. 3 is a plan view showing the contents of a takeout buffer table and a skirt table. MD: Tape device (Inlet No., 1-S positioning □□□S Nirakku 1-2o: Shelf 21: Frame
22: Shelf feed mechanism 23: Motor
24: +jllll (P detector 25 = drawer/retraction mechanism 26: Motor 27: - combination solenoid 28: + dust P detector 2Q: 181'
Detector 30: Motor driver 31: Detection circuit 32: Motor driver 33: Solenoid driver 34: Detection circuit 35: Interface C, I'c, C15, C25, C35, C4S, Ci
j+Cnp, Ckm: Tape L: 0 bots
? , 6: Hand (child device) 37-39: Finger (finger hand I force) 10: Suction cup (suction means) 110: Stroke (stopper means) Ill: Coil spring 11: Wrist
42: Lower arm 13 Niskirt
44, 45: Section i4a, 45a: Opening
, 14b, 45b: Lower base W: Width/16: Upper arm G, 47, 48:
Rail / 1: Flexible insulator sheet 50, 51:
Axle 521~5″24 = Transport leg 53, 54: Chain 55 = Electric cable 56: Arm 57
: IIP Detection Co., Ltd. 58: Limit stopper 59: Left limit detector 60: Finger closing mechanism (finger driving means) bl: Tape suction mechanism
62: Hand rotation mechanism 63: Hand 6° rotation mechanism 6
4: Lower arm rotation mechanism 65: Upper arm rotation mechanism 66
: Torso rotation @Drawing 67: Self-propelled mechanism 68:2
~' Output interface 69: Computer (object transfer: l
@ Means) 70: Communication control unit 71: Communication interface Figure 3b Tomb 3C Figure 3f Figure Voice 3h Figure

Claims (3)

[Claims] (1) A hand device having finger means including at least one movable finger and another finger opposing the movable finger, and finger drive means for driving the movable finger to open/close with respect to the opposing finger. a stopper means fixed to the base side of the tip of one of the fingers of the finger means; an adsorption means provided near the tip of the finger to which the stopper means is fixed; and a stopper means fixed by driving the hand device. position the tip of the finger fixed at a specified position, drive the hand device to shift the tip forward in the x direction, drive the hand device to shift the finger to which the stopper means is fixed in the y direction, and use the stopper means to The object that has been directly or indirectly prevented from moving backwards in the x direction is held by the suction means, the hand device is driven to drive the held object backwards in the x direction, and then the holding of the suction means is released, and the hand device an object transfer control means for driving the finger driving means to grasp the object with the finger means, driving the hand device and driving the finger driving means to transport the object to a specified position and release the object; A robot object handling device. (2) The object handling robot 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. Device. (3) The finger means consists of two movable fingers facing each other and one fixed finger fixed to the hand device, and the stopper means is fixed to the fixed finger. ) or (2), the robot object handling device.