KR0155912B1 - Automatic error recovery method of loading and unloading robot - Google Patents

Abstract

The present invention provides an automatic workbench for recovering an error generated during a transfer of a conveyed object from the initial workbench to the target workbench by an initial workbench equipped with a load sensing sensor and a target workbench for detecting the existence of a conveyed goods. An error recovery method, comprising: dividing an operation of a transfer robot into sections when a conveyed object is moved to a target workbench from the initial workbench: assigning a position variable value to an operation of the transfer robot divided by sections: When the robot is stopped at a moment, it is determined by the state of the position variable and the state of the load sensor to automatically determine whether to resume the operation, whether the operator intervention, or cancel the operation.

According to the present invention, when using the transfer robot, it is possible to resume the work without securing the stability and the operator's intervention, and there is an advantage of minimizing the intervention by applying the application error semiconductor wafer unloading factor.

Description

Automatic Error Recovery Method of Transfer Robot

1 is a block diagram of a system to which the present invention is applied.

2 is a view showing the position of the lower end of the conveyed object when the conveyed object is moved.

The present invention relates to an automatic recovery method in the event of an error of a loading / unloading robot, and in particular, the loading robot loads the cargo under an initial workbench and a target workbench equipped with a load sensing sensor for detecting the presence or absence of a cargo. The present invention relates to an automatic error recovery method of a loading robot that recovers an error occurring during a work shift from a workbench to the target workbench.

In general, when a loading robot occurs during an error, the robot notifies the worker of the error by sound and causes the worker to handle it. In other words, if an error occurs during work, ring the bell to notify the worker. When the operator detects an error signal, he takes appropriate action.

In this way, whenever an error occurs during work, the worker must always take action, and for this, the worker must be aware of various measures for the error at all times.

Accordingly, the present invention has been made to solve the above-mentioned problems, and the host has a robot and a robot in order to minimize the response to the error recovery of the operator when the robot is temporarily stopped for safety reasons during operation or when an operation error occurs. The object of the present invention is to provide an automatic error recovery method for a transfer robot that automatically determines and recovers the workbench situation.

An error that occurs during the operation of moving the conveyed goods of the transfer robot from the initial workbench to the target workbench under an initial workbench equipped with a load sensing sensor and a target workbench for detecting the presence or absence of a conveyed object according to the present invention for achieving the above object. Automatic air recovery method of the transfer robot to recover the step of dividing the operation of the transfer robot by section when moving to the target workbench of the initial work of the conveyed object; Assigning a position variable value to the operation of the transfer robot divided by the sections; And when the transfer robot stops momentarily, the position variable determines a situation according to the state of the load sensing sensor and automatically determines whether to resume the work, whether the operator intervenes, or cancel the work. do.

Hereinafter, the present invention will be described in detail with reference to the accompanying drawings. The configuration diagram of the system to which the present invention is applied is the same as that of FIG. Reference numeral 1 denotes a transfer robot that picks up or piles a stacked object and moves it to another place, 6 indicates a load sensor that detects the presence of an object (consignment), and 2 indicates a gripper that picks up or lowers the object. ), 3 is a host controller for operating a loading robot, 4 is an initial work bench on which the load sensor 6 is attached, and 5 is an initial work bench on which the load sensor 6 is attached. It is the target workbench to be moved. And 7 is a reset switch for returning the instantaneous switch to its original state, 8 is a momentary switch used when the operator or the host controller temporarily stops the transfer robot during operation, and 9 is an operator emergency operation of the transfer robot. This is an emergency stop switch used for timing and initialization.

On the other hand, if an error occurs due to the momentary pressing of the stop switch or the deviation of the conveyed goods during safety during the loading / unloading operation to move the conveyed goods from the initial workbench 4 to the target workbench 5 In more detail, how to cancel as follows.

FIG. 2 shows the position of the conveyed object when the conveyed object moves, and a, b, c, and d represent the lower end of the conveyed object when the conveyed object of the robot is picked up and moved, and assumes the initial position of the robot as c. The operation of moving the conveyed object from the initial workbench 4 with the load sensing sensor 6 to the target workbench 5 with the load sensing sensor 6 will be described in six sections. In the first section, the transfer robot is positioned at c. In the second section, the transfer robot moves from b to a. The third section closes the gripper to catch the conveyance of the initial platform. In the fourth section, the transfer robot moves through e through b and c to e. Section 5 opens the gripper to place the returned object on the target bench. Finally, in the sixth section, the transfer robot is positioned at the right position via e and d.

Based on the operation of the transfer robot, the position variable value of the robot according to the position of the lower end of the conveyed object is called pos, and the position variable value pos is set as shown in Table 1 by the operation between the robot and the host.

Here, the position variable value pos0, that is, when the robot picks up the object on the initial workbench using the gripper and the robot picks up the object picked up by the gripper on the target workbench, the load sensor value changes during the normal operation of the robot. Therefore, the load sensor input for the change of the load sensor value is ignored.

On the other hand, when the transfer robot stops working in the middle of work, that is, when the operator presses the momentary stop switch, when the worker presses the reset switch, the host controller judges the situation based on the pos value and automatically resumes work. And whether to cancel the operation as follows.

If pos = 0 after pressing the quick stop switch, that is, when the robot tries to pick up the conveyed object on the initial workbench, the robot continues to work. However, if there is no return in the initial position, the operator will intervene.

After pressing the stop switch, if pos = -1, 1, 2, that is, when the robot is in the process of picking up the conveyance of the initial workbench and moving it to the target workbench or dropping the load on the workbench, the robot Continue.

After pressing the stop switch, if pos = 3, that is, when the robot picks up the object of the initial workbench and puts it on the target work station and goes to the initial position, if the object is in the target position, the robot continues working. If there is no conveyed object in the target position, the operator is involved because the work is wrong.

In this case, if you want to cancel the job, you can press the emergency stop switch to cancel. In this case, the operator intervenes to initialize the system. In addition, when an error occurs due to an emergency stop switch, it is initialized to determine whether to resume work through input of various load sensors.

On the other hand, when the host controller stops the solar radiation work, the host first detects an error and transmits a stop command to the host controller to stop the transfer robot. Then check the position variable pos value and the sensor value to determine whether to resume or stop the work. In this case, if you want to cancel the work, press the emergency stop switch to cancel it. In this case, the operator intervenes to initialize the system. In addition, when an error occurs due to an emergency stop switch, it is initialized to determine whether to resume work through input of various load sensors.

As described above, according to the present invention, it is possible to resume the work without securing the safety and the operator's intervention from the existing method that the worker coped with by the error. There is an advantage to minimize intervention.

Claims (3)

An automatic error recovery method of a transfer robot that recovers an error that occurs when a transfer robot moves a conveyed object from the initial workbench to the target workbench under an initial workbench and a target workbench equipped with a load sensing sensor that detects the existence of a cargo. The method comprising: dividing the movement of the transfer robot by section when the conveyed object is moved from the initial workbench to the target workbench; Assigning a position variable value to an operation of the transfer robot divided by the sections; When the momentary stop of the transfer robot is stopped, the position variable is determined by the state of the load detection sensor to automatically determine whether to continue the job, whether the operator's intervention, or cancel the operation Automatic error recovery method of transfer robot. The gripper according to claim 1, wherein the section divided by the robot starts at the position of the transfer robot when the transfer robot is initialized, and the transfer robot moves to the initial stage and grips the robot's conveyance. A first section up to the operation of grasping the conveyed material; A second section until the gripper of the transfer robot grasps the conveyed object and then moves the gripper of the robot from the initial workbench to the target workbench to open the gripper to lower the conveyed material onto the target workbench; And the unfolded gripper is divided into a third section up to the operation of placing the unfolded gripper in a position when the transfer robot is initialized. The method of claim 2, wherein when the transfer robot is in a momentary stop state, the position variable determines the situation according to the state of the load sensing sensor and automatically determines the resumption of work, the intervention of an operator, and whether the work is canceled. In the step, when the robot is in the first section, the robot will continue to work when there is a cargo on the initial platform, and if there is a cargo on the platform, the operator will intervene and the robot will move. If it is in this second section, the transfer robot will continue to work. If the transfer robot is in the third section, the robot will continue to work if there is a cargo at the target location. If there is no automatic operator recovery method, characterized in that the operator intervenes.