201033770 六、發明說明： 【發明所屬之技術領域】 本發明係有關於搬運機器人裝置，其具備有控制裝置 及藉由與控制裝置之信號交換而執行命令的搬運機器人。 【先前技術】 在產業現場常用的搬運機器人，一般是和外部的控制 裝置連接，並因應於來自控制裝置的指令而進行動作。雙 方具備有通信功能，藉信號交換（例如，參照特開平8-φ 234825號公報及特開2002 — 108424號公報。）而可彼此進 行通信。 例如，在進行液晶玻璃基板熱處理之步驟所使用的搬 運機器人，本身是單獨命令的執行機器。爲了可進行連續 的動作，對於在一個命令完全結束（執行結束）後回到原點 位置並完全停止的搬運機器人，控制裝置有需要重複地進 行信號交換，並供給下一命令之動作。 可是，如同上述，在每當一個命令完全結束後進行信 © 號交換而使執行複數個命令的系統中，除了複數次的信號 交換需要對應的時間以外，每次回到原點位置並完全停止 是浪費時間，結果，整個步驟所需時間變長。又，一般， 雖然搬運機器人具有即使未完全回到原點位置亦可執行下 一命令的重疊功能，但是成爲每當一個命令完全結束後就 進行信號交換時，無法應用此功能。 【發明内容】 鑑於該以往之問題點，本發明之目的在於提供一種可 201033770 縮短整個搬運步驟所需時間之搬運機器人裝置。 本發明之搬運機器人裝置具備有控制裝置及搬運機器 人，可執行和藉由與該控制裝置的信號交換所指示之命令 相應的處理，於現行命令執行當中並行地讀入下一命令， 並在接於現行命令之後執行。 在如上述所示之搬運機器人裝置’可依序進行於現行 命令執行當中並行地進行下一命令的寫入、讀入，然後再 予以執行之過程，可藉一次的信號交換而連續地執行複數 0 個命令。 又，亦可作成該搬運機器人僅在已從該控制裝置收到 表示是連續執行複數個命令之資訊的情況，進行下一命令 的讀入，在未收到該資訊的情況，僅執行現行命令就結束。 若根據這種資訊，而判斷是否應讀入下一命令，可進行確 實的判斷，又，在不是連續（單獨）的情況不會進行浪費的 動作。 又，亦可該搬運機器人具有重疊功能，在命令之執行 φ 結束時，未完全停止，就執行下一命令。在此情況，因爲 可藉重疊功能而在一個命令結束時尙未完全停止就執行下 一命令，所以更縮短執行整個搬運步驟所需時間。 若依據本發明的搬運機器人裝置，因爲可藉一次的信 號交換而連續地執行複數個命令，所以和對每個命令進行 信號交換的情況相比，縮短執行整個搬運步驟所需時間。 【實施方式】 第1圖係將本發明之一實施形態的搬運機器人裝置連 同周邊的裝置一起作表示的圖。這例如是用以對液晶基板 201033770 進行熱處理的搬運機器人裝置。在圖中，搬運機器人裝置 係藉雙臂的搬運機器人1和由pLC(可程式控制器[Technical Field] The present invention relates to a transport robot apparatus including a control device and a transport robot that executes commands by exchanging signals with the control device. [Prior Art] A transport robot commonly used in an industrial field is generally connected to an external control device and operates in response to an instruction from the control device. Both of them have a communication function, and they can communicate with each other by means of a signal exchange (for example, Japanese Laid-Open Patent Publication No. Hei. No. Hei. No. Hei. No. Hei. For example, the transport robot used in the step of heat-treating the liquid crystal glass substrate itself is a separately commanded execution machine. In order to perform continuous operations, the control device needs to repeatedly exchange signals and supply the next command to the transport robot that returns to the home position after the completion of one command (end of execution) and stops completely. However, as described above, in a system in which a number of commands are exchanged after a command is completely completed, in addition to the time required for the plurality of handshaking, the time is returned to the origin position and is completely stopped. Wasting time, as a result, the time required for the entire step becomes longer. Further, in general, although the transport robot has an overlapping function of executing the next command even if it is not completely returned to the origin position, this function cannot be applied every time a signal is exchanged after a command is completely completed. SUMMARY OF THE INVENTION In view of the conventional problems, it is an object of the present invention to provide a transport robot apparatus that can shorten the time required for the entire transport step in 201033770. The transport robot apparatus of the present invention includes a control device and a transport robot, and can execute processing corresponding to a command instructed by a signal exchange of the control device, and read the next command in parallel during execution of the current command, and connect Executed after the current order. In the transfer robot apparatus as described above, the process of writing, reading, and then executing the next command in parallel in the execution of the current command may be performed in sequence, and the plural number may be continuously executed by one-time handshake. 0 commands. Further, the transport robot may be configured to read the next command only when the information indicating that the plurality of commands are continuously executed is received from the control device, and if the information is not received, only the current command is executed. It is over. If it is judged based on such information, whether or not the next command should be read, a definitive judgment can be made, and a wasteful action is not performed in a case where it is not continuous (separate). Further, the transport robot may have an overlapping function, and when the execution of the command φ is completed, the next command is executed without being completely stopped. In this case, since the next command can be executed at the end of a command without the stop function by the overlapping function, the time required to execute the entire carrying step is further shortened. According to the transport robot apparatus of the present invention, since a plurality of commands can be continuously executed by one-time signal exchange, the time required to execute the entire transporting step is shortened as compared with the case where the signal is exchanged for each command. [Embodiment] Fig. 1 is a view showing a transfer robot device according to an embodiment of the present invention together with peripheral devices. This is, for example, a transfer robot device for heat-treating the liquid crystal substrate 201033770. In the figure, the handling robot is a handling robot 1 with both arms and a pLC (programmable controller)
Programmable Controller)所成之控制裝置2所構成。藉 電纜3連接搬運機器人1和控制裝置2，搬運機器人1是 可執行和藉與控制裝置2之信號交換所指示的命令對應的 處理。 具體而言’首先，搬運機器人1藉由雙臂從搬入部4 搬入液晶基板的工件（未圖示）。此時，例如，進行臂的伸 G 縮或吸附的動作。接著，搬運機器人1使用雙臂的各臂， 將工件分別收容於第1爐體5及第2爐體6。又，放開所 收容的工件後，再取出已完成熱處理之其他的工件並返 回。然後，將這些已熱處理的工件收容於冷卻部（或搬出 部）7，並向下一步驟進給。 第2圖係搬運機器人1之動作的流程圖。動作開始後， 搬運機器人1首先，進行動作準備所需之既定的起始處理 (步驟S1)。接著，搬運機器人1判斷是否已從控制裝置2 ® 受理信號交換（步驟S2)，在未受理時依然等待受理。此外， 信號交換的受理例如是根據搬運機器人1收到來自控制裝 置2的閃控（Strobe)信號而成立。受理信號交換時，搬運 機器人1進入命令處理（步驟S3)，在其執行結束後，進行 回到原點位置並完全停止等之命令結束處理（步驟S4)。 第3圖係表示在第2圖之命令處理（步驟S3)的細節的 流程圖（副常式）。在第3圖，搬運機器人1從控制裝置2 讀入命令（步驟S31)。此外’其細節爲，從控制裝置2向 搬運機器人1寫入命令後，控制裝置2向搬運機器人1要 .201033770 求讀入’藉此’搬運機器人1執行讀入命令。然後，搬運 機器人1開始執行所讀入的命令（步驟S32)。例如，若命 令是「搬入」’搬運機器人1從搬入部4(第1圖）開始搬 入工件。 接著’搬運機器人1判斷是否是連續要求命令，即連 續地執行複數個命令的模式（步驟S33)。連續要求是控制 裝置2以表示命令之單獨/連續的旗標輸出者，在進行連續 動作的期間，以連續的信號（例如固定爲Η位準）輸出。另 〇 —方面’在命令爲單獨的情況，此旗標是L位準。在無連 續要求的情況（即單獨的情況），搬運機器人1在步驟S34 判斷命令的執行是否已結束’根據結束而回到主常式（第2 圖），進行命令結束處理（步驟S4)。 另一方面，在步驟S33有連續要求的情況，搬運機器 人1在從現行命令之執行開始後迄至結束的期間，向控制 裝置2進行可受理下一命令的報告（內容爲可受理下一命 令的報告）（步驟S35)。在不是進行該報告的時序時，一面 ® 執行現行命令，一面等待該時序。此外，在此所指的「結 束」意指僅命令之實質內容的結束’而未包含回到原點位 置並完全停止。 具體而言，一個命令包含複數個動作，例如依序進行 向指定位置旋轉、上昇、使手伸長、再上昇、接受工件、 吸附以及使手回位之一連串的動作。因此’搬運機器人1 例如最後使手回位的動作開始’同時進行可受理下一命令 的報告。 收到該可受理下一命令的報告後’控制裝置2對搬運 -7- 201033770 機器人1寫入下一命令’寫入結束後，將已寫入下一命令 的通知供給搬運機器人1。因此，搬運機器人1等待從控 制裝置2送來已寫入下一命令的通知（步驟S36)，確認已 寫入後，回到步驟S31，並讀入已寫入的下一命令。讀入 後，搬運機器人1開始執行下一命令（步驟S32)。但實際 的機器人動作係接在現行命令的最後動作之後執行。例 如，若現在執行當中的命令是搬入’下一命令成爲收容於 爐。 〇 依此方式，可在等待一個命令之執行結束所需時間的 期間，寫入下一命令，若已寫入就可讀入。即，可預約下 —個執行的命令。另一方面，所讀入的「下一命令」成爲 「現行命令」，搬運機器人1開始執行（步驟S32)。然後， 搬運機器人1在開始執行後迄至結束爲止的期間，向控制 裝置2進行可受理下一命令的報告（步驟S35)。在還不是 進行該報告的時序時’ 一面執行現行命令’ 一面等待進行 該報告的時序。然後’搬運機器人1使現行命令之最後的 ® 動作開始，同時進行可受理下一命令的報告（步驟S35)。 例如，若執行之命令的順序是A命令、B命令、C命令’ 則搬運機器人1在A命令的執行當中（具體而言’在最後動 作開始的同時）接受B命令的寫入，寫入結束後進行讀入。 但在迄至C命令寫入前是不進行的。然後’搬運機器人1 接於A命令之後隨即執行B命令。又’搬運機器人1在B 命令的執行當中（具體而言，最後動作開始的同時）接受C 命令的寫入，寫入結束後進行讀入。如此’總是—面可預 約下一命令，一面連續地處理複數個命令。在連續之複數 201033770 個命令已全部執行而並無連續要求的時間點（在步驟S33 的「N0」），搬運機器人1等待最後之命令的執行結束（步 驟S34)，結束時回到主常式（第2圖），並進行命令結束處 理（步驟S4 )。 在如上述所示之搬運機器人裝置，藉由依序進行於現 行命令執行當中並行地進行下一命令的寫入、讀入（所謂的 先讀），然後執行那樣的過程，可在一次的信號交換連續地 執行複數個命令。因此，和對每個命令進行信號交換的情 φ 況相比，縮短執行整個搬運步驟所需時間。 例如，與就從搬入迄至收容於冷卻部7爲止之各命令 進行信號交換的情況相較下，可縮短約2秒。 又，搬運機器人1僅在已從控制裝置2收到表示是連 續執行複數個命令之模式（有連續要求的旗標）的情況會進 行下一命令的讀入，在未收到該資訊的情況，僅執行現行 命令就結束，藉此，可進行是否應讀入下一命令之確實的 判斷，又，在不是連續（單獨）的情況，不會進行浪費的動 ❹作。 另一方面，搬運機器人1具有重疊功能。即’即使回 到原點位置而尙未完全停止，亦可執行下一命令。藉此重 疊功能，因爲可在一個命令結束而未完全停止時執行下一 命令，所以更縮短執行整個搬運步驟所需時間。例如’和 對從搬入迄至收容於冷卻部7爲止之各命令應進行信號交 換並每次使其完全停止的情況相較下’可縮短約6秒。即’ 加上信號交換次數之減少所引起的縮短時，可縮短約8 秒。例如，在2個爐，搬運機器人裝置之節拍時間（tact) 44 201033770 秒的處理量爲3928片/1天時’當縮短8秒而變成36秒時， 處理量成爲4800片/1天，生產力提高。 此外，在上述的實施形態省略說明’在進行緊急停止 的操作之情況，搬運機器人1除了馬上停止現行命令的執 行以外，還捨棄下一命令。因此，可藉緊急停止’而確實 停止搬運機器人1之現在及以後的動作。 【圖式簡單說明】 第1圖係本發明之一實施形態的搬運機器人裝置連同 φ 周邊的裝置一起表示的圖。 第2圖係搬運機器人之動作的流程圖。 第3圖係表示在第2圖之命令處理（步驟S3)的細節的 流程圖（副常式）。 【主要元件符號說明】 1 搬運機器人 2 控制裝置 3 電纜 ® 4 搬入部 5 第1爐體 6 第2爐體 7 冷卻部（搬出部） -10-The control device 2 is composed of a Programmable Controller. The transport robot 1 and the control device 2 are connected by a cable 3, and the transport robot 1 is a process that can be executed and commanded by a command indicated by the handshake of the control device 2. Specifically, first, the conveyance robot 1 carries a workpiece (not shown) of the liquid crystal substrate from the loading unit 4 by both arms. At this time, for example, an action of stretching or absorbing the arm is performed. Next, the transport robot 1 uses the arms of both arms to house the workpieces in the first furnace body 5 and the second furnace body 6, respectively. Further, after releasing the contained workpiece, the other workpieces which have been subjected to the heat treatment are taken out and returned. Then, these heat-treated workpieces are housed in the cooling portion (or the unloading portion) 7, and are fed in the next step. Fig. 2 is a flow chart showing the operation of the transport robot 1. After the start of the operation, the transport robot 1 first performs a predetermined initial process required for the preparation of the operation (step S1). Next, the transfer robot 1 determines whether or not the handshake has been received from the control device 2 ® (step S2), and waits for acceptance even when it is not accepted. Further, the reception of the handshake is established, for example, based on the receipt of the Strobe signal from the control device 2 by the transport robot 1. When the handshake is accepted, the transport robot 1 enters the command processing (step S3), and after the execution is completed, the command end processing is returned to the origin position and is completely stopped (step S4). Fig. 3 is a flow chart showing the details of the command processing (step S3) in Fig. 2 (sub-family). In Fig. 3, the transport robot 1 reads a command from the control device 2 (step S31). Further, the details are such that, after the command is written from the control device 2 to the transport robot 1, the control device 2 requests the transport robot 1 to read in. The transfer robot 1 executes the read command. Then, the transport robot 1 starts executing the read command (step S32). For example, if the command is "loading in", the transport robot 1 starts loading the workpiece from the loading unit 4 (Fig. 1). Next, the transport robot 1 judges whether or not it is a continuous request command, that is, a mode in which a plurality of commands are continuously executed (step S33). The continuous request is for the control device 2 to indicate the individual/continuous flag output of the command, and is output as a continuous signal (e.g., fixed to the level) during the continuous operation. Another 〇-aspect ‘in the case of a separate order, this flag is the L level. In the case where there is no continuous request (i.e., in a separate case), the transport robot 1 determines in step S34 whether or not the execution of the command has been completed. </ RTI> By returning to the main routine (Fig. 2), the command end processing is performed (step S4). On the other hand, if there is a continuous request in step S33, the transfer robot 1 performs a report that the next command can be accepted to the control device 2 from the time of execution of the current command to the end (the content is the next command acceptable). Report) (step S35). When the timing of the report is not being performed, one side ® executes the current command while waiting for the timing. Further, "end" as used herein means only the end of the substance of the command' and does not include returning to the origin position and completely stopping. Specifically, a command includes a plurality of actions, such as sequentially rotating to a specified position, ascending, elongating, re-raising, accepting a workpiece, adsorbing, and causing a series of hand returns. Therefore, the "transport robot 1 starts the operation of returning the hand, for example," and the report of the next command can be accepted at the same time. When the report of the next command is received, the control device 2 writes the next command to the transport -7-201033770. The write of the next command is supplied to the transfer robot 1. Therefore, the transport robot 1 waits for the notification from the control device 2 that the next command has been written (step S36), confirms that it has been written, returns to step S31, and reads the next command that has been written. After reading in, the transport robot 1 starts executing the next command (step S32). However, the actual robot action is executed after the last action of the current command. For example, if the current command is to move into the next command, it will be stored in the furnace.依 In this way, the next command can be written while waiting for the time required for the execution of one command to end, and can be read if it has been written. That is, you can reserve the next executed command. On the other hand, the "next command" read in is "current command", and the transfer robot 1 starts execution (step S32). Then, the transfer robot 1 performs a report for accepting the next command to the control device 2 until the end of the execution (step S35). Waiting for the timing of the report while the timing of the report is not being performed, while the current command is being executed. Then, the "transport robot 1" starts the operation of the last ® of the current command and simultaneously reports that the next command can be accepted (step S35). For example, if the order of the commands executed is the A command, the B command, and the C command', the transport robot 1 accepts the write of the B command during the execution of the A command (specifically, at the same time as the start of the last action), and the writing ends. Then read it in. However, it is not performed until the C command is written. Then, the handling robot 1 executes the B command immediately after the A command. Further, the transport robot 1 accepts the writing of the C command during the execution of the B command (specifically, at the same time as the start of the last operation), and reads it after the writing is completed. Thus, the 'always-on-the-face can pre-order the next command, while processing multiple commands in succession. At the point in time when the consecutive plural number of 201033770 commands have been executed without continuous request ("N0" in step S33), the transport robot 1 waits for the execution of the last command to end (step S34), and returns to the main routine at the end. (Fig. 2), and the command end processing is performed (step S4). In the transport robot apparatus as described above, the writing and reading of the next command (so-called pre-reading) are performed in parallel in the execution of the current command in sequence, and then the process is performed, and the handshake can be performed once. Execute multiple commands in succession. Therefore, the time required to execute the entire carrying step is shortened compared to the case where the command is exchanged for each command. For example, it can be shortened by about 2 seconds as compared with the case where signals are exchanged from the time of loading to the command placed in the cooling unit 7. Further, the transport robot 1 performs the reading of the next command only when the mode indicating that the plurality of commands are continuously executed (the flag having the continuous request) has been received from the control device 2, and the information is not received. The execution of the current command is completed, whereby the determination as to whether or not the next command should be read can be made, and in the case of not being continuous (separate), no wasteful work is performed. On the other hand, the transport robot 1 has an overlapping function. That is, the next command can be executed even if it is not returned to the original position. This overlaps the function, because the next command can be executed when one command ends without stopping completely, so the time required to execute the entire carrying step is shortened. For example, 'the case where the commands from the loading to the cooling unit 7 should be signal exchanged and stopped completely each time can be shortened by about 6 seconds. That is, when the shortening caused by the decrease in the number of handshakes is shortened, it can be shortened by about 8 seconds. For example, in two furnaces, the tact time of the handling robot (tact) 44 201033770 seconds is 3,928 pieces / 1 day, when the time is shortened by 8 seconds and becomes 36 seconds, the throughput is 4,800 pieces / 1 day, productivity improve. Further, in the above-described embodiment, the description is omitted. When the emergency stop operation is performed, the transport robot 1 discards the next command in addition to immediately stopping the execution of the current command. Therefore, the current and subsequent operations of the robot 1 can be surely stopped by the emergency stop. BRIEF DESCRIPTION OF THE DRAWINGS Fig. 1 is a view showing a transport robot apparatus according to an embodiment of the present invention together with a device around φ. Fig. 2 is a flow chart showing the operation of the transport robot. Fig. 3 is a flow chart showing the details of the command processing (step S3) in Fig. 2 (sub-family). [Description of main component symbols] 1 Handling robot 2 Control device 3 Cable ® 4 Loading unit 5 First furnace body 6 Second furnace body 7 Cooling unit (loading unit) -10-