WO2009004686A1 - 搬送装置 - Google Patents

搬送装置 Download PDF

Info

Publication number
WO2009004686A1
WO2009004686A1 PCT/JP2007/063125 JP2007063125W WO2009004686A1 WO 2009004686 A1 WO2009004686 A1 WO 2009004686A1 JP 2007063125 W JP2007063125 W JP 2007063125W WO 2009004686 A1 WO2009004686 A1 WO 2009004686A1
Authority
WO
WIPO (PCT)
Prior art keywords
collision
plc100ps
plc100p
transfer
transfer robot
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Ceased
Application number
PCT/JP2007/063125
Other languages
English (en)
French (fr)
Inventor
Tsutomu Sasaki
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fujitsu Ltd
Original Assignee
Fujitsu Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Fujitsu Ltd filed Critical Fujitsu Ltd
Priority to PCT/JP2007/063125 priority Critical patent/WO2009004686A1/ja
Priority to JP2009521442A priority patent/JPWO2009004686A1/ja
Publication of WO2009004686A1 publication Critical patent/WO2009004686A1/ja
Priority to US12/641,489 priority patent/US20100114370A1/en
Anticipated expiration legal-status Critical
Ceased legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1679—Program controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Program-control systems
    • G05B19/02—Program-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/4182—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell manipulators and conveyor only
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39102—Manipulator cooperating with conveyor
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39117—Task distribution between involved manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39135—For multiple manipulators operating at same time, avoid collision
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Manipulator (AREA)
  • Control Of Conveyors (AREA)

Abstract

　連携して動作している複数台の搬送ロボットのうちの一台の搬送ロボットが停止したときに衝突を回避しつつ他の搬送ロボットを衝突が生じない範囲内で継続して動作させる搬送装置を提供することを目的とし、複数台のＰＬＣ１００ＰをネットワークＮＷで接続することにより、ＰＬＣ１００Ｐそれぞれはネットワーク側からのデータ通信により３台の搬送ロボットの往復動作のタイムシーケンスを制御することが可能となり、また、両隣の工程にあるＰＬＣ１００Ｐが備える通信装置どうしを通信線１０００で接続することにより、３台のＰＬＣのうちの上流側のＰＬＣ１００Ｐが通信線１００で下流側（後工程側）の搬送ロボット１０の位置情報を受け取って衝突を検知したときには自分が制御対象としている搬送ロボット１００Ｐに衝突回避動作を行なわさせることが可能となる。
PCT/JP2007/063125 2007-06-29 2007-06-29 搬送装置 Ceased WO2009004686A1 (ja)

Priority Applications (3)

Application Number Priority Date Filing Date Title
PCT/JP2007/063125 WO2009004686A1 (ja) 2007-06-29 2007-06-29 搬送装置
JP2009521442A JPWO2009004686A1 (ja) 2007-06-29 2007-06-29 搬送装置
US12/641,489 US20100114370A1 (en) 2007-06-29 2009-12-18 Conveyance apparatus

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2007/063125 WO2009004686A1 (ja) 2007-06-29 2007-06-29 搬送装置

Related Child Applications (1)

Application Number Title Priority Date Filing Date
US12/641,489 Continuation US20100114370A1 (en) 2007-06-29 2009-12-18 Conveyance apparatus

Publications (1)

Publication Number Publication Date
WO2009004686A1 true WO2009004686A1 (ja) 2009-01-08

Family

ID=40225756

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/JP2007/063125 Ceased WO2009004686A1 (ja) 2007-06-29 2007-06-29 搬送装置

Country Status (3)

Country Link
US (1) US20100114370A1 (ja)
JP (1) JPWO2009004686A1 (ja)
WO (1) WO2009004686A1 (ja)

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011230881A (ja) * 2010-04-26 2011-11-17 Ito Denki Kk コントローラ、ローラコンベア装置、ローラコンベア装置の制御方法、ならびにプログラム作成支援プログラム

Families Citing this family (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP5508895B2 (ja) * 2010-02-22 2014-06-04 本田技研工業株式会社 加工システム及び加工方法
US9996071B2 (en) * 2014-06-24 2018-06-12 Western Digital Technologies, Inc. Moveable slider for use in a device assembly process
CN104444229A (zh) * 2014-10-08 2015-03-25 苏州顺革智能科技有限公司 一种智能化链条检测生产线信息统计与性能监视系统
CN104476027B (zh) * 2014-11-14 2016-01-20 南京熊猫电子股份有限公司 一种多机器人焊接系统的群控装置及其方法

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS601721U (ja) * 1983-06-16 1985-01-08 ダイハツ工業株式会社 搬送用シヤトル装置
JPS62168287U (ja) * 1986-04-14 1987-10-26
JPH11212644A (ja) * 1998-01-28 1999-08-06 Sumitomo Metal Mining Co Ltd 自動搬送装置等における衝突防止システム
JP2005015192A (ja) * 2003-06-27 2005-01-20 Daifuku Co Ltd 摩擦駆動搬送装置

Family Cites Families (6)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPH0553634A (ja) * 1991-08-29 1993-03-05 Matsushita Electric Ind Co Ltd 複腕干渉回避システム
JPH082879A (ja) * 1994-06-17 1996-01-09 Nisshin Steel Co Ltd クレーン同士の衝突防止方法
US5998953A (en) * 1997-08-22 1999-12-07 Minolta Co., Ltd. Control apparatus of mobile that applies fluid on floor
US6678582B2 (en) * 2002-05-30 2004-01-13 Kuka Roboter Gmbh Method and control device for avoiding collisions between cooperating robots
US7127997B2 (en) * 2003-06-27 2006-10-31 Daifuku Co., Ltd. Friction drive conveyor
JP2007144524A (ja) * 2005-11-24 2007-06-14 Denso Wave Inc ロボットの干渉回避方法およびロボット

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS601721U (ja) * 1983-06-16 1985-01-08 ダイハツ工業株式会社 搬送用シヤトル装置
JPS62168287U (ja) * 1986-04-14 1987-10-26
JPH11212644A (ja) * 1998-01-28 1999-08-06 Sumitomo Metal Mining Co Ltd 自動搬送装置等における衝突防止システム
JP2005015192A (ja) * 2003-06-27 2005-01-20 Daifuku Co Ltd 摩擦駆動搬送装置

Cited By (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2011230881A (ja) * 2010-04-26 2011-11-17 Ito Denki Kk コントローラ、ローラコンベア装置、ローラコンベア装置の制御方法、ならびにプログラム作成支援プログラム

Also Published As

Publication number Publication date
US20100114370A1 (en) 2010-05-06
JPWO2009004686A1 (ja) 2010-08-26

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