JPH01171788A - Article transfer robot - Google Patents

Abstract

PURPOSE:To make a teaching operation easy during a palletizing operation by providing a means for calculating the coordinates regarding both axises of respective lattice points based on a pitch of matrix, a number of matrix and the respective coordinates of two points like a base point and a reference point, regarding to the lattice points representing a transfer source or a transferred place. CONSTITUTION:When a handling head 10 is moved in order representing the respective lattice points 12 arranged in matrix with a certain pitch as a transfer source or a transfer place, the coordinates regarding only a base point A and a reference point B among the lattice points 12 are inputted into a calculation means 22 by an input means 14, 16. Then, the coordinates of the lattice points 12 except these two points A, B are calculated and found out by the calculation means 22 based on the respective coordinates of this base point A and the reference point B and the pitches of matrix and the numbers of matrix inputted by the input means 18, 20. Consequently, the teaching operation can be performed easily in a palletizing operation which the articles are transferred onto a pallet placed slantingly.

Description

Detailed Description of the Invention [Industrial Application Field] The present invention comprises at least two translational axes, an X-axis and a Y-axis,
An article transfer robot that sequentially moves a handling head using each grid point arranged in a matrix at a constant pitch as a transfer source or transfer destination, and in which the article storage section is used to transfer items from or to a pallet provided at each grid point position. Relates to items suitable for transporting goods to.

[Prior Art] A conventional article transfer robot is equipped with two translational axes, an X-axis and a Y-axis, and a handling head is moved in the X-axis direction and the Y-axis direction by two arms constituting each axis. The coordinates of each point on both axes for all transfer sources and all transfer destinations are stored in advance by teaching.

For example, the Y-axis arm is supported on the X-axis arm so that it can translate in the X-axis direction, and the handling head is supported on the Y-axis arm so that it can translate in the Y-axis direction.

Therefore, the handling head is movable in both axial directions relative to the X-axis arm. This handling head includes, for example, an air chuck and an air cylinder, and can grip and release the article by opening and closing the air chuck.
It can be moved up and down by operating an air cylinder.

For example, when transferring an article on one conveyor to another conveyor, the coordinates of the transfer source and transfer destination are memorized in advance by teaching. Then, the handling head is moved to the position of the article according to the stored transfer source coordinates, and then the head is lowered to grip the article. The head that grips the article is raised, then moved to another conveyor according to the stored destination coordinates, and releases the article after descending. This completes the transfer of one article.

[Problems to be Solved by the Invention] The conventional article transfer robot described above is sometimes used for palletizing work. Here, the palletizing work refers to the work of transferring articles from a fixed point to a pallet, from a pallet to a fixed point, or from a pallet to a pallet.

The pallet used here has a plurality of article storage parts, and each storage part is provided at the position of each grid point arranged in a matrix at a constant pitch. That is, for example, a palletizing operation from a fixed point to a pallet refers to an operation in which articles sequentially transported to a fixed point are sequentially transferred to each storage section of the same pallet.

However, with conventional article transfer robots, it is necessary to memorize the coordinates of each point regarding both the XA and YA axes for all transfer sources and all transfer destinations by teaching in advance. In this case, it is necessary to teach the coordinates of all grid points as transfer destinations, which is extremely troublesome.

Therefore, in addition to the matrix pitch and number of matrices, the coordinates of only one reference point among all the grid points are manually input for the grid points as the transfer source or destination, and the coordinates of each grid point to which the handling head should be moved are calculated. An article transfer robot that automatically determines the coordinates of each grid point can be considered, but if the pallet is placed at an angle to both the XA and YA axes due to constraints on the installation location of this robot, the coordinates of each grid point can be There was a problem that it could not be determined by calculation.

In view of the above points, the present invention is an article transfer robot that can easily perform teaching operations during palletizing work, even when the pallet is placed at an angle with respect to both the XA and YA axes. The object is to provide something that can determine the coordinates of each grid point by calculation.

[Means for Solving the Problems] In order to achieve the above object, the present invention has the following configuration shown in FIG. 1.

That is, the article transfer robot according to the present invention includes at least two translation axes, an X-axis 2 and a Y-axis 4. Reference numeral 6 is an X-axis arm that constitutes the X-axis 2, and reference numeral 8 is a Y-axis arm that constitutes the Y-axis 4. A handling head 10 for gripping an article is attached to the Y-axis arm 8, and this head 10 uses each grid point 12 arranged in a matrix at a constant pitch as a transfer source or transfer destination based on the following information. be moved sequentially.

Reference numeral 14 denotes a reference point input means for inputting the coordinates X and Y regarding both axes 2°4 of the reference point A among the lattice points 12. Reference numeral 16 indicates that the positions of reference point B, which is the same as or on the same level as this reference point A, regarding both axes are X B and Y
This is a reference point coordinate input means for inputting n. The code 18 is
This is a matrix pitch input means for inputting the column pitch Px and row pitch P of the lattice points 12. Reference numeral 20 is a matrix number input means for inputting the number of columns Nx and the number of rows N of the lattice points 12. The calculation means 22 includes these human power means 14.1B, 1
Reference point coordinates XA, YAA, and reference point coordinates XB obtained from 8.20.

YI3, matrix pitch P, P and matrix number Nx.

Coordinates XA, YA with respect to both axes 2 and 4 of each grid point 12 to which Rad lO should be moved to handling based on Y NY
is determined by calculating the following equation (1), <2).

x−x +m−P” cosθA
X −n・P−sinθ ・・・・・・・・・・・・・・・
(1) YWmY +m・P 11 slnθ A X +n−P −cosθ ・・・・・・・・・・・・・・・
-(2) However, m is an integer in the range of 0 to Nx-1, and n is an integer in the range of 0 to NY-1. Further, θ is a real number in the range of −π/2 to +π/2 that satisfies the following equation (3).

tanθ-(Y-Y)/(XB-XA)A ・・・・・・・・・・・・・・・・・・・・・・・・
(3) [Function] In the article transfer robot according to the present invention, coordinates are not input for all of the grid points 12, but only for two of the grid points 12, that is, the reference point A and the reference point B. Coordinates are input through the reference point coordinate input means 14 and the reference point coordinate input means 16, respectively.

On the other hand, the coordinates of the lattice points other than these two points A and B are obtained through the coordinates X, Y of the reference point A, A X, Y of the reference point B, the matrix pitch input means 18 and the matrix B number input means 20, respectively. Based on the input matrix pitches P and P and the number of matrices N and N, xy
It is determined by the calculation of the calculation means 22 based on xy. That is, the calculation means 22 determines the coordinates XA and YA of each grid point 12 to which the handling head 10 is to be moved by calculating the equations (1) and (2) using equation (3). Note that the value of θ corresponds to the inclination angle of the grating with respect to the X-axis 2.

To explain in detail the process of determining the coordinates XA and YA of the grid point 12, if n is fixed to 0 and m is varied from 0 to Nx-1, the coordinates of the grid point 12 in the same row containing the reference point A are Coordinates are determined. Since n is fixed to 1, m is similarly set from 0 to N.
When the value is changed to X-1, the coordinates of each grid point 12 in the row following the row containing the reference point A are determined. Thereafter, the coordinates of all lattice points 12 are determined by the calculation means 22 in the same manner.

[Embodiment] FIG. 2 is a block diagram of an article transfer robot according to an embodiment of the present invention, and the robot that performs palletizing work from a fixed point to a pallet will be described below.

This robot has two X-axes 2 and Y-axes 4 that are orthogonal to each other.
Equipped with a translation axis. Reference numeral 6 is an X-axis arm that constitutes the X-axis 2, and reference numeral 8 is a Y-axis arm that constitutes the Y-axis 4.

A handling head 1o for gripping an article is attached to the Y-axis arm 8. The X-axis arm 6 and the Y-axis arm 8 each have a built-in control motor for positioning.
The Y-axis arm 8 is translated in the X-axis direction relative to the X-axis arm 6, and the handling head 10 is moved relative to the Y-axis arm 8.
can be translated in the Y-axis direction. Therefore, the handling head 10 is movable in both axial directions by the drive of the motor that opens on both sides. Rad 1 for this handling
o includes, for example, an air chuck and an air cylinder, and can grip and release an article by opening and closing the air chuck, and can move up and down by operating the air cylinder.

Reference numeral 11 denotes a rectangular pallet having a plurality of article storage sections, and is arranged with its 0 and - sides inclined at an angle θ with respect to the X-axis 2. However, the angle θ may be 0. The article storage portions of the pallet 11, which serve as article transfer destinations, are provided at respective grid points 12 arranged in a matrix along each side of the pallet 11 at a constant pitch. For example, the number of columns NX and number of rows Ny of grid point 12 are 4 and 3, respectively.
where the column pitch Px and row pitch PY are each 1
5.0 and 20.0. Among these lattice points 12, the point closest to the coordinate origin O of both the XA and YA axes 2.4 is defined as a reference point A. The reference point coordinates X, Y are, for example, 86
．． 7 and 35.2A. Reference point B is, for example, grid point 1 that is the same as reference point A.
2, the point that is farthest from the reference point A. By increasing the distance between reference point A and reference point B in this way,
Errors in calculating the coordinates of each grid point 12 can be reduced. The reference point coordinates X, YB are, for example, 135.
1 and 45.2. The coordinates XA and YA8 of the fixed point S as the article transfer source are, for example, 50.0 and 30.0. It is O.

Reference numeral 30 is a teaching pendant having various keys such as a numeric keypad, which will be explained in detail later, and a display window.
It is connected to a microprocessor 34 via an I10 port 32. This microprocessor 34 has a memory 36
is connected. Furthermore, the microprocessor 34 is I1
Signals are exchanged with the X-axis arm 6 via the 0 port 32, and the X-axis arm 6 exchanges some signals with the Y-axis arm 8.

3 and 4 are flowcharts showing the operation of the microprocessor 34, and show a teaching operation and a palletizing operation, respectively.

Hereinafter, using both figures, a palletizing operation will be described in which articles sequentially transported to a fixed point S are sequentially transferred to article storage sections provided at each of the 12 grid points 12 of the pallet 11.

In FIG. 3, in step 1, the fixed point S is set through the numeric keypad of the teaching pendant 30 and the
The coordinates X and Y of S are input and stored in the memory 36. In step 2, the hand program H3 at the fixed point S is input through the program key of the teaching pendant 30 and the I10 port 32, and is stored in the memory 36 in a format that can be executed by the microprocessor 34. Hand program HS is
In normal cases, after confirming the presence or absence of an article, the handling head 10 is lowered by operating the air cylinder, the article is gripped by the operation of the air chuck, and the head 10 gripping the article is raised again by the operation of the air cylinder. The content is that.

In step 3, the coordinates X, Y of the reference point A among the grid points 12 of the pallet 11 are input and stored in the ^A memory 36. This input is the position of the fixed point S [XA
, YA may be input using the numeric keypad of the teaching pen S dant 30, but a so-called direct teaching method may also be used. That is, in the direct teaching method, the handling head 10 is actually manually moved to the reference point A using the manual JOG operation key of the teaching pendant 30, and then the position of the handling head 10 is written when the writing key is operated. input. In step 4, the coordinates XB and YB of the reference point B are input using the direct teaching method, and are stored in the memory 36. In addition, the coordinates X of the fixed point S
The direct teaching method can also be used for inputting A and YA8.

In steps 5 and 6, the matrix pitch Px of the grid points 12 is determined for the pallet 11 through the numeric keypad of the teaching pendant 30 and the I10 boat 32.

P and the number of rows and columns N and Ny are input, and these are stored in the x memory 36. In step 7, the program key of the teaching pendant 30 and the I10 boat 32 are
The hand program HD at each grid point 12 is input through the microprocessor 34, and is stored in the memory 36 in a format that can be executed by the microprocessor 34. In a normal case, the hand program HD lowers the handling head IO by operating the air cylinder, releases the grip on the article by operating the air chuck, and raises the head 10 again by operating the air cylinder. It is.

By the above operations, the teaching regarding the palletizing work from the fixed point S to the pallet (1) is completed. Note that the various key inputs of the teaching pendant 3° are sequentially displayed on the display window, allowing accurate key input while checking the contents.

The actual palletizing work is performed according to the flowchart shown in FIG.

The microprocessor 34 sequentially initializes variables n and m to 0 in steps 10 and 11, and then initializes them in step 12.
The handling head 10 is moved to the fixed point S. This movement is performed using the coordinates XA, Y of the fixed point S stored in the memory 36.
This is executed by driving the open control motors built into the X-axis arm 6 and Y-axis arm 8 via the I10 boat 32 based on As. Next, in step 13, by calling a subroutine and executing the hand program HS at the fixed point S stored in advance in the memory 36, the articles sequentially carried to the fixed point S by means such as a conveyor are picked up.

In step 14, the reference point coordinates XA, YAA, reference point coordinates X, Y and A stored in the memory 36 are stored.
BB row matrix pitch P
, P as 1, the coordinates XA and YA of each lattice point 12 to which the hand Y ring head lO should be moved, with respect to both wheels 2.4, are determined by calculation of the following two equations.

X-X +m@P #eO8θA X -n*P*sinθ Y-Y +m*P ll5inθ A be.

tanθ-(YB-YA)/(XB-XA) where m,
If the values of n are both 0, the coordinates XA, YA match the reference point coordinates X, YA. The value of m is NX-1,
When the value of n is 0, the coordinates XA, YA correspond to the reference point coordinates X, Y -BB.

In step 15, the coordinate XA determined in step 14 is
, move Rad IO to the position of YA, that is, the position of grid point 12. This movement is performed by driving the opening control motor through the I10 port 32 based on the determined coordinates XA, YA. In step 16, the palette 11 stored in advance in the memory 3B is
By calling a subroutine and executing the hand program HD at the grid point 12, the article is stored in the storage section of the pallet 11.

Next, in step 17, the contents of variable m are incremented, and then in step 18, the contents of variable m are N x
Check whether it is greater than -1.

Here, Nx is the number of columns of lattice points 12 stored in the memory 36. If the content of the variable m is not larger than NX-1, return to step 12 and select other lattice points 12 of the same
Continue the transfer to. If the content of the variable m is greater than Nx-1 in step 18, it is determined that the transfer to all grid points 12 in the same row has been completed, and the process proceeds to step 19. In step 19, the contents of variable n are incremented. In step 20, the content of this variable n is N
Check whether it is greater than Y-1. Here, NY is the number of rows of lattice points 12 stored in the memory 36. variable n
If the content of is not greater than NY-1, step 1
1 and starts moving to the next row of grid points 12. If the content of the variable n is greater than NY-1 in step 20, it is determined that the transfer of articles to all grid points 12 of one pallet 11 has been completed, so step 1
0 and starts transferring to the next pallet 11. However, the pallet 11 whose articles have been completely transferred to all the grid points 12 is transferred, for example, by a conveyor, and the next pallet is brought to the same position as the previous pallet.

As explained above, the teaching pendant 30 includes the reference point coordinate input means 14 and the reference point coordinate input means 1.
6. Used as matrix pitch input means 18 and matrix number manual input means 20. Further, the microprocessor 34 is used as the calculation means 22.

Note that the moving speed from the transfer source to the transfer destination and the moving speed from the transfer destination to the transfer source may be input to the microprocessor 34 through the teaching pendant 30 and the I10 boat 32, and the control motor is controlled based on this information. can be driven. Moreover, the order of transfer to the grid points 12 within one pallet 11 is arbitrary.

Although the palletizing work from a fixed point to a pallet has been described above, the palletizing work from a pallet to a fixed point or from a pallet to a pallet is also the same as the above description, so the explanation will be omitted. However, when performing these three types of palletizing work, the teaching pendant 30 is used to select the type of work. Further, although the above description has been made regarding a device having only two translational axes, the X-axis 2 and the Y-axis 4, in addition to these axes, for example, a rotational axis for rotating the article may be provided.

[Effects of the Invention] In the article transfer robot according to the present invention, in addition to the matrix pitches PX, PY and the matrix numbers NX, NY, the lattice points as transfer sources or transfer destinations are If you input the coordinates XA, YAA and X, Y of the point,
Coordinates XA regarding both axes of each grid point to which B Rad should be moved to handling
, YA are automatically determined by the calculation means. Therefore, according to the present invention, there is provided an article transfer robot that can easily perform a teaching operation during palletizing work.

It is possible to provide an apparatus that can determine the coordinates of each grid point by calculation even when the pallet is placed obliquely with respect to both the Y axes.

[Brief explanation of the drawing]

Fig. 1 is a block diagram showing the configuration of the present invention, Fig. 2 is a block diagram of an article transfer robot according to an embodiment of the present invention, and Fig. 3 is a block diagram showing the configuration of the present invention.
This figure is a flowchart showing the previous teaching operation of the microprocessor, and FIG. 4 is a flowchart showing the palletizing operation of the microprocessor of FIG. Explanation of symbols 2...X-axis, 4...Y-axis, B...X-axis arm, butt...Y-axis arm, 10...handling head, 11
... Palette, 12... Grid point, 14... Reference point coordinate input means, 16... Reference point coordinate input means, 18... Matrix pitch manual means, 20... Matrix number input means, 22... calculation means, 30
...Teaching pendant, A...Reference point, B...Reference point, S...Transfer source fixed point. Patent applicant Shibaura Seisakusho Co., Ltd. Figure 3

Claims (1)

[Claims] 1. An article transfer robot that has at least two translational axes, an X-axis and a Y-axis, and that sequentially moves a handling head using each grid point arranged in a matrix at a constant pitch as a transfer source or transfer destination. (a) Coordinates X regarding both axes of the reference point A among the grid points
means for inputting _A, Y_A, and (b) coordinates X_B, Y with respect to both axes of a reference point B that is the same as or on the same level as this reference point A;
(c) a column pitch P_X and a row pitch P_Y of the lattice points;
(d) means for inputting the number of columns N_X and the number of rows N_Y of the grid points; (e) coordinates X, Y with respect to both axes of each grid point to which the handling head is to be moved; X_A+m・P_X・cosθ−n・P_Y・si
nθ Y=Y_A+m・P_X・sinθ+n・P_Y・co
sθ [However, m and n are O~N_X-1 and O~N_
is an integer in the range Y-1, tan θ = (Y_B-Y_A)/(X_B-X_A), where θ is a real number in the range -π/2 to +π/2. ] An article transfer robot characterized by having a calculating means that determines by calculating the following.