CN101823259A - Conveying robot device - Google Patents
Conveying robot device Download PDFInfo
- Publication number
- CN101823259A CN101823259A CN200910139392A CN200910139392A CN101823259A CN 101823259 A CN101823259 A CN 101823259A CN 200910139392 A CN200910139392 A CN 200910139392A CN 200910139392 A CN200910139392 A CN 200910139392A CN 101823259 A CN101823259 A CN 101823259A
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- instruction
- transfer robot
- control device
- conveying robot
- next instruction
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- 230000001360 synchronised effect Effects 0.000 claims abstract description 20
- 238000000034 method Methods 0.000 abstract description 6
- 238000001816 cooling Methods 0.000 description 3
- 239000013078 crystal Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 239000000758 substrate Substances 0.000 description 2
- 238000010521 absorption reaction Methods 0.000 description 1
- 239000008280 blood Substances 0.000 description 1
- 210000004369 blood Anatomy 0.000 description 1
- 238000004891 communication Methods 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 239000011521 glass Substances 0.000 description 1
- 238000011221 initial treatment Methods 0.000 description 1
- 239000004973 liquid crystal related substance Substances 0.000 description 1
- 238000004519 manufacturing process Methods 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
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- Container, Conveyance, Adherence, Positioning, Of Wafer (AREA)
- Manipulator (AREA)
- Numerical Control (AREA)
Abstract
The invention provides a conveying robot device, which can shorten the time required by the whole conveying process. The conveying robot device has a control device and a conveying robot, the conveying robot can execute the processing relative to an instruction, the instruction is indicated by synchronous exchange with the control device, when the executing of the current instruction is read with the next instruction in parallel, and the next instruction and the current instruction are continuously executed, thereby executing a plurality of instructions continuously in one synchronous exchange.
Description
Technical field
The present invention relates to conveying robot device, the transfer robot that this conveying robot device has control device and brings execution command by the timed delivery with this control device.
Background technology
The transfer robot that is used for industry spot usually, is connected with the control device of outside more, moves according to the instruction from control device.Both sides have communication function, can pass through synchronous exchange (for example, with reference to Japanese kokai publication hei 8-234825 communique and TOHKEMY 2002-108424 communique) and intercom mutually.
For example, employed transfer robot in the operation that liquid crystal glass base is heat-treated himself is the execution machine that instructs separately.In order to carry out continuous action, need carry out following action repeatedly, that is, after finishing (executive termination), an instruction returns origin position, and control device carries out synchronous exchange with respect to the transfer robot that has stopped fully, sends next instruction.
But, just carrying out timed delivery in the instruction that whenever finishes as described above brings in the system that carries out a plurality of instructions, except need with synchronous exchange repeatedly the corresponding time, also exist because of return origin position and stop this time waste fully at every turn, consequently, whole operation required time is elongated.In addition, usually, also can carry out crossover (overlap) function of next instruction, whenever finish one and carry out synchronous exchange when instructing, this function of then can not applying in a flexible way though transfer robot has even without being back to origin position.
Summary of the invention
In view of above-mentioned existing problem, the object of the present invention is to provide a kind of conveying robot device that can shorten whole carrying operation required time.
Conveying robot device of the present invention has: control device; Transfer robot, this transfer robot can be carried out the corresponding processing of and instruction, this instruction by and described control device between synchronous exchange be instructed to, in the execution of present instruction, read in next instruction concurrently, and this next instruction and present instruction carried out continuously.
In above-mentioned such conveying robot device, in the execution of present instruction, read in next instruction concurrently successively and carry out such process again, thus, can in synchronous exchange once, carry out a plurality of instructions continuously.
In addition, above-mentioned transfer robot can also carry out reading in of next instruction only under the situation of the information of receiving a plurality of instruction modes of the continuous execution of expression from described control device, do not receiving under the situation of this information, only carries out present instruction and just stops.If judge whether reading in next instruction according to such information, then can judge reliably, in addition, under discontinuous (independent) situation, can not carry out useless action.
In addition, above-mentioned transfer robot can also have the crossover function, can not exclusively stop when instruction complete and carries out next instruction.In the case, because according to this crossover function, instruction is finished but is not stopped fully just can carrying out next instruction, thereby the required time of the execution of whole carrying operation further is shortened.
According to conveying robot device of the present invention, owing to can carry out a plurality of instructions continuously by synchronous exchange once, thereby compare with the situation of carrying out synchronous exchange at each instruction, can shorten the required time of execution of whole carrying operation.
Description of drawings
Fig. 1 is the figure that the device of conveying robot device of an embodiment of the invention and periphery is together represented.
Fig. 2 is the flow chart of the action of transfer robot.
Fig. 3 is the flow chart (subprogram) of the details of the instruction process (step S3) in the presentation graphs 2.
The specific embodiment
Fig. 1 is the figure that the device of conveying robot device of an embodiment of the invention and periphery is together represented.This is for example to be used for conveying robot device that crystal liquid substrate is heat-treated.In the drawings, conveying robot device comprises the transfer robot 1 of both arms and the control device 2 that is made of PLC (Programmable Logic Controller).Transfer robot 1 is connected by cable 3 with control device 2, and transfer robot 1 can be carried out and instruction and handle accordingly, this instruction by and control device 2 between synchronous exchange be instructed to.
Particularly, at first, transfer robot 1 is moved into the workpiece (not shown) of crystal liquid substrate from moving into portion 4 by both arms.At this moment, for example, carry out the action of stretching, adsorbing of arm.Next, transfer robot 1 utilizes each arm of both arms that workpiece is taken in to first body of heater and second body of heater respectively.In addition, discharged the workpiece of taking in after, take out and return having finished heat treated other workpiece.Then, these have been finished heat treated workpiece be received into cooling end (or taking out of portion) 7, and carried to subsequent processing.
Fig. 2 is the flow chart of the action of transfer robot 1.After action beginning, transfer robot 1 at first is used to move the initial treatment (step S1) of the regulation prepared.Then, transfer robot 1 carries out whether having received from control device the judgement (step S2) of synchronous exchange, maintains the original state to wait for unchangeably and receiving when not receiving.In addition, the reception of synchronous exchange is for example received from stroboscope (Strobe) signal of control device 2 by transfer robot 1 and is set up.After receiving synchronous exchange, (step S3) handled in transfer robot 1 entry instruction, after this instruction process is complete, and the instruction termination (step S4) of returning origin position and stopping fully waiting.
Fig. 3 is the flow chart (subprogram) of the details of the instruction process (step S3) in the presentation graphs 2.In Fig. 3, transfer robot 1 instructs from control device 2 and reads in (step S31).Wherein, in detail, after having carried out writing the action of instruction from control device 2 to transfer robot 1, control device 2 carries out the request of reading in to transfer robot 1, thereby the instruction of carrying out transfer robot 1 is read in.Then, transfer robot 1 begins to carry out the instruction (step S32) of being read in.For example, if instruction is " moving into ", then transfer robot 1 begins to move into workpiece from moving into portion 4 (Fig. 1).
Then, the judgement of the continuous request that transfer robot 1 instructs promptly judges whether it is the pattern (step S33) of carrying out a plurality of instructions continuously.Request controlled device 2 is exported as the independent/continuous mark of presentation directives continuously, and during carrying out continuous action, request is output as continuous signal (for example H horizontal fixed) continuously.And under the situation of instruction for instruction separately, this mark is the L level.Do not having under the situation about requiring continuously (be independent situation under), whether completed judgement of the execution that transfer robot 1 instructs in step S34 is then returned main program (Fig. 2) if finish, and instructs termination (step S4).
On the other hand, when in step S33, existing under the situation of request continuously, transfer robot 1 begins the back during finishing in the execution from present instruction, carries out receiving the report (expression can be carried out the report of the reception of next instruction) (step S35) of next instruction with respect to control device 2.When not being when carrying out the opportunity of this report, Yi Bian carry out present instruction, Yi Bian wait for this opportunity.In addition, said herein " finishing " be the finishing of flesh and blood of presentation directives only, do not comprise the situation of returning origin position and stopping fully.
Particularly, an instruction comprises a plurality of actions, for example, carries out to the assigned address rotation in order, rises, and makes the manipulator elongation, rises and receive the absorption workpiece, makes manipulator return this a series of actions.At this, transfer robot 1 for example in the end begins side by side to carry out receiving the next instruction report with the action that manipulator is returned.
Receive and above-mentioned can receive the next instruction report, control device 2 writes transfer robot 1 with next instruction, writes next instruction to be write the notice of finishing after the end and be sent to transfer robot 1.At this, transfer robot 1 waits for that next instruction writes the notice of finishing and sends (step S36) from control device 2, when confirm to write finish after, return step S31, the next instruction that writes is read in.After reading in, the execution (step S32) of transfer robot 1 beginning next instruction.But, Shi Ji robot motion is to carry out continuously with the last action of present instruction.For example, if present executory instruction is to move into, then next instruction is to take in stove.
As described above, wait for instruction complete during, can write next instruction, read in if write to finish then.That is, can carry out the reservation of the instruction that next will carry out.Being read into " next instruction " becomes " present instruction ", and transfer robot 1 begins to carry out (step S32).Then, transfer robot 1 carries out receiving next instruction report (step S35) carrying out the beginning back during finishing with respect to control device 2.When also being less than the opportunity of carrying out this report, carry out present instruction and etc. opportunity of pending this report.Then, transfer robot 1 begins side by side with the last action of present instruction, carries out receiving next instruction report (step S35).
For example, if the instruction of carrying out is the order of A instruction, B instruction, C instruction, then transfer robot 1 (specifically, begins side by side with last action) to receive writing of B instruction in the A instruction is carried out, and writes to read in after finishing.But, do not carry out reading in of C instruction.Then, the B instruction is directly carried out in continue A instruction of transfer robot 1.In addition, transfer robot 1 (specifically, begins side by side with last action) to receive writing of C instruction in B instruction is carried out, and writes to read in after finishing.So, can only preengage next instruction all the time, handle a plurality of instructions continuously.All carried out, no longer included moment (among the step S33 for "No") of continuous request in continuous a plurality of instructions, transfer robot 1 is waited for complete (the step S34) of last instruction, after finishing, return main program (Fig. 2), instruct termination (step S4).
In above-mentioned such conveying robot device, in the execution of present instruction, carry out write/read in (promptly the reading in advance) of next instruction concurrently successively and carry out such process again, thus, can in synchronous exchange once, carry out a plurality of instructions continuously.Therefore, compare, can shorten the required time of execution of whole carrying operation with the situation of carrying out synchronous exchange at each instruction.
For example, and at taking in the situation of carrying out synchronous exchange to each instruction of cooling end 7 and compare, can shorten about 2 seconds from moving into to.
In addition, transfer robot 1 is only being received from control device 2 under the situation of representing continuously the information (mark with continuous request) of the pattern of a plurality of instructions of execution, that just instructs reads in, under the situation of not receiving this information, only carry out present instruction and stop, thus, can carry out whether should reading in the reliable judgement of next instruction.In addition, under discontinuous (independent) situation, can not carry out useless action.
On the other hand, transfer robot 1 has the crossover function.That is,, also can carry out next instruction even without returning origin position and stopping fully.According to this crossover function, because instruction do not finish and stop fully just can carrying out next instruction, thereby the required time of the execution of whole carrying operation further is shortened.For example, and from moving into carrying out synchronous exchange and its situation about stopping fully being compared till being received into cooling end 7, can shorten about 6 seconds at each instruction.That is, add the shortening that the reduction by the synchronous exchange number of times realizes, can shorten about 8 seconds.For example, in two stoves, when the productive temp of conveying robot device was 44 seconds, treating capacity was under 3928/1 day the situation, to shorten 8 seconds and become 36 seconds, and treating capacity becomes 4800/1 day, and production efficiency improves.
In addition, though omitted explanation in the above-described embodiment, under the situation of carrying out the operation that stops very much, transfer robot 1 is cancelled next instruction except the execution that stops present instruction immediately.Therefore, by stopping very much, can positively stop transfer robot 1 now with and subsequent action.
Claims (3)
1. conveying robot device is characterized in that having:
Control device;
Transfer robot, this transfer robot can be carried out the corresponding processing of and instruction, described instruction by and described control device between synchronous exchange be instructed to, in the execution of present instruction, read in next instruction concurrently, and this next instruction and present instruction carried out continuously.
2. conveying robot device as claimed in claim 1 is characterized in that,
Described transfer robot only under the situation of the information of receiving a plurality of instruction modes of the continuous execution of expression from described control device, carries out reading in of next instruction, is not receiving under the situation of this information, only carries out present instruction and just stops.
3. conveying robot device as claimed in claim 1 is characterized in that,
Described transfer robot has the crossover function, can not exclusively stop when instruction complete and carries out next instruction.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2009050870A JP5367416B2 (en) | 2009-03-04 | 2009-03-04 | Transfer robot device |
| JP2009-050870 | 2009-03-04 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN101823259A true CN101823259A (en) | 2010-09-08 |
| CN101823259B CN101823259B (en) | 2015-01-14 |
Family
ID=42687524
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN200910139392.9A Expired - Fee Related CN101823259B (en) | 2009-03-04 | 2009-05-21 | Conveying robot device |
Country Status (3)
| Country | Link |
|---|---|
| JP (1) | JP5367416B2 (en) |
| CN (1) | CN101823259B (en) |
| TW (1) | TWI460565B (en) |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625674A (en) * | 2016-12-29 | 2017-05-10 | 北京光年无限科技有限公司 | Command processing method for robot and robot |
| CN106779047A (en) * | 2016-12-30 | 2017-05-31 | 纳恩博（北京）科技有限公司 | A kind of information processing method and device |
| CN110716567A (en) * | 2019-10-18 | 2020-01-21 | 上海快仓智能科技有限公司 | Mobile equipment and control method and control device thereof |
| CN114816566A (en) * | 2022-04-08 | 2022-07-29 | 山东云海国创云计算装备产业创新中心有限公司 | Instruction moving method, system, equipment and medium |
Family Cites Families (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| DE3780738T2 (en) * | 1986-09-19 | 1993-01-14 | Texas Instruments Inc | ON-BOARD VIEWING SYSTEM FOR MOVING ROBOTS. |
| US5219264A (en) * | 1986-09-19 | 1993-06-15 | Texas Instruments Incorporated | Mobile robot on-board vision system |
| KR100397760B1 (en) * | 1998-04-27 | 2003-09-13 | 가부시끼가이샤 디지탈 | Control system, display device, control-use host computer, and data transmission method |
| US20060224250A1 (en) * | 2005-04-01 | 2006-10-05 | Rockwell Automation Technologies, Inc. | Industrial automation interface systems and methods |
| JP4198136B2 (en) * | 2005-07-25 | 2008-12-17 | 京セラ株式会社 | Portable information terminal |
| US8977836B2 (en) * | 2006-02-03 | 2015-03-10 | Russell H. Fish, III | Thread optimized multiprocessor architecture |
| US7984279B2 (en) * | 2006-11-03 | 2011-07-19 | Qualcomm Incorporated | System and method for using a working global history register |
| CN101362334A (en) * | 2008-09-25 | 2009-02-11 | 塔米智能科技（北京）有限公司 | Intelligent robot and operation method thereof |
-
2009
- 2009-03-04 JP JP2009050870A patent/JP5367416B2/en not_active Expired - Fee Related
- 2009-05-21 CN CN200910139392.9A patent/CN101823259B/en not_active Expired - Fee Related
- 2009-05-25 TW TW098117235A patent/TWI460565B/en not_active IP Right Cessation
Cited By (6)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625674A (en) * | 2016-12-29 | 2017-05-10 | 北京光年无限科技有限公司 | Command processing method for robot and robot |
| CN106779047A (en) * | 2016-12-30 | 2017-05-31 | 纳恩博（北京）科技有限公司 | A kind of information processing method and device |
| CN106779047B (en) * | 2016-12-30 | 2019-06-18 | 纳恩博（北京）科技有限公司 | A kind of information processing method and device |
| CN110716567A (en) * | 2019-10-18 | 2020-01-21 | 上海快仓智能科技有限公司 | Mobile equipment and control method and control device thereof |
| CN114816566A (en) * | 2022-04-08 | 2022-07-29 | 山东云海国创云计算装备产业创新中心有限公司 | Instruction moving method, system, equipment and medium |
| CN114816566B (en) * | 2022-04-08 | 2024-05-24 | 山东云海国创云计算装备产业创新中心有限公司 | Instruction moving method, system, equipment and medium |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201033770A (en) | 2010-09-16 |
| JP5367416B2 (en) | 2013-12-11 |
| JP2010201572A (en) | 2010-09-16 |
| CN101823259B (en) | 2015-01-14 |
| TWI460565B (en) | 2014-11-11 |
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Granted publication date: 20150114 |