CN101823259B - Conveying robot device - Google Patents
Conveying robot device Download PDFInfo
- Publication number
- CN101823259B CN101823259B CN200910139392.9A CN200910139392A CN101823259B CN 101823259 B CN101823259 B CN 101823259B CN 200910139392 A CN200910139392 A CN 200910139392A CN 101823259 B CN101823259 B CN 101823259B
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- CN
- China
- Prior art keywords
- instruction
- transfer robot
- control device
- synchronous exchange
- conveying robot
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- Expired - Fee Related
Links
- 230000001360 synchronised effect Effects 0.000 claims abstract description 21
- 238000000034 method Methods 0.000 claims abstract description 11
- 238000012546 transfer Methods 0.000 claims description 49
- 238000012545 processing Methods 0.000 abstract description 2
- 238000001816 cooling Methods 0.000 description 3
- 239000013078 crystal Substances 0.000 description 2
- 239000007788 liquid Substances 0.000 description 2
- 238000003860 storage Methods 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
- 238000012790 confirmation 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
- 230000000630 rising effect Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 239000002699 waste material Substances 0.000 description 1
Landscapes
- 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, this conveying robot device has control device and by bringing with the timed delivery of this control device the transfer robot performing instruction.
Background technology
Be used for the transfer robot of industry spot, usually, be connected with the control device of outside, according to carrying out the instruction of self-control device and action.Both sides have communication function, can pass through synchronous exchange (for example, referring to Japanese Unexamined Patent Publication 8-234825 publication and Japanese Unexamined Patent Publication 2002-108424 publication) and intercom mutually.
Such as, the transfer robot used in the operation of heat-treating liquid crystal glass base himself is the execution machine of independent instruction.In order to carry out continuous print action, need repeatedly to carry out following action, that is, after an instruction finishes (executive termination), return origin position, control device carries out synchronous exchange relative to the transfer robot that stopped completely, sends next instruction.
But, just carrying out timed delivery in the instruction that often finishes as described above brings in the system performing multiple instruction, except needing the time corresponding to synchronous exchange repeatedly, also exist because returning origin position and stop this time waste completely at every turn, consequently, whole operation required time is elongated.In addition, usually, although transfer robot has crossover (overlap) function even without being back to origin position and also can performing next instruction, often finish an instruction time carry out synchronous exchange, then this function of can not applying in a flexible way.
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 perform the corresponding process of and instruction, this instruction is instructed to by the synchronous exchange between described control device, reads in next instruction concurrently, and this next instruction and present instruction are performed continuously in the execution of present instruction.
In above-mentioned such conveying robot device, in the execution of present instruction, carry out reading in next instruction concurrently successively perform such process again, thereby, it is possible to perform multiple instruction continuously in synchronous exchange once.
In addition, above-mentioned transfer robot only when receiving the information representing and perform multiple instruction mode continuously from described control device, can also carry out reading in of next instruction, when not receiving this information, only performing present instruction and just stopping.If judged whether next instruction should be read according to such information, then can judge reliably, in addition, can not useless action be carried out in discontinuous (independent) situation.
In addition, above-mentioned transfer robot, can also have crossover function, not exclusively can stop when instruction complete and perform next instruction.In the case, due to according to this crossover function, an instruction completes but does not stop completely just can performing next instruction, and thus the time needed for execution of whole carrying operation is shortened further.
According to conveying robot device of the present invention, due to multiple instruction can be performed continuously by synchronous exchange once, thus with carry out the situation of synchronous exchange for each instruction compared with, the time needed for execution of whole carrying operation can be shortened.
Accompanying drawing explanation
Fig. 1 is the figure together represented the conveying robot device of an embodiment of the invention and the device of periphery.
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) represented in Fig. 2.
Detailed description of the invention
Fig. 1 is the figure together represented the conveying robot device of an embodiment of the invention and the device of periphery.This is the conveying robot device such as heat-treating crystal liquid substrate.In the drawings, the conveying robot device transfer robot 1 that comprises both arms and the control device 2 that is made up of PLC (Programmable Logic Controller).Transfer robot 1 is connected by cable 3 with control device 2, and transfer robot 1 can perform and instruction and process accordingly, and this instruction is instructed to by the synchronous exchange between control device 2.
Particularly, first, transfer robot 1 is moved into from the workpiece (not shown) of loading unit 4 by crystal liquid substrate by both arms.Now, such as, the action of stretching, adsorbing of arm is carried out.Next, transfer robot 1 utilizes each arm of both arms by workpiece respectively to the first body of heater and the storage of the second body of heater.In addition, after releasing the workpiece of storage, take out completing other workpiece heat treated and return.Then, these are completed heat treated workpiece and be received into cooling end (or taking out of portion) 7, and carry to subsequent processing.
Fig. 2 is the flow chart of the action of transfer robot 1.After action starts, first transfer robot 1 carries out the initial treatment (step S1) of the regulation prepared for action.Then, transfer robot 1 carries out the judgement (step S2) that whether have received synchronous exchange from control device, and maintain the original state when not receiving wait-receiving mode unchangeably.In addition, the reception of synchronous exchange such as receives stroboscope (Strobe) signal of self-control device 2 by transfer robot 1 and sets up.After receiving synchronous exchange, transfer robot 1 entry instruction process (step S3), after this instruction process is complete, carries out returning origin position and the instruction termination (step S4) of stopping etc. completely.
Fig. 3 is the flow chart (subprogram) of the details of the instruction process (step S3) represented in Fig. 2.In figure 3, transfer robot 1 carries out instruction from control device 2 and reads in (step S31).Wherein, in detail, carrying out from control device 2 to after transfer robot 1 writes the action of instruction, control device 2 carries out the request of reading in transfer robot 1, thus the instruction carrying out transfer robot 1 is read in.Then, transfer robot 1 starts to perform the instruction (step S32) of reading in.Such as, if instruction is " moving into ", then transfer robot 1 starts to move into workpiece from loading unit 4 (Fig. 1).
Then, transfer robot 1 carries out the judgement of the continuous request of instruction, namely judges whether it is the pattern (step S33) performing multiple instruction continuously.Continuous request be controlled device 2 as presentation directives independent/continuous print mark and exporting, during carrying out continuous action, ask continuously to be output as continuous signal (such as H level is fixed).And when instruction is independent instruction, this mark is L level.When without (namely independent when) when requiring continuously, transfer robot 1 carries out the whether completed judgement of execution of instruction in step S34, if complete, return main program (Fig. 2), carry out instruction termination (step S4).
On the other hand, when there is request continuously in step S33, transfer robot 1 until during completing, carries out the report (representing the report can carrying out the reception of next instruction) (step S35) that can receive next instruction relative to control device 2 after from the execution of present instruction.When not being the opportunity of carrying out this report, perform present instruction, while wait for this opportunity.In addition, the completing of flesh and blood of said " completing " only presentation directives, does not comprise and returns origin position and situation about stopping completely herein.
Particularly, an instruction comprises multiple action, such as, carries out in order rotating to assigned address, rising, manipulator is extended, rise and receive absorption workpiece, make manipulator return this series of actions.At this, transfer robot 1 such as in the end starts with the action making manipulator return side by side to carry out receiving next instruction report.
Receive and above-mentioned can receive next instruction report, next instruction is write transfer robot 1 by control device 2, and the notice write by next instruction after write terminates is sent to transfer robot 1.At this, transfer robot 1 waits for that the notice that next instruction has write is sent (step S36) from control device 2, after confirmation write completes, returns step S31, is read in by the next instruction of write.After reading in, transfer robot 1 starts the execution (step S32) of next instruction.But, actual robot motion performs continuously with the last action of present instruction.Such as, if present executory instruction moves into, then next instruction receives in stove.
As described above, during wait instruction is complete, can next instruction be write, if write, read in.That is, the reservation of the instruction that next will perform can be carried out.Be read into " next instruction " to become " present instruction ", transfer robot 1 starts to perform (step S32).Then, transfer robot 1 until during completing, carries out receiving next instruction report (step S35) relative to control device 2 after execution starts.When being also less than the opportunity of carrying out this report, perform present instruction and etc. opportunity of pending this report.Then, transfer robot 1 starts side by side with the last action of present instruction, carries out receiving next instruction report (step S35).
Such as, if the instruction performed is the order of A instruction, B instruction, C instruction, then transfer robot 1 (specifically, starting side by side with last action) in A instruction performs receives the write of B instruction, reads in after having write.But, reading in of C instruction is not carried out.Then, the transfer robot 1 A instruction that continues directly performs B instruction.In addition, transfer robot 1 (specifically, starting side by side with last action) in B instruction performs receives the write of C instruction, reads in after having write.So, only next instruction can be preengage all the time, the multiple instruction of process continuously.All performed, no longer included the moment (being "No" in step S33) of request continuously in the multiple instruction of continuous print, transfer robot 1 is waited for complete (the step S34) of last instruction, after completing, return main program (Fig. 2), carry out instruction termination (step S4).
In above-mentioned such conveying robot device, the write of next instruction/read in (namely reading in advance) to perform such process is again carried out concurrently successively in the execution of present instruction, thereby, it is possible to perform multiple instruction continuously in synchronous exchange once.Therefore, with carry out the situation of synchronous exchange for each instruction compared with, the time needed for execution of whole carrying operation can be shortened.
Such as, with for from being moved to each instruction of receiving to cooling end 7 carry out compared with the situation of synchronous exchange, about 2 seconds can being shortened.
In addition, transfer robot 1 is only when have received information (the having the mark of request continuously) that represent the pattern performing multiple instruction continuously from control device 2, just carry out reading in of instruction, when not receiving this information, only perform present instruction and stop, thereby, it is possible to carry out the reliable judgement whether should reading in next instruction.In addition, useless action can not be carried out in discontinuous (independent) situation.
On the other hand, transfer robot 1 has crossover function.That is, even without returning origin position and stopping completely, also next instruction can be performed.According to this crossover function, do not complete due to an instruction and stop just can performing next instruction completely, thus the time needed for execution of whole carrying operation is shortened further.Such as, with from moving into until be received into carrying out synchronous exchange for each instruction and compared with the situation making it stop completely, about 6 seconds can being shortened of cooling end 7.That is, add the shortening realized by the reduction of synchronous exchange number of times, about 8 seconds can be shortened.Such as, in two stoves, when the productive temp of conveying robot device is 44 seconds, when treating capacity is 3928/1 day, shorten and become 36 seconds in 8 seconds, treating capacity becomes 4800/1 day, and production efficiency improves.
In addition, although eliminate explanation in the above-described embodiment, when performing the operation stopped very much, next instruction, except stopping the execution of present instruction immediately, is cancelled by transfer robot 1.Therefore, by stopping very much, positively can stop transfer robot 1 present with and subsequent action.
Claims (1)
1. a conveying robot device, is characterized in that, has:
Control device;
Transfer robot, this transfer robot can perform the corresponding process of and instruction, described instruction is instructed to by the synchronous exchange between described control device, and this transfer robot has following function: after synchronous exchange once, next instruction is read in concurrently in the execution of present instruction, avoid returning origin position and stopping completely, but described next instruction and present instruction are performed continuously
Described transfer robot, only when receiving the information representing and perform multiple instruction mode continuously from described control device, carries out reading in of next instruction, when not receiving this information, only performing present instruction and just stopping.
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 CN101823259A (en) | 2010-09-08 |
| CN101823259B true 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) |
Families Citing this family (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN106625674B (en) * | 2016-12-29 | 2019-09-27 | 北京光年无限科技有限公司 | A kind of command processing method and robot for robot |
| 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 |
| 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 |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Family Cites Families (7)
| 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 |
-
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
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| 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 |
Also Published As
| Publication number | Publication date |
|---|---|
| TW201033770A (en) | 2010-09-16 |
| JP5367416B2 (en) | 2013-12-11 |
| JP2010201572A (en) | 2010-09-16 |
| TWI460565B (en) | 2014-11-11 |
| CN101823259A (en) | 2010-09-08 |
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Granted publication date: 20150114 |