Display control device, transport system, and control method and program for transport system

Abstract

A transport system capable of expanding the scope of automation, and a control method and program for the transport system are provided. [Solution] The transport system includes a robot (21) having a hand (210), a shelf (510) on which a pallet (410) for holding workpieces can be placed, and a plurality of support parts (560) each capable of supporting the shelf (510) and arranged at intervals in the vertical direction, a pallet stocker (31) for storing the pallet (410), and a robot control part (620) that controls the robot (21) so that, when a command is received to reposition the shelf (510) from a first support part (560A) to a second support part (560B) among the plurality of support parts (560), the shelf (510) is grasped by the hand (210) while being moved from the first support part (560A) to the second support part (560B).

Description

[Technical field]

[0001] The present invention relates to a transport system, a control method for a transport system, and a program. [Background technology]

[0002] For example, JP 2017-102825 A (Patent Document 1) discloses a composite system including a machine tool having a work fixing jig that can move integrally with the table, a work stocker for storing workpieces, and a robot system having a robot that supplies and removes workpieces between the work fixing jig and the work stocker. [Prior art documents] [Patent documents]

[0003] [Patent Document 1] JP 2017-102825 A Summary of the Invention [Problem to be solved by the invention]

[0004] There is known a transport system that transports workpieces using a robot, as disclosed in the above-mentioned Patent Document 1. In such a transport system, there is a demand for expanding the scope of automation by increasing the number of applications for the robot.

[0005] An object of the present invention is to provide a conveyance system, a control method for a conveyance system, and a program therefor, which are capable of expanding the scope of automation. [Means for solving the problem]

[0006] A conveying system according to the present invention includes a robot having a hand, a shelf on which a pallet for holding workpieces can be placed, a plurality of support parts each capable of supporting a shelf and arranged at intervals in the vertical direction, a pallet stocker for storing the pallets, and a robot control part which controls the robot to grasp the shelf with the hand and move it from the first support part to the second support part when a command is received to reposition the shelf from a first support part to a second support part of the plurality of support parts.

[0007] In a control method for a conveying system according to the present invention, the conveying system includes a robot having a hand, a shelf board on which a pallet for holding workpieces can be placed, and a pallet stocker for storing the pallets, the pallet stocker having a plurality of support parts arranged at intervals in the vertical direction, each of which can support a shelf board. The control method for the conveying system includes a step of receiving a command to change the position of the shelf board from a first support part to a second support part among the plurality of support parts, and a step of controlling the robot in response to the command to move the shelf board from the first support part to the second support part while gripping it with the hand.

[0008] A program according to the present invention is a program executed by a computer for controlling a conveying system. The conveying system includes a robot having a hand, a shelf on which a pallet for holding a workpiece can be placed, and a pallet stocker for storing the pallet, the pallet stocker having a plurality of support parts arranged at intervals in the vertical direction, each of which can support the shelf. The program causes the computer to execute a step of receiving a command to change the position of the shelf from a first support part to a second support part among the plurality of support parts, and a step of controlling the robot to move the shelf part from the first support part to the second support part while gripping it with the hand in response to the command. Effect of the Invention

[0009] According to the present invention, it is possible to provide a transport system, a control method for a transport system, and a program that can expand the scope of automation. [Brief description of the drawings]

[0010] [Figure 1] 1 is a top view showing a transport system according to an embodiment of the present invention; [Diagram 2] FIG. 2 is a simplified top view of the transport system in FIG. [Diagram 3] FIG. 2 is a perspective view showing the relationship of a pallet, a work hand, a shelf board, and a teaching hand to a master hand. [Figure 4] FIG. 2 is a perspective view showing a master hand. [Diagram 5] FIG. 13 is another perspective view showing the master hand. [Figure 6] FIG. 2 is a diagram for explaining the structure of a master hand. [Figure 7] FIG. 2 is a perspective view showing a pallet stocker in FIG. [Figure 8] 8 is a perspective view showing a pallet stocker in the area surrounded by a two-dot chain line VIII in FIG. 7. [Figure 9] FIG. 2 is a block diagram showing a control system of the transport system in FIG. [Figure 10] FIG. 4 is a top view showing a first step of workpiece machining using the work stocker. [Figure 11] FIG. 11 is a top view showing a second step of workpiece machining using the work stocker. [Figure 12] FIG. 11 is a top view showing a third step of workpiece machining using the work stocker. [Figure 13] FIG. 11 is a top view showing a fourth step of workpiece machining using the work stocker. [Figure 14] FIG. 11 is a top view showing a fifth step of workpiece machining using the work stocker. [Figure 15] FIG. 11 is a top view showing a sixth step of workpiece machining using the work stocker. [Figure 16] FIG. 2 is a top view showing a first step of workpiece machining using the setup station. [Figure 17] FIG. 11 is a top view showing a second step of workpiece machining using the setup station. [Figure 18] FIG. 11 is a top view showing a third step of workpiece machining using the setup station. [Figure 19] FIG. 11 is a top view showing a fourth step of workpiece machining using the setup station. [Figure 20] FIG. 11 is a top view showing a fifth step of workpiece machining using the setup station. [Figure 21] FIG. 11 is a top view showing a first step of inserting a pallet into the pallet stocker. [Figure 22] FIG. 11 is a top view showing a second step of inserting pallets into the pallet stocker. [Figure 23] FIG. 11 is a top view showing a third step of inserting pallets into the pallet stocker. [Figure 24] FIG. 8 is a front view showing the pallet stocker in FIG. [Diagram 25] FIG. 4 is a block diagram showing a control system for changing the position of shelves in a pallet stocker. [Figure 26] 10 is a flowchart showing a flow of changing the position of a shelf board in a pallet stocker. [Figure 27] FIG. 13 is a diagram showing a position changing screen (before updating) on ​​the display unit. [Figure 28] FIG. 13 is a diagram showing a position changing screen (after update) on the display unit. DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

[0011] DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS The present invention will now be described with reference to the accompanying drawings, in which the same or corresponding components are designated by the same reference numerals.

[0012] Fig. 1 is a top view showing a transfer system according to an embodiment of the present invention, Fig. 2 is a top view showing a simplified version of the transfer system shown in Fig. 1.

[0013] 1 and 2, a transfer system 100 in this embodiment has a robot 21 and a robot base 22.

[0014] As a typical example, the robot 21 is a six-axis articulated robot. The robot 21 has a base unit 26, a first arm 27, a second arm 28, a hand attachment unit 29, and a master hand 210.

[0015] The robot base 22 is a support platform that supports the robot 21, and is fixed to the floor of a factory or the like. The robot base 22 is made of metal. The base unit 26 is connected to the robot base 22 so as to be rotatable about a central axis of rotation 101. The central axis of rotation 101 is an imaginary straight line that corresponds to the center of rotation of the robot 21, and extends in the vertical direction.

[0016] The first arm 27 is attached to the base 26. The first arm 27 is rotatable about a rotation center axis 102 disposed at a mounting portion (joint portion) of the first arm 27 relative to the base 26. The second arm 28 is attached to the first arm 27. The second arm 28 is rotatable about a rotation center axis 103 disposed at a mounting portion (joint portion) of the second arm 28 relative to the first arm 27, and is capable of rotating the hand mounting portion 29 about a rotation center axis 104 along the second arm 28. The hand mounting portion 29 is attached to the second arm 28. The hand mounting portion 29 is rotatable about a rotation center axis 105 disposed at a mounting portion (joint portion) of the hand mounting portion 29 relative to the second arm 28, and is capable of rotating the master hand 210 about a rotation center axis 106 along the hand mounting portion 29.

[0017] The master hand 210 is attached to a hand attachment portion 29 as an end effector. The master hand 210 is attached to the second arm 28 so as to be rotatable around a rotation central axis 105. The master hand 210 is attached to the second arm 28 via the hand attachment portion 29. The second arm 28 is attached to the first arm 27 so as to be rotatable around a rotation central axis 103.

[0018] The robot 21 further has a plurality of drive servo motors 23 for operating the base portion 26, the first arm 27, the second arm 28, the hand attachment portion 29 and the master hand 210 respectively about the above-mentioned multiple axes (rotation center axis 101, rotation center axis 102, rotation center axis 103, rotation center axis 104, rotation center axis 105 and rotation center axis 106) (see Figures 9 and 25 described below).

[0019] 1, a region in which the master hand 210 moves in the transport system 100 (operating region of the master hand 210) is indicated by a two-dot chain line 111. In addition, a two-dot chain line 112 extending in an arc shape centered on the pivot central axis 101 indicates the maximum region in which the master hand 210 can move.

[0020] The transfer system 100 further includes a machine tool 10 (10S, 10T), a pallet stocker 31 (31S, 31T), a work stocker 71, a hand stocker 81, and a setup station 61 (61S, 61T).

[0021] The machine tool 10 (10S, 10T), the pallet stocker 31 (31S, 31T), the work stocker 71, the hand stocker 81, and the setup station 61 (61S, 61T) are provided around the robot base 22. The machine tool 10 (10S, 10T), the pallet stocker 31 (31S, 31T), the work stocker 71, the hand stocker 81, and the setup station 61 (61S, 61T) are lined up along the circumferential direction of the turning central axis 101. In the top view shown in FIG. 1 , at least a part of each of the machine tool 10 (10S, 10T), the pallet stocker 31 (31S, 31T), the work stocker 71, the hand stocker 81, and the setup station 61 (61S, 61T) overlaps with the operating area of ​​the master hand 210 indicated by the two-dot chain line 111.

[0022] The robot in the present invention is not limited to the six-axis articulated robot described above, and may be, for example, a robot (gantry loader) capable of moving an object to be transported in three mutually perpendicular axial directions. Also, the machine tool, pallet stocker, work stocker, hand stocker, and setup station may be arranged in a straight line.

[0023] The machine tool 10 is a machining center that processes a workpiece by bringing a rotating tool into contact with the workpiece. The machine tool 10 is an NC (Numerically Controlled) machine tool in which various operations for processing the workpiece are automated by numerical control using a computer.

[0024] Machine tool 10 may be a multi-tasking machine having a turning function using a fixed tool and a milling function using a rotating tool, or may be an AM / SM hybrid machine capable of additive manufacturing and subtractive manufacturing of a workpiece. Machine tool 10S and machine tool 10T may be the same type of machine tool or different types of machine tools.

[0025] Machine tool 10 has a cover body 14. Cover body 14 defines the exterior of machine tool 10 and defines machining area 12. Machining area 12 is a space where machining of a workpiece is performed, and is sealed by cover body 14 to prevent foreign matter such as cutting chips or cutting oil resulting from workpiece machining from leaking out of the machining area.

[0026] The cover body 14 is provided with an opening 16. The robot 21 transports an object to be transported, such as a workpiece W or a pallet 410, to the processing area 12 through the opening 16. The opening 16 is provided with a door or shutter that can be opened and closed.

[0027] In the machining area 12, a tool spindle for rotating a tool, a table for holding a pallet 410, and the like are provided.

[0028] Machine tool 10 further has an operation panel 18. Operation panel 18 includes a control device that controls the operation of machine tool 10, a display unit (display) for displaying various information related to machining, and an operation unit that accepts various operations on machine tool 10.

[0029] Machine tool 10S and machine tool 10T are provided at positions facing each other across robot base 22. Machine tool 10S and machine tool 10T are provided at angular positions shifted by 180° in the circumferential direction about central turning axis 101.

[0030] Pallet stocker 31 is a device for storing pallets 410. Pallet stocker 31 is provided between machine tool 10S and machine tool 10T in the circumferential direction centered on turning central axis 101. Pallet stocker 31S and pallet stocker 31T are provided adjacent to each other in the circumferential direction centered on turning central axis 101.

[0031] The work stocker 71 is a device for storing the workpieces W. The work stocker 71 has a shelf structure on which the workpieces W can be placed. The hand stocker 81 is a device for storing various hands such as the work hand 310 and the teaching hand 710 described below. The hand stocker 81 has a shelf structure on which the various hands can be placed.

[0032] The work stocker 71 and the hand stocker 81 are provided between the machine tool 10S and the machine tool 10T in the circumferential direction centered on the central turning axis 101. The work stocker 71 and the hand stocker 81 are provided in a position facing the pallet stocker 31 (31S, 31T) with the robot base 22 in between. The work stocker 71 and the hand stocker 81 are provided next to each other above and below.

[0033] Setup station 61 is a device that mainly performs the operation of mounting and removing workpieces W onto and from pallet 410. A pallet mounting table (not shown) on which pallet 410 can be placed is installed in setup station 61. Setup station 61 is provided between workpiece stocker 71 and hand stocker 81, and machine tool 10 in the circumferential direction about central axis of rotation 101. Setup station 61 is provided adjacent to workpiece stocker 71 and hand stocker 81 in the circumferential direction about central axis of rotation 101.

[0034] The setup station 61S and the setup station 61T are provided on both sides of the work stocker 71 and the hand stocker 81 in the circumferential direction about the central turning axis 101.

[0035] The number of each of the machine tools 10, pallet stockers 31, work stockers 71, hand stockers 81 and setup stations 61 included in the transport system 100 is not particularly limited.

[0036] The conveyance system 100 further includes a plurality of fences 56 (56h, 56i, 56j, 56k). The fences 56 rise from the floor of a factory or the like. In the top view shown in FIG. 1, the fence 56h extends between the machine tool 10S and the pallet stocker 31S. In the top view shown in FIG. 1, the fence 56i extends between the pallet stocker 31T and the machine tool 10T. In the top view shown in FIG. 1, the fence 56j extends between the machine tool 10T and the setup station 61T. In the top view shown in FIG. 1, the fence 56k extends between the setup station 61S and the machine tool 10S.

[0037] The robot 21 is disposed in a space 113 surrounded by a plurality of fences 56 (56h, 56i, 56j, 56k), the machine tool 10 (10S, 10T), the pallet stocker 31 (31S, 31T), the work stocker 71, the hand stocker 81, and the setup station 61 (61S, 61T). The operating area of ​​the master hand 210 indicated by a two-dot chain line 111 is included in the space 113.

[0038] An operator cannot access the pallet stocker 31 from outside the space 113. An operator can load a pallet 410 into the pallet stocker 31 or retrieve the pallet 410 from the pallet stocker 31 through the setup station 61. An operator can access the work stocker 71 and the hand stocker 81 from outside the space 113. An operator can load an unprocessed workpiece W into the conveyance system 100 or retrieve a processed workpiece W' from the conveyance system 100 through the work stocker 71. An operator can load various hands into the conveyance system 100 or retrieve them from the conveyance system 100 through the hand stocker 81.

[0039] The transport system 100 further includes a transport operation panel 51. The transport operation panel 51 includes a control device 610 for controlling the operation of the robot 21, a display unit 670 for displaying various information related to transport by the robot 21, and an operation unit for receiving various operations on the robot 21 (see Figs. 9 and 25 described later). In this embodiment, the display unit 670 is configured with a touch panel display that can be operated by an operator, and performs part of the function of the operation unit. The operation unit may be configured with various buttons that can be pressed, numeric keys that can input numbers, a dial, or the like.

[0040] The transport operation panel 51 is attached to the work stocker 71 and the hand stocker 81. The position where the transport operation panel 51 is provided is not particularly limited.

[0041] Fig. 3 is a perspective view showing the relationship of the pallet, the work hand, the shelf board, and the teaching hand with respect to the master hand. Fig. 4 and Fig. 5 are perspective views showing the master hand. Fig. 6 is a diagram for explaining the structure of the master hand.

[0042] 3 to 6, the master hand 210 has a clamping mechanism 220. The clamping mechanism 220 is configured to be operable between a clamped state in which the gripping portion 120 is held and an unclamped state in which the gripping portion 120 is released.

[0043] 4 to 6, grip portion 120 has a grip shape centered on central axis 126. Grip portion 120 is provided with groove portion 121. Groove portion 121 is recessed from the outer circumferential surface of grip portion 120 and has a groove shape that circles around central axis 126.

[0044] The clamp mechanism 220 has the appearance of a block body. The clamp mechanism 220 is provided with a grip insertion hole 221. The grip insertion hole 221 is open in one direction.

[0045] The clamp mechanism 220 is made of a cylinder piston. The clamp mechanism 220 has a pair of pistons 226. The pair of pistons 226 extend in a shaft shape along a central axis 231 that is perpendicular to the central axis 126 and intersects with the grip insertion hole 221. The pair of pistons 226 face each other with a gap in between in the axial direction of the central axis 231. The pair of pistons 226 are supported so as to be slidable in the axial direction of the central axis 126. A protrusion 227 that can engage with the groove 121 is provided at the tip of each piston 226.

[0046] When the master hand 210 grips the grip portion 120, the master hand 210 is positioned so that the clamp mechanism 220 faces the grip portion 120. The master hand 210 is moved linearly in a direction approaching the grip portion 120 to insert the grip portion 120 into the grip insertion hole 221. The pair of pistons 226 are slid in a direction approaching each other by supplying air pressure or the like, thereby operating the clamp mechanism 220 from the unclamped state to the clamped state. As a result, the protrusions 227 of the pair of pistons 226 advance into the grip insertion hole 221 and engage with the grooves 121.

[0047] When the master hand 210 releases the gripping portion 120, the pair of pistons 226 are slid away from each other to operate the clamping mechanism 220 from the clamped state to the unclamped state. This causes the protrusions 227 of the pair of pistons 226 to retract from the grip insertion hole 221 and come out of the groove portion 121. The master hand 210 is moved linearly away from the gripping portion 120 to remove the gripping portion 120 from the grip insertion hole 221.

[0048] 5, the conveyance system 100 further includes a sensor 230. The sensor 230 is a sensor capable of detecting the presence or absence of an object, and is, for example, a non-contact photoelectric sensor. The sensor 230 may be a proximity sensor or a contact sensor such as a limit switch.

[0049] The sensor 230 is mounted on the robot 21. The sensor 230 is mounted on the master hand 210. When the sensor 230 is a photoelectric sensor, the emission direction of light from the sensor 230 may be parallel to the approach and retreat direction of the gripper 120 relative to the master hand 210.

[0050] 3, the transport system 100 further includes a pallet 410 for holding the workpiece. The transport system 100 includes a plurality of pallets 410.

[0051] Pallet 410 is made of a metal plate and has a substantially rectangular shape when viewed from above. A clamping mechanism for holding pallet 410 is built into a table of machine tool 10. A jig such as an tombstone or a clamping device is attached onto pallet 410, and a workpiece is held on pallet 410 via the jig.

[0052] The pallet 410 has a first gripping portion 120A. The first gripping portion 120A corresponds to the above-mentioned gripping portion 120, and is configured to be able to be gripped by the master hand 210. The first gripping portion 120A is provided on a side surface of the pallet 410. The first gripping portion 120A is provided detachably with respect to the pallet 410.

[0053] The master hand 210 grips the first gripping portion 120A, whereby the robot 21 can transport the pallet 410.

[0054] Fig. 7 is a perspective view showing the pallet stocker in Fig. 1. Fig. 8 is a perspective view showing the pallet stocker in the area surrounded by the two-dot chain line VIII in Fig. 7.

[0055] 7 and 8 and other figures showing pallet stocker 31 show X-, Y-, and Z-axes, which are coordinate axes of pallet stocker 31. The X-axis extends horizontally corresponding to the width direction (left-right direction) of pallet stocker 31, the Y-axis extends vertically, and the Z-axis extends horizontally corresponding to the depth direction (front-back direction) of pallet stocker 31. The X-, Y-, and Z-axes are three axes that are perpendicular to one another.

[0056] 3, 7 and 8, pallet stocker 31 has a frame body 550, a plurality of support portions 560, and a plurality of shelf boards 510. As shown in FIG.

[0057] The frame body 550 forms a rectangular parallelepiped frame body. The frame body 550 forms a rectangular parallelepiped frame body with the X-axis direction and the Y-axis direction being the longitudinal direction and the Z-axis direction being the lateral direction. The frame body 550 has four pillars 551. The four pillars 551 are arranged at the four corners of the frame body 550 when viewed from above. Each pillar 551 extends in the Y-axis direction (up and down direction).

[0058] The support portion 560 is configured to be capable of supporting the shelf board 510. The multiple support portions 560 are arranged at intervals from one another in the vertical direction.

[0059] The support portion 560 has a pair of plates 561 on the left and right. The pair of plates 561 are provided with a gap between them in the X-axis direction. The plate 561 extends in the Z-axis direction while forming an L-shaped cross section when cut by the X-axis-Y-axis plane. Both ends of the plate 561 in the Z-axis direction are respectively connected to two pillars 551 aligned in the Z-axis direction.

[0060] The shelf board 510 is configured to be able to place the pallet 410. When viewed from above, the shelf board 510 has a rectangular shape with the X-axis direction being the longitudinal direction and the Z-axis direction being the lateral direction, and has a plate shape with the Y-axis direction being the thickness direction.

[0061] The shelf board 510 has a pair of vertical frames 532 on the left and right sides and a pair of horizontal frames 531 on the front and back sides. The pair of vertical frames 532 are provided at a distance from each other in the X-axis direction. The pair of vertical frames 532 are provided at both ends of the shelf board 510 in the X-axis direction. The vertical frame 532 is made of a plate material whose thickness direction is in the Y-axis direction and extends in the Z-axis direction. The pair of horizontal frames 531 are provided at a distance from each other in the Z-axis direction. The horizontal frame 531 extends in the X-axis direction and is connected at both ends to the pair of vertical frames 532.

[0062] 7 and 8, the shelf board 510 is supported by a support portion 560. The pair of vertical frames 532 are placed on a pair of plates 561. The pair of vertical frames 532 support the weight of the shelf board 510.

[0063] As shown in FIG. 8, the support portion 560 further has a pin 562. The pin 562 is provided on a plate 561. The pin 562 protrudes upward from the top surface of the plate 561. A pin hole 533 is provided in the vertical frame 532. The pin hole 533 is a through hole that penetrates the vertical frame 532 in the Y-axis direction. The pin 562 is disposed in the pin hole 533. This configuration prevents the shelf board 510 from shifting in position relative to the support portion 560.

[0064] As shown in FIG. 3, the shelf 510 further includes a plurality of pallet supports 520 (520p, 520q, 520r).

[0065] Each pallet support portion 520 is configured to be able to support a pallet 410. Each pallet support portion 520 is configured with four taper cone receiving portions 525 arranged at intervals in the X-axis direction and the Z-axis direction. The taper cone receiving portions 525 are provided on a horizontal frame 531. The taper cone receiving portions 525 protrude upward from the top surface of the horizontal frame 531. The taper cone receiving portions 525 have a concave shape capable of receiving a taper cone provided on the bottom surface of the pallet 410.

[0066] Pallet support portion 520p, pallet support portion 520q, and pallet support portion 520r are aligned in the X-axis direction in the order listed.

[0067] The shelf 510 is capable of supporting pallets 410 of different sizes. For example, the shelf 510 is capable of supporting pallets 410 of 400 mm×400 mm size and pallets 410 of 500 mm×500 mm size. When the pallets 410 are 400 mm×400 mm size, three pallets 410 can be supported on the shelf 510 using the pallet support parts 520p, pallet support parts 520q, and pallet support parts 520r. When the pallets 410 are 500 mm×500 mm size, two pallets 410 can be supported on the shelf 510 using the pallet support parts 520p and pallet support parts 520r.

[0068] As shown in Figs. 3 and 7, the shelf board 510 has a second gripping portion 120B. The second gripping portion 120B corresponds to the gripping portion 120 described above, and is configured to be grippable by the master hand 210. The second gripping portion 120B is provided at the center position of the shelf board 510 in the X-axis direction. The second gripping portion 120B protrudes in the Z-axis direction from the front surface of the shelf board 510 (horizontal frame 531). The second gripping portion 120B is provided below the pallet support portion 520 (tapered cone receiving portion 525). The second gripping portion 120B is provided detachably with respect to the shelf board 510.

[0069] The master hand 210 grips the second gripping portion 120B, thereby enabling the robot 21 to transport the shelf board 510. The robot 21 changes the position of the shelf board 510 between a plurality of supports 560 in the pallet stocker 31. The change of the position of the shelf board 510 using the robot 21 will be described in detail later.

[0070] 7, the pallet stocker 31 further has a fixed shelf 515. The fixed shelf 515 basically has the same structure as the shelf 510, but differs from the shelf 510 in that the second gripping portion 120B is not provided. The fixed shelf 515 cannot be moved between the multiple support portions 560, and its position in the pallet stocker 31 is fixed.

[0071] The pallet stocker 31 has two fixed shelves 515. The two fixed shelves 515 are respectively arranged at the top and bottom of the pallet stocker 31. The shelves 510 can be changed in position within a vertical range between the fixed shelf 515 arranged at the top and the fixed shelf 515 arranged at the bottom.

[0072] 3, the work hand 310 is configured to be able to grip a work W. The work hand 310 has a pair of gripping claws 320. The pair of gripping claws 320 face each other with a gap therebetween.

[0073] The work hand 310 is configured to be operable between a clamped state in which the work W is gripped by the pair of gripping jaws 320, and an unclamped state in which the pair of gripping jaws 320 release the work W. By sliding the pair of gripping jaws 320 in directions in which they approach each other, the work hand 310 moves from the unclamped state to the clamped state. By sliding the pair of gripping jaws 320 in directions in which they move away from each other, the work hand 310 moves from the clamped state to the unclamped state.

[0074] The work hand 310 has a piston cylinder 330 and a servo motor 340 as a power source for slidingly moving the pair of gripping jaws 320 (see FIG. 9 described later).

[0075] The workpiece hand 310 further has a third gripping portion 120C. The third gripping portion 120C corresponds to the gripping portion 120 described above, and is configured to be able to be gripped by the master hand 210. The third gripping portion 120C has a grip shape that extends in a direction perpendicular to the sliding direction of the pair of gripping jaws 320. The third gripping portion 120C is provided detachably to the workpiece hand 310.

[0076] The master hand 210 grips the third gripping portion 120C, whereby the workpiece hand 310 can be attached to the robot 21. The robot 21 can transport the workpiece W using the workpiece hand 310.

[0077] The teaching hand 710 has a touch probe 720. The teaching hand 710 is used for teaching the robot 21 using the touch probe 720.

[0078] The teaching hand 710 further has a fourth gripping portion 120D. The fourth gripping portion 120D corresponds to the gripping portion 120 described above, and is configured to be able to be gripped by the master hand 210. The touch probe 720 has a pin-shaped contactor 720g that comes into contact with the measurement target. The fourth gripping portion 120D has a grip shape that extends in a direction perpendicular to the direction in which the contactor 720g extends in a pin shape. The fourth gripping portion 120D is provided detachably to the teaching hand 710.

[0079] The teaching hand 710 can be attached to the robot 21 by the master hand 210 gripping the fourth gripping portion 120D.

[0080] The first gripping portion 120A, the second gripping portion 120B, the third gripping portion 120C, and the fourth gripping portion 120D have the same grip shape. The master hand 210 is configured to be able to selectively grip one of the gripping portions 120 among the first gripping portion 120A, the second gripping portion 120B, the third gripping portion 120C, and the fourth gripping portion 120D.

[0081] Fig. 9 is a block diagram showing a control system of the transfer system in Fig. 1. Referring to Fig. 9, the transfer system 100 further includes a control device 610.

[0082] Each component of the control device 610 is realized by hardware including a computing unit such as a CPU (Central Processing Unit) and various computer processors, a storage device such as a memory or storage, and a wired or wireless communication line connecting them, and software stored in the storage device and supplying processing instructions to the computing unit. The computer program constituting the software may be composed of a device driver, an operating system, various application programs located in higher layers thereof, or a library providing common functions to these programs. The computer program may be recorded in a computer-readable storage medium, or may be recorded in a non-transitory computer-readable storage medium. The computer program may be included in a computer program product. Each block described below indicates a functional unit block.

[0083] The control device 610 has an operation receiving unit 660 and a robot control unit 620. The operation receiving unit 660 receives an operation by an operator via a display unit 670 (operation unit) formed of, for example, a touch panel display. The operation receiving unit 660 outputs a signal according to the operation by the operator to the robot control unit 620.

[0084] The robot control unit 620 controls the operation of the robot 21 (including the operation of the work hand 310 attached to the master hand 210).

[0085] The robot control unit 620 has a program storage unit 621 , a program analysis unit 622 , an axis control unit 623 , a hand control unit 624 , and a parameter storage unit 625 .

[0086] The program storage unit 621 stores various operation programs 641 that command the operation of the robot 21. The operation programs 641 stored in the program storage unit 621 include, for example, operation commands that define the movement and stopping of the robot 21, position commands that define the position and orientation (posture) of the master hand 210, path commands that define movement paths such as linear movement and circular movement, and speed commands that define the movement speed. The operation programs 641 are input via an input / output device 630 connected to the robot control unit 620 and stored in the program storage unit 621.

[0087] The operation program 641 is written in, for example, a language called SLIM (Standard Language for Industrial Manipulators). A specific position and orientation (posture) in each position command included in the operation program 641 is obtained by operating the robot 21 through a manual operation called a teaching operation. As the robot 21 operates through the teaching operation, the rotation angle positions of the drive servo motors 23 built into the robot 21 are acquired as parameters, and the acquired parameters are stored in the parameter storage unit 625 via the input / output device 630.

[0088] The program analysis unit 622 reads out the operation program 641 to be executed from the operation program 641 stored in the program storage unit 621 in response to a signal from the operation acceptance unit 660. The program analysis unit 622 analyzes the operation program 641, extracts commands related to movement, and transmits the commands to the axis control unit 623. The program analysis unit 622 analyzes the operation program 641, extracts commands related to hand operation, and transmits the commands to the hand control unit 624.

[0089] The axis control unit 623 controls the multiple drive servo motors 23 in response to commands from the program analysis unit 622. The hand control unit 624 controls the master hand 210 and / or the work hand 310 in response to commands from the program analysis unit 622.

[0090] Specifically, the axis control unit 623 reads out parameters corresponding to each position command from the parameter storage unit 625, generates rotation commands (control signals) for each drive servo motor 23 so that the rotation angle position of each drive servo motor 23 becomes the read rotation angle position, the movement path of the master hand 210 becomes the commanded movement path (linear movement or circular movement), and further moves at a commanded speed, and transmits the generated rotation commands (control signals) to each drive servo motor 23. The drive servo motors 23 are supplied with drive currents corresponding to the rotation commands from the axis control unit 623, thereby moving the master hand 210 to the commanded position.

[0091] The hand control unit 624 generates an air valve opening / closing command in response to a command from the program analysis unit 622 so that the pair of pistons 226 perform a sliding motion, and transmits the opening / closing command to the clamp mechanism 220. The hand control unit 624 generates an air valve opening / closing command in response to a command from the program analysis unit 622 so that the pair of gripping claws 320 perform a sliding motion, and transmits the opening / closing command to the piston cylinder 330, and generates a rotation command (control signal) for the servo motor 340, and transmits the rotation command to the servo motor 340.

[0092] Next, a specific example of how the robot 21 is used in the transport system 100 will be described. Figures 10 to 15 are top views showing steps of workpiece machining using a work stocker. Figures 10 to 15 correspond to Figure 2.

[0093] 2, in an initial state, a plurality of pallets 410 are stored in the pallet stocker 31. A jig (not shown), such as an tombstone or a clamping device, is mounted on the pallet 410. Unmachined workpieces W are stored in the work stocker 71. A plurality of work hands 310 and a teaching hand 710 are stored in the hand stocker 81. The work hand 310 may have a pair of gripping jaws 320 that are different in shape or size from each other among the plurality of work hands 310.

[0094] 9 and 10, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 stored in the pallet stocker 31.

[0095] In this step, the master hand 210 moves towards the pallet stocker 31 and is positioned so as to face the first gripping portion 120A of the pallet 410 in the Z-axis direction. As the master hand 210 moves in the Z-axis direction, the first gripping portion 120A is inserted into the grip insertion hole 221. The master hand 210 grips the first gripping portion 120A. As the master hand 210 moves upward, the pallet 410 is lifted from the shelf board 510.

[0096] 9 and 11, next, the control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 gripped by the master hand 210 moves to the machining area 12 of the machine tool 10.

[0097] In this step, the master hand 210 enters the processing area 12 and places the pallet 410 on a table (not shown). The pallet 410 is held on the table by a clamp mechanism built into the table. The master hand 210 releases the first gripper 120A and exits the processing area 12.

[0098] 9 and 12, next, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the third gripping portion 120C of the work hand 310 stored in the hand stocker 81.

[0099] In this step, the master hand 210 moves toward the hand stocker 81. The master hand 210 mounts the workpiece hand 310 on the robot 21 by gripping the third gripping portion 120C.

[0100] 9 and 13, next, the control device 610 (robot control unit 620) controls the robot 21 and the work hand 310 so that the work hand 310 grips the work W.

[0101] In this step, the workpiece hand 310 moves toward the workpiece stocker 71. The workpiece hand 310 grips the unmachined workpiece W.

[0102] Referring to Figures 9 and 14, next, the control device 610 (robot control unit 620) controls the robot 21 and the work hand 310 so that the work W grasped by the work hand 310 is held by the pallet 410 arranged in the processing area 12 of the machine tool 10.

[0103] In this step, the workpiece hand 310 enters the processing area 12 and places the workpiece W on the jig on the pallet 410. While the jig holds the workpiece W, the workpiece hand 310 releases the workpiece W. The workpiece hand 310 exits the processing area 12. Following this step, the machine tool 10 performs processing of the workpiece W in the processing area 12.

[0104] 9 and 15, next, the control device 610 (robot control unit 620) controls the robot 21 and the work hand 310 to store the machined workpiece W′ in the workpiece stocker 71.

[0105] In this step, the work hand 310 enters the processing area 12. The work hand 310 grips the processed work W', and the jig on the pallet 410 releases the work W'. The work hand 310 gripping the work W' leaves the processing area 12 and moves toward the work stocker 71. The work hand 310 places the work W' in the work stocker 71, and releases the work W'. Through the above steps, work processing using the work stocker 71 is completed.

[0106] 16 to 20 are top views showing steps of workpiece machining using the setup station, and correspond to FIG.

[0107] 2, the initial state is the same as in the workpiece machining using the workpiece stocker 71 described above.

[0108] 9 and 16, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 stored in the pallet stocker 31. The control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 gripped by the master hand 210 moves to the setup station 61.

[0109] In this step, the master hand 210 moves toward the setup station 61, and places the pallet 410 on a pallet placement table (not shown) installed in the setup station 61. The master hand 210 releases the first gripper 120A. The master hand 210 exits the setup station 61.

[0110] 9 and 17, next, an operator sets the workpiece W on the pallet 410. In this step, the unmachined workpiece W is held against the pallet 410 using a jig on the pallet 410.

[0111] 9 and 18, next, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 arranged in the setup station 61.

[0112] 9 and 19, next, the control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 grasped by the master hand 210 moves to the processing area 12. Following this step, the machine tool 10 executes processing of the workpiece W in the processing area 12.

[0113] 9 and 20, next, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 arranged in the processing area 12. The control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 gripped by the master hand 210 moves to the setup station 61. Following this step, the worker removes the machined workpiece W' from the jig on the pallet 410. Through the above steps, the workpiece processing using the setup station 61 is completed.

[0114] 21 to 23 are top views showing steps of inserting a pallet into a pallet stocker. Figures 21 to 23 correspond to Figure 2.

[0115] 9 and 21, in an initial state, no pallet 410 is stored in pallet stocker 31. An operator places pallet 410 on a pallet placement table (not shown) in setup station 61.

[0116] 9 and 22, the control device 610 (robot control unit 620) controls the robot 21 so that the master hand 210 grips the first gripper 120A of the pallet 410 arranged in the setup station 61. The control device 610 (robot control unit 620) controls the robot 21 so that the pallet 410 gripped by the master hand 210 moves to the pallet stocker 31.

[0117] 9 and 22, next, the control device 610 (robot control unit 620) controls the robot 21 to place the pallet 410 gripped by the master hand 210 on the shelf board 510.

[0118] By repeating the above steps, a plurality of pallets 410 can be loaded into the pallet stocker 31.

[0119] Another use of the robot 21 in the transport system 100 is to change the position of the shelf board 510 in the pallet stocker 31. The following describes in detail how the robot 21 is used to change the position of the shelf board 510. Figure 24 is a front view showing the pallet stocker in Figure 7.

[0120] Referring to FIG. 24, pallet stocker 31 has a multi-tiered shelf structure made up of multiple floors, namely "1st", "2nd", "3rd", "4th" and "5th".

[0121] Fixed shelves 515 are arranged on each of the bottom floor labeled "1st" and the top floor labeled "5th."

[0122] On the second floor from the bottom, indicated as "2nd," support parts 560(2-1) and 560(2-2) are provided with a gap between them. The robot 21 can move the shelf board 510 between the support parts 560(2-1) and 560(2-2).

[0123] On the middle floor indicated as "3rd", support parts 560(3-1), 560(3-2), and 560(3-3) are provided at intervals vertically. The robot 21 can move the shelf board 510 between the support parts 560(3-1), 560(3-2), and 560(3-3).

[0124] On the second floor from the top, indicated as "4th," support parts 560(4-1) and 560(4-2) are provided at a distance from each other above and below. The robot 21 can move the shelf board 510 between the support parts 560(4-1) and 560(4-2).

[0125] As an example, the spacing between support portion 560(2-1) and support portion 560(2-2) in the vertical direction is 100 mm, the spacing between support portion 560(3-1), support portion 560(3-2), and support portion 560(3-3) in the vertical direction is 100 mm, and the spacing between support portion 560(4-1) and support portion 560(4-2) in the vertical direction is 200 mm.

[0126] The intervals between the support parts 560 on each floor may be equal or unequal. The intervals between the support parts 560 on the first floor may be the same as or different from the intervals between the support parts 560 on the second floor. The intervals between the support parts 560 on vertically adjacent floors may be greater than the intervals between the support parts 560 on each floor.

[0127] In the current arrangement of shelf board 510, on the "2nd" floor, shelf board 510 is supported by support part 560(2-1). On the "3rd" floor, shelf board 510 is supported by support part 560(3-3). On the "4th" floor, shelf board 510 is supported by support part 560(4-1). Pallets 410 measuring 400 mm x 400 mm are placed on fixed shelf board 515 and shelf board 510.

[0128] With such an arrangement of shelves 510, the maximum height of work that can be placed on each floor is 300 mm on the "1st" floor, 300 mm on the "2nd" floor, 200 mm on the "3rd" floor, 200 mm on the "4th" floor, and 400 mm on the "5th" floor.

[0129] For example, assuming that shelf 510 is moved from support portion 560(2-1) to support portion 560(2-2) on the “2nd” floor, the maximum height of the work that can be placed on it is 400 mm on the “1st” floor and 200 mm on the “2nd” floor.

[0130] As another example, if shelf board 510 is moved from support part 560(4-1) to support part 560(4-2) on the "4th" floor, and shelf board 510 is moved from support part 560(3-3) to support part 560(3-2) on the "3rd" floor, and shelf board 510 is removed on the "2nd" floor, the maximum height of a workpiece that can be placed on it will be 600 mm on the "1st" floor and 600 mm on the "3rd" floor.

[0131] By changing the position of the shelf board 510 in this manner, the maximum height of the workpieces that can be placed on the pallet 410 stored in the pallet stocker 31 can be freely adjusted.

[0132] Fig. 25 is a block diagram showing a control system for changing the positions of shelf boards in a pallet stocker. Fig. 26 is a flowchart showing the flow of changing the positions of shelf boards in a pallet stocker. Fig. 27 and Fig. 28 are diagrams showing a position changing screen on the display unit.

[0133] 24 to 28, control device 610 further includes a display control unit 650. Display control unit 650 controls the screen display on display unit 670.

[0134] The worker performs an operation to start the position changing mode of the shelf board 510 through the display unit 670 consisting of a touch panel display. The operation receiving unit 660 receives the operation of the worker and outputs a signal corresponding to the operation to the display control unit 650. As a result, the display control unit 650 causes the display unit 670 to display a screen 671 for changing the position of the shelf board 510 shown in FIG.

[0135] As shown in FIG. 27, the position changing screen 671 has a pallet stocker image section 680. The pallet stocker image section 680 corresponds to an image of the pallet stocker 31 when viewed in the Z-axis direction. The pallet stocker image section 680 may be an image that shows the pallet stocker 31 in a schematic manner. In the initial screen of the position changing screen 671, the current arrangement of the shelf boards 510 (as an example, the arrangement of the shelf boards 510 supported by each of the supports 560, that is, support section 560(2-1), support section 560(3-3), and support section 560(4-1)) is shown in the pallet stocker image section 680. A first position display section 691 and a second position display section 692, which will be described later, are blank.

[0136] The position changing screen 671 further has a first operation section 681. The first operation section 681 is configured so that a floor on which the position of the shelf board 510 is to be changed is selected by an operation by the worker. The first operation section 681 includes a number of tabs respectively indicated as "2nd", "3rd", and "4th". The "2nd" tab is shown in a position corresponding to the "2nd" floor in the pallet stocker image section 680, the "3rd" tab is shown in a position corresponding to the "3rd" floor in the pallet stocker image section 680, and the "4th" tab is shown in a position corresponding to the "4th" floor in the pallet stocker image section 680.

[0137] The position change screen 671 further has a second operation section 682. The second operation section 682 is configured so that the post-movement support section 560 of the shelf board 510 that is the target of the position change can be selected by operation by the worker.

[0138] Second operation unit 682 includes a plurality of tabs respectively indicated as "2-1", "2-2", "3-1", "3-2", "3-3", "4-1", and "4-2". The plurality of tabs respectively indicated as "2-1", "2-2", "3-1", "3-2", "3-3", "4-1", and "4-2" are shown in positions in pallet stocker image unit 680 corresponding to support unit 560(2-1), support unit 560(2-2), support unit 560(3-1), support unit 560(3-2), support unit 560(3-3), support unit 560(4-1), and support unit 560(4-2).

[0139] The position changing screen 671 further has a first position display section 691 and a second position display section 692.

[0140] The first position display section 691 displays the position of the shelf board 510 to be rearranged before it is moved. The second position display section 692 displays the position of the shelf board 510 to be rearranged after it is moved.

[0141] As the worker operates the first operation unit 681, the display control unit 650 identifies the floor that is the target of the position change. The display control unit 650 causes the first position display unit 691 to display the current position of the shelf board 510 on the identified floor. In FIG. 27, as an example, it is assumed that the worker operates the "3rd" tab on the first operation unit 681. The display control unit 650 causes the first position display unit 691 to display "3-3" as the current position of the shelf board 510 on the "3rd" floor.

[0142] As the worker operates the second operation unit 682, the display control unit 650 identifies the position of the shelf board 510 after it has been moved. The display control unit 650 causes the second position display unit 692 to display the identified position of the shelf board 510 after it has been moved. In FIG. 27, as an example, it is assumed that the worker operates the "3-1" tab on the second operation unit 682. The display control unit 650 causes the second position display unit 692 to display "3-1" as the position of the shelf board 510 after it has been moved.

[0143] The position changing screen 671 further includes a third operation section 693. The third operation section 693 is operated by the worker to start the process of changing the position of the shelf board 510.

[0144] 28, when the repositioning of the shelf board 510 is completed, the display control unit 650 updates the position of the shelf board 510 in the pallet stocker image area 680. In FIG 27, the display control unit 650 causes the pallet stocker image area 680 to display the shelf board 510 supported by the support unit 560 (3-1).

[0145] 24 and 25, when a command to change the position of the shelf board 510 from a first support part 560A to a second support part 560B among the multiple support parts 560 is received, the robot control part 620 controls the robot 21 to move the shelf board 510 from the first support part 560A to the second support part 560B while gripping the shelf board 510 with the master hand 210. In FIG. 24, as an example, the support part 560(3-3) corresponds to the first support part 560A, and the support part 560(3-1) corresponds to the second support part 560B.

[0146] More specifically, when the operator operates the third operation unit 693, the operation receiving unit 660 receives the operator's operation and outputs a signal corresponding to the operation to the program analysis unit 622. The signal output to the program analysis unit 622 includes a signal for identifying the position before and after the movement of the shelf board 510 that is the target of the repositioning.

[0147] The program storage unit 621 stores various operation programs 641 that instruct the operation of the robot 21. The operation programs 641 include an operation program 641P for changing the position of a shelf board. The operation program 641P for changing the position of a shelf board 510 instructs the operation of the robot 21 when changing the position of the shelf board 510, and is created for each combination of the position of the shelf board 510 before it is moved and the position of the shelf board 510 after it is moved.

[0148] The program analysis unit 622 receives a command to change the position of the shelf 510 through a signal from the operation reception unit 660, and reads out the corresponding operation program 641P for changing the shelf position from the program storage unit 621. The program analysis unit 622 analyzes the operation program 641P, extracts commands related to movement, and transmits the commands to the axis control unit 623. The program analysis unit 622 analyzes the operation program 641P, extracts commands related to the operation of the master hand 210, and transmits the commands to the hand control unit 624.

[0149] The axis control unit 623 controls the multiple drive servo motors 23 in response to commands from the program analysis unit 622. The hand control unit 624 controls the master hand 210 in response to commands from the program analysis unit 622.

[0150] 3 to 5, 24 and 25, when the sensor 230 detects that the pallet 410 is not present on the shelf board 510, the robot control unit 620 changes the position of the shelf board 510.

[0151] More specifically, the shelf board position changing operation program 641P includes a program for commanding the operation of the robot 21 to detect the presence or absence of a pallet 410 on the shelf board 510 to be changed. The program analysis unit 622 transmits commands based on the operation program to the axis control unit 623 and the hand control unit 624.

[0152] In Fig. 24, a first position PA, a second position PB, and a third position PC are shown in the space above the shelf 510 supported by the support portion 560(3-3) that is the target of the repositioning. As shown in Figs. 3 and 24, the first position PA corresponds to the position where the pallet 410 is placed when the pallet 410 is placed on the pallet support portion 520p at the left end of the shelf 510. The second position PB corresponds to the position where the pallet 410 is placed when the pallet 410 is placed on the pallet support portion 520q at the center of the shelf 510. The third position PC corresponds to the position where the pallet 410 is placed when the pallet 410 is placed on the pallet support portion 520r at the right end of the shelf 510.

[0153] The axis control unit 623 controls the multiple drive servo motors 23 so that the sensor 230 is positioned opposite the first position PA in the Z-axis direction. The hand control unit 624 executes sensing by the sensor 230. When the sensor 230 is a photoelectric sensor, the light is emitted from the light emitting unit of the sensor 230 toward the first position PA, and the reflected light of the light is received by the light receiving unit of the sensor 230. The sensor 230 outputs a signal corresponding to the amount of received light to the program analysis unit 622. The program analysis unit 622 judges whether the amount of received light exceeds a predetermined threshold based on the signal from the sensor 230. When the amount of received light exceeds the threshold, the program analysis unit 622 judges that the pallet 410 is present on the shelf board 510, and when the amount of received light is equal to or less than the threshold, the program analysis unit 622 judges that the pallet 410 is not present on the shelf board 510.

[0154] The axis control unit 623 controls the multiple drive servo motors 23 so that the sensor 230 is positioned to face the second position PB in the Z-axis direction. The hand control unit 624 causes the sensor 230 to perform the above-mentioned sensing. The axis control unit 623 controls the multiple drive servo motors 23 so that the sensor 230 is positioned to face the third position PC in the Z-axis direction. The hand control unit 624 causes the sensor 230 to perform the above-mentioned sensing.

[0155] When the program analysis unit 622 determines through the above sensing that the pallet 410 is not present at any of the first position PA, the second position PB, and the third position PC, it continues the process of changing the position of the shelf board 510. When the program analysis unit 622 determines through the above sensing that the pallet 410 is present at at least one of the first position PA, the second position PB, and the third position PC, it stops the process of changing the position of the shelf board 510. In this case, the control device 610 may issue an alert to notify the operator of the presence of the pallet 410.

[0156] A description will be given of the flow of changing the position of the shelf board 510 in the pallet stocker 31. With reference to Fig. 25 to Fig. 28, when an operator operates to activate the position changing mode of the shelf board 510, the control device 610 (display control unit 650) causes the display unit 670 to display a position changing screen 671 (S100).

[0157] Next, the control device 610 (robot control unit 620) receives a command to change the position of the shelf board 510 (S101).

[0158] In this step, the worker operates the first operation unit 681 on the position reordering screen 671 to specify the floor (shelf board 510) to be reordered, and operates the second operation unit 682 on the position reordering screen 671 to specify the position (support unit 560) after the shelf board 510 is moved. The program analysis unit 622 receives a signal from the operation reception unit 660 and thereby receives a command to reorder the shelf board 510.

[0159] Next, the control device 610 (display control unit 650) causes the display unit 670 to display the positions of the shelf board 510 before and after the movement (S102).

[0160] In this step, the display control unit 650 causes the first position display unit 691 to display the position of the shelf board 510 before the movement on the floor where the shelf board 510 is to be repositioned, and causes the second position display unit 692 to display the position of the shelf board 510 after the movement.

[0161] Next, the control device 610 (robot control unit 620) starts the process of changing the position of the shelf board 510 (S103).

[0162] In this step, the worker operates the third operation section 693 on the position changing screen 671. The robot control section 620 starts the process of changing the position of the shelf board 510 in response to the operation of the third operation section 693 by the worker.

[0163] Next, the control device 610 (robot control unit 620) controls the robot 21 and the sensor 230 so as to perform sensing by the sensor 230 (S104).

[0164] In this step, the program analysis unit 622 controls the robot 21 and the sensor 230 so that the sensor 230 is positioned opposite the first position PA, the second position PB, and the third position PC in the Z-axis direction, in that order, and so that sensing is performed by the sensor 230 at each of the first position PA, the second position PB, and the third position PC.

[0165] Next, the control device 610 (robot control unit 620) determines whether or not a pallet 410 is present on the shelf board 510 that is the target of the position change (S105).

[0166] If the control device 610 determines in step S105 that the pallet 410 is present at at least one of the first position PA, the second position PB, and the third position PC on the shelf 510, it issues an alert to notify the operator of the presence of the pallet 410 (S106).

[0167] In this step, the display control unit 650 may display a comment on the display unit 670 indicating that the pallet 410 is present on the shelf board 510 that is to be repositioned. After the worker causes the robot 21 to perform the task of removing the pallet 410 from the shelf board 510, the worker starts the step SS101 again.

[0168] If the control device 610 (robot control unit 620) determines in step S105 that the pallet 410 is not present at any of the first position PA, the second position PB, and the third position PC on the shelf 510, it repositions the shelf 510 (S107).

[0169] In this step, the master hand 210 moves towards the pallet stocker 31 and is positioned in the Z axis direction so as to face the second gripping portion 120B of the shelf board 510 that is to be repositioned. The master hand 210 moves in the Z axis direction, so that the second gripping portion 120B is inserted into the grip insertion hole 221. The master hand 210 grips the second gripping portion 120B. The master hand 210 moves upward, so that the shelf board 510 is lifted from the first support portion 560A. The master hand 210 moves in the Z axis direction so that the shelf board 510 retreats from the space above the first support portion 560A.

[0170] The master hand 210 moves in the Y-axis direction. The master hand 210 moves in the Z-axis direction so that the shelf board 510 advances into the space above the second support portion 560B. As the master hand 210 moves downward, the shelf board 510 is placed on the second support portion 560B. The master hand 210 releases the second gripping portion 120B. As the master hand 210 moves in the Z-axis direction, the second gripping portion 120B retreats from the grip insertion hole 221.

[0171] Next, the control device 610 (display control section 650) updates (S108) the position of the shelf board 510 in the pallet stocker image section 680. Through the above steps, the repositioning of the shelf board 510 is completed.

[0172] To summarize the configuration of the conveying system 100 in the embodiment of the present invention described above, the conveying system 100 in the present embodiment comprises a robot 21 having a master hand 210 as a hand, a shelf 510 on which a pallet 410 for holding a workpiece W can be placed, a pallet stocker 31 having a plurality of support parts 560 each capable of supporting the shelf 510 and arranged at intervals in the vertical direction, for storing the pallet 410, and a robot control part 620 which controls the robot 21 to move the shelf 510 from the first support part 560A to the second support part 560B while grasping it with the master hand 210, when a command is received to reposition the shelf 510 from the first support part 560A to the second support part 560B among the plurality of support parts 560.

[0173] According to this configuration, by using the robot 21, it is possible to automate the repositioning of the shelf boards 510 in the pallet stocker 31. This increases the number of uses for the robot 21, and widens the scope of automation in the transport system 100.

[0174] In particular, in this embodiment, since workers cannot access pallet stocker 31 from outside space 113, the position of shelf board 510 can be changed easily and safely by automation using robot 21.

[0175] The conveying system 100 also includes a display unit 670, and a display control unit 650 that displays an image of the pallet stocker 31 on the display unit 670 and updates the position of the shelf board 510 in the image of the pallet stocker 31 from the first support part 560A to the second support part 560B before and after the repositioning of the shelf board 510 is performed.

[0176] With this configuration, the worker can check the positions of the shelf boards 510 before and after the position change through the display unit 670.

[0177] The transport system 100 further includes a sensor 230 mounted on the robot 21 and capable of detecting the presence or absence of an object. When the sensor 230 detects that the pallet 410 is not present on the shelf 510, the robot control unit 620 changes the position of the shelf 510.

[0178] According to this configuration, it is possible to prevent the robot 21 from changing the position of the shelf board 510 with the pallet 410 still placed thereon.

[0179] The pallet stocker 31 further includes a fixed shelf board 515 whose position cannot be changed. With this configuration, the maximum height of the workpieces that can be placed on the fixed shelf board 515 can be adjusted by changing the positions of the shelf boards 510 arranged adjacent to each other above the fixed shelf board 515.

[0180] The control method for the conveying system 100 in this embodiment includes a step (S101) of receiving a command to change the position of the shelf board 510 from a first support part 560A to a second support part 560B among the multiple support parts 560, and a step (S107) of controlling the robot 21 in accordance with the command so as to move the shelf board 510 from the first support part 560A to the second support part 560B while grasping the shelf board 510 with the master hand 210.

[0181] The program in this embodiment is a program executed by a computer for controlling the transport system 100. The program causes the computer to execute a step (S101) of receiving a command to change the position of the shelf board 510 from a first support part 560A to a second support part 560B among the multiple support parts 560, and a step (S107) of controlling the robot 21 in response to the command to move the shelf board 510 from the first support part 560A to the second support part 560B while holding the shelf board 510 with the master hand 210.

[0182] According to this configuration, by using the robot 21, it is possible to automate the repositioning of the shelf boards 510 in the pallet stocker 31. This increases the number of uses for the robot 21, and widens the scope of automation in the transport system 100.

[0183] The embodiments disclosed herein should be considered to be illustrative and not restrictive in all respects. The scope of the present invention is defined by the claims, not the above description, and is intended to include all modifications within the meaning and scope of the claims. [Explanation of symbols]

[0184] 10, 10S, 10T machine tool, 12 machining area, 14 cover body, 16 opening, 18 operation panel, 21 robot, 22 robot base, 23 drive servo motor, 26 base unit, 27 first arm, 28 second arm, 29 hand attachment unit, 31, 31S, 31T pallet stocker, 51 transport operation panel, 56, 56h, 56i, 56j, 56k fence, 61, 61S, 61T setup station, 71 work stocker, 81 hand stocker, 100 transport system, 101 swivel center axis, 102, 103, 105 rotation center axis, 104, 106 rotation center axis, 113 space, 120 gripper, 120A first gripper, 120B second gripper, 120C Third gripping portion, 120D Fourth gripping portion, 121 Groove portion, 126, 231 Central axis, 210 Master hand, 220 Clamping mechanism, 221 Grip insertion hole, 226 Piston, 227 Protrusion portion, 230 Sensor, 310 Work hand, 320 Grip jaw, 330 Piston cylinder, 340 Servo motor, 410 Pallet, 510 Shelf, 515 Fixed shelf, 520, 520p, 520q, 520r Pallet support portion, 525 Taper cone receiving portion, 531 Horizontal frame, 532 Vertical frame, 533 Pin hole, 550 Frame body, 551 Pillar, 560 Support portion, 560A First support portion, 560B Second support portion, 561 Plate, 610 Control device, 620 Robot control portion, 621 Program memory unit, 622 program analysis unit, 623 axis control unit, 624 hand control unit, 625 parameter memory unit, 630 input / output device, 641, 641P operation program, 650 display control unit, 660 operation acceptance unit, 670 display unit, 671 position change screen, 680 pallet stocker image unit, 681 first operation unit, 682 second operation unit, 691 first position display unit, 692 second position display unit, 693 third operation unit, 710 teaching hand, 720 touch probe, 720g contactor, PA first position, PB second position, PC third position, W work.

Claims

1. 1. A display control device for controlling a screen display of a display unit in a pallet stocker having a shelf on which a pallet can be placed and a plurality of support parts arranged at intervals in a vertical direction, each of which can support the shelf, when changing the position of the shelf using a robot, comprising: an image display unit that displays an image of the pallet stocker on the display unit; a display control device comprising an image update unit that, when the robot repositions the shelf from a first support part to a second support part among the plurality of support parts, updates the position of the shelf in the image of the pallet stocker from the first support part to the second support part before and after the repositioning is performed.

2. A robot having a hand; a pallet stocker for storing the pallets, the pallet stocker having a shelf plate on which a pallet for holding workpieces can be placed and a plurality of support parts arranged at intervals in the vertical direction, each of which can support the shelf plate; a robot control unit that receives a command to change the position of the shelf board from a first support unit to a second support unit among the plurality of support units, and controls the robot in response to the command to move the shelf board from the first support unit to the second support unit while holding the shelf board with the hand; A display unit; a display control unit that displays an image of the pallet stocker on the display unit and updates the position of the shelf in the image of the pallet stocker from the first support unit to the second support unit before and after the shelf position change is performed.

3. The robot further includes a sensor capable of detecting the presence or absence of an object, The conveying system according to claim 2 , wherein the robot control unit changes the position of the shelf board when the sensor detects that the pallet is not present on the shelf board.

4. 3. The transport system according to claim 2, wherein the pallet stocker further comprises a fixed shelf that cannot be changed in position.

5. A method for controlling a conveyance system, comprising the steps of: The transport system includes: A robot having a hand; a pallet stocker for storing the pallets, the pallet stocker having a shelf plate on which a pallet for holding workpieces can be placed and a plurality of support parts arranged at intervals in the vertical direction, each of which can support the shelf plate; A display unit, The control method for the transport system includes: receiving a command to change the position of the shelf board from a first support portion to a second support portion among the plurality of support portions; controlling the robot in response to the command to move the shelf board from the first support portion to the second support portion while gripping the shelf board with the hand; A method for controlling a conveying system comprising the steps of displaying an image of the pallet stocker on the display unit, and updating the position of the shelf in the image of the pallet stocker from the first support part to the second support part before and after performing a repositioning of the shelf.

6. A program executed by a computer for controlling a conveyance system, The transport system includes: A robot having a hand; a pallet stocker for storing the pallets, the pallet stocker having a shelf plate on which a pallet for holding workpieces can be placed and a plurality of support parts arranged at intervals in the vertical direction, each of which can support the shelf plate; A display unit, The program causes the computer to receiving a command to change the position of the shelf board from a first support portion to a second support portion among the plurality of support portions; controlling the robot in response to the command to move the shelf board from the first support portion to the second support portion while gripping the shelf board with the hand; A program that causes an image of the pallet stocker to be displayed on the display unit, and executes a step of updating the position of the shelf board in the image of the pallet stocker from the first support part to the second support part before and after the repositioning of the shelf board is performed.

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