JPH10133706A - Method for carrying robot - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide a carrying method by robot which shortens the waiting time for recovery of a lot by a robot and the waiting time for carrying the next lot. SOLUTION: The method for carrying robot includes a pattern discriminating process 100 which operates a robot by a host computer and a conveyance computer subordinate to the host computer, and makes a specific manufacturing device send a previous notice of completion before a process is completed after the robot carries a carried article in the above mentioned manufacturing device when the carried article is carried in or out of the manufacturing device, selects a next lot of articles to be carried by the host computer receiving the notice and sends an indication to carry the lot to the conveyance computer.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

The present invention relates to a robot transfer method, and more particularly to a robot transfer method for operating a plurality of manufacturing apparatuses with a minimum waiting time.

[0002]

2. Description of the Related Art For example, in a manufacturing factory, a robot is used to load and unload parts and products to and from each of a plurality of manufacturing apparatuses, or to transfer parts and products between manufacturing apparatuses. A transport computer is used for the computer. In addition, a host computer is used to manage the entire manufacturing apparatus and transport computer.

FIG. 9 is an explanatory view showing a processing pattern in a conventional robot transfer method.

First, when an online request message 901 is sent from a manufacturing apparatus to a host computer, the host computer transmits an online response message 902. Next, a lot request message 903 from each of the plurality of manufacturing apparatuses.
Is received by the host computer, a response signal message 90
4 is returned to the manufacturing apparatus. The host computer can determine whether or not the transfer is possible based on the lot request message 903.

[0005] Next, the host computer outputs to the transfer computer a message 905 for instructing the transfer of the robot and the carry-in. After that, as a work report from the transport computer, a from completion signal message 907
And a to complete signal message 909 are sent to the host computer, and response signal messages 908 and 910 are output from the host computer to the transport computer for each. Thereafter, when the host computer receives the lot transfer completion signal message 911 from the manufacturing apparatus, the host computer returns a response message 912 to the manufacturing apparatus. In response to the completion of the loading, the host computer confirms that the lot has been loaded into the manufacturing apparatus.

Next, a processing start request message 913 is transmitted from the host computer to the manufacturing apparatus. A response message 914 to this is sent from the manufacturing apparatus to the host computer. Next, when the manufacturing equipment is ready to start processing,
A processing start message 915 is sent from the manufacturing apparatus to the host computer. The host computer receiving this report sends a response message 916 to the manufacturing apparatus. By executing the response message 916, the host computer regards the lot as being processed.

Then, when the processing of the lot being processed is completed, the manufacturing apparatus sends a processing completion message 917 to the host computer. When the manufacturing apparatus is ready for unloading, the lot unloading request message 9 is sent to the host computer.
19 is sent out. In response, a response message 920 is returned from the host computer to the manufacturing apparatus. Thereafter, the transport computer determines that the work has been completed, and the From completion message 92
3 is sent to the host computer, and the host computer sends a response message 924 to the transport computer. Next, the host computer receives the lot unloading completion message 925 from the manufacturing apparatus and transmits a response message 926 to the message 925 to the manufacturing apparatus. Thereafter, the host computer receives the To completion message 927 from the transport computer 2 and transmits a response message 928 to the To complete message 927 to the transport computer.

[0008]

However, in the prior art described above, the host computer receives the unloading request message from the manufacturing apparatus, and then transmits a recovery instruction message to the transport computer. Waiting for collection until the lot is collected. For this reason, there has been a problem that the operation rate of the manufacturing apparatus is reduced.

In the second and subsequent lots, the robot waits for the lot to be transferred until the next lot is loaded after the previous lot is collected.
It has not been possible to increase the availability and the number of production units from a certain level.

SUMMARY OF THE INVENTION In view of the above-mentioned problems, it is an object of the present invention to provide a robot transfer method capable of shortening a lot collection waiting time by a robot and a waiting time for transferring a next lot.

[0011]

According to a first aspect of the present invention, there is provided a method of managing a robot by a transfer computer positioned below a host computer, and controlling the robot by the robot. In a robot transfer method for loading and unloading an article to be conveyed to and from a device such as a manufacturing apparatus, the robot carries the article to be conveyed into the apparatus, and then completes the processing on the article to be conveyed before the apparatus completes the process. A robot transport method in which a notice is transmitted from the device to the host computer, the host computer receives the notification, sorts a lot of the article to be transported next, and transmits a transport instruction of the lot to the transport computer.

According to this method, before completion of the processing for the carried-in lot, a completion notice is reported from the apparatus to the host computer after how long the processing is completed. As a result, a lot to be set next to the apparatus is selected, and a transfer instruction of the corresponding lot can be issued to the transfer computer. Therefore, before the completion of the processing, preparation for collection and carry-in can be performed for the robot, and the apparatus can minimize the waiting time for collection by the robot. In addition, even if the processing time is delayed due to an alarm of the manufacturing apparatus or the like, it is possible to reduce errors in the transfer schedule.

[0013] A specific method for realizing the object of the invention according to the present application is as described in claim 2, after the completion notice is received, whether the device has the same port for the carry-in port and the carry-out port. The host computer determines whether or not the port is the same port, and executes the transfer process according to the first pattern when the port is the same, and executes the transfer process according to the second pattern when the port of the carry-in port is different from the port of the carry-out port. is there.

According to this method, the operation pattern of the robot is made different depending on whether the port of the apparatus has the common entrance and the exit, and the case where the entrance and the exit are separate ports. I have. Thus, the robot can be optimally operated for the transfer of the article to be transported according to the structure (type) of the apparatus, and the apparatus can minimize the waiting time for collection by the robot.

According to a specific method for realizing the object of the invention according to the present application, the transfer processing according to the first pattern is performed by a single robot for loading and unloading the article to be transported. And the transfer processing according to the second pattern is a robot transfer method in which a plurality of robots are used to load and unload the conveyed articles.

According to this method, when the apparatus uses the same port for the carry-in port and the carry-out port, the conveyed article is carried by one robot, and the carry-in port and the carry-out port are connected to different ports. In the apparatus described above, the robot is assigned to each of the carry-in and carry-out ports, and the carrying process is executed. As a result,
Optimum operation of the robot is enabled depending on the type of the device, and the device can minimize the waiting time for collection by the robot.

[0017]

Embodiments of the present invention will be described below with reference to the drawings.

FIG. 1 is a flowchart showing main processing of the robot transfer method according to the present invention. Further, FIG.
3 is a flowchart showing the details of the pattern discrimination processing in FIG. 3, FIG. 3 is a flowchart showing the details of the processing of pattern I (first pattern) in FIG. 1, and FIG. 4 is the processing of pattern II (second pattern) in FIG. 6 is a flowchart showing details of the process.

Here, the outline of the transport line will be described with reference to FIG. The transfer robot 1 can reciprocate along the transfer path 2. On one side of the transport path 2, manufacturing apparatuses 3, 4, 5, 6 and a product shelf 7 are continuously installed along the transport path 2. On the other side of the transport path 2, manufacturing apparatuses 8, 9, 10, and 11 are installed. That is, here, eight manufacturing apparatuses are operating, and the manufacturing apparatuses 3,
The loading and unloading operations are performed in the same port for the manufacturing apparatuses 9, 10, and 11 and the manufacturing apparatuses 9, 10, and 11. Further, the manufacturing devices 6 and 8 are installed in locations where the ports are separated so that loading and unloading operations can be performed simultaneously. Further, the product shelf 7 is provided with a carrier (lot) in which a workpiece or the like (here, a wafer) is placed.
This is a shelf for storing. Manufacturing equipment 3-6,8-
A host computer 12 is connected to 11. A transfer computer 13 that manages the transfer robot 1 is connected to the host computer 12.

In the line having such a configuration, the transfer robot 1 takes out a lot from the product shelf 7 in accordance with an instruction from the host computer 12, carries it into a designated manufacturing apparatus, and transfers the processed lot to another manufacturing apparatus or It is carried out (collected) to the product shelf 7.

As shown in FIG. 1, the robot transfer method according to the present invention is roughly divided into three blocks: a pattern discriminating process 100, a process using pattern I, and a process using pattern II. A process 200 based on pattern I is a process targeting the manufacturing apparatuses 3 to 5 and 9 to 11 illustrated in FIG. 5, and a process 300 based on pattern II is a process targeting the manufacturing apparatuses 6 and 8. It is the pattern determination processing 100 that determines which of the processing 200 and the processing 300 corresponds.

Next, referring to the flowchart of FIG. 2 and the timing chart of FIG.
Will be described. 2 to 4, "S"
Means a step.

First, as shown in FIG. 6, when the host computer 12 receives the online request message 601 from the manufacturing apparatus, an online response message 602 is transmitted to the manufacturing apparatus. Next, when the lot loading request message 603 is issued from the manufacturing apparatus, the host computer 12
Determines whether a lot can be loaded into the manufacturing apparatus (S101). When it is impossible to carry in, a request response message 604 is issued to the manufacturing apparatus if it is possible to carry in.

Next, the host computer 12 specifies a lot and transmits a From / to instruction message 605 (transport instruction message) to the transport computer 13. The transport computer 13 sends an instruction response message 6 to the host computer 12.
06 is transmitted. Thereafter, the transport computer 13 transmits a From completion message 607 as a work report to the host computer 12, and a response message 608 corresponding thereto is transmitted from the host computer 12 to the transport computer 13. Further, a To completion message 609 is transmitted from the transport computer 13 to the host computer 12 in order to notify the carry-in to the manufacturing apparatus (S102). Response message 6
10 is the transfer computer 1 from the host computer 12
Sent to 3.

Thereafter, a lot transfer completion message 611 is transmitted from the manufacturing apparatus to the host computer 12.
When receiving the lot transfer completion message 611, the host computer 12 recognizes that the lot has been transferred to the manufacturing apparatus. Then, the host computer 12 transmits a response message 612 to the manufacturing apparatus.

Next, processing in the manufacturing apparatus is started (S103). This processing is started when the host computer 12 that has received the lot transfer completion message 611 from the manufacturing apparatus transmits a processing start request message 613 and a response message 614 is output from the manufacturing apparatus in response to the message. When the preparation for the start is completed, the manufacturing apparatus transmits a processing start report message 615 for the lot to the host computer 12. As a result, the host computer 12 regards the lot as being processed, and transmits a response message 616 from the host computer 12 to the manufacturing apparatus. Thereafter, the manufacturing apparatus is in a processing state (S104). Thereafter, when the process is completed, the manufacturing apparatus transmits a process completion notice message 617 to the host computer 12 (S105). And
A response message 618 corresponding to this is sent to the host computer 12.
To the manufacturing equipment. After this, the production equipment
It is determined whether or not the carry-out ports are the same (S106). This S106 corresponds to pattern discrimination. If the entrance and the exit are the same, the process 200 according to the pattern I of FIG. 3 is executed. The process 300 according to the pattern II of FIG. 4 is executed.

Since the processing completion notice message 617 is performed in anticipation that the currently processed lot will be completed after n hours, the host computer 12 selects the next lot to be set in the corresponding manufacturing apparatus, and A lot transfer instruction can be issued to the transfer computer 13. Therefore, if the setting of the n time of the completion prediction is set in consideration of the transfer time of the transfer robot and the like, the waiting time of the manufacturing apparatus when the transfer is actually performed can be minimized. Also,
Even when the processing time is delayed due to an alarm of the manufacturing apparatus or the like, errors in the transfer schedule can be reduced. Further, by performing the processing completion notice on the manufacturing apparatus side, the burden of time monitoring on the host computer 12 is reduced.

Next, referring to the flowchart of FIG. 3 and the timing chart of FIG.
00 will be described.

In the processing of the pattern I, the host computer 12 receives the processing completion notice and
When an instruction is given to a production robot, a single transfer robot conveys the next lot to be processed to the specified production equipment, collects the processed lot from the production equipment, and loads the next lot to be processed into the production equipment. Instructs the user to do so.

First, a transfer instruction of a lot to be processed next is issued to the transfer robot (S201). This instruction is sent from the host computer 12 to the transport computer 13.
This is performed by sending a next lot transfer instruction message 701, and a response message 702 is returned from the transfer computer 13 to the host computer 12. Thereafter, a From completion message 702 is transmitted from the transport computer 13 to the host computer 12, and a response 703 is returned in response thereto. When the lot is carried into the manufacturing apparatus and the processing in the manufacturing apparatus is completed, a processing completion report 705 is transmitted to the host computer 12.

Next, when the transport robot transports the next lot to be processed and arrives at the front of the target manufacturing apparatus, To
The arrival instruction waiting message 707 is transmitted from the transport computer 13 to the host computer 12, and the response message 7 is transmitted from the host computer 12 to the transport computer 13.
When 08 is issued, a standby state is entered (S202). Further, it is determined whether or not the lot can be unloaded based on S705 (S203). If the unloading is not possible, the processing after S202 is re-executed. If the unloading is possible, a collection instruction is executed (S204). . This collection instruction is sent from the manufacturing apparatus to the host computer 12 by a carry-out request 709 (the response message is 71
0) is issued and the collection instruction message 711 (the response message is 71
It is started by issuing 2).

Thereafter, it is determined whether or not the next lot can be carried into the manufacturing apparatus (S205). This processing is performed when the host computer 12 receives the collection completion message 713 (the response message is 714) from the transport computer 13, and when the host computer 12 receives the collection completion message 715 (the response message is 7) from the manufacturing apparatus.
16) is received, and further, when there is a carry-in request message 717 (the response message is 718) from the manufacturing apparatus.

Further, when it is determined in S205 that loading is possible, a loading instruction is issued (S206). This process
There is a carry-in request message 717 from the manufacturing apparatus, and the carry-in instruction message 7 is sent from the host computer 12 to the transport computer 13.
19 is transmitted and the response message 7 is sent from the transport computer 13.
This is executed when there is 20, and the next lot is carried into the manufacturing apparatus. When the lot delivery is completed, a delivery completion message 721 (response message 722) is transmitted from the transport computer 13 to the host computer 12, and
Further, a carry-in completion message 723 (the response message is 724) is transmitted from the manufacturing apparatus. The processing after the carry-in is the same as the processing after the lot carry-in completion message 611 in FIG.

Next, a transfer instruction is issued (S20).
7). This conveyance is to convey the lot collected based on the collection completion message 713 to the next place, and starts when a transfer instruction message 725 (response message 726 is sent) from the host computer 12 to the conveyance computer 13. Is done. Then, when the To computer 728 (the response message is 729) is sent from the transport computer 13 to the host computer 12, the transport is completed.

Next, the processing 300 based on the pattern II will be described with reference to the flowchart of FIG. 4 and the timing chart of FIG.

The processing of the pattern II is operated by a plurality of transfer robots, and sends a transfer instruction of a lot to be processed next to the transfer robot # 1. Then, an instruction is given to execute the collection operation and the transfer operation after collection by the transfer robot # 2.

This processing 300 is executed by the host computer 1
2 to next transfer computer 13 next lot transfer instruction message 8
01 (the response message is 802) is started (S301). Here, the transfer robot # 1 is engaged, and transfers the next lot to be processed. The host computer 12 transmits a collection instruction message 803 to the transport computer (the response message is 804) to the transport computer 13. Further, the transfer computer 13 sends a host arrival instruction message 805 for the transfer robot # 2 to the host computer 12 (the response message is “8”).
06) is transmitted. Then, transfer robot # 1From
A completion message 807 (the response message of which is 808) is transmitted from the transport computer 13 to the host computer 12. From the electronic message 807, the host computer 12 can confirm that the lot has been transported to the designated device.

Thereafter, a standby process before the manufacturing apparatus is executed (S302). In this process, the transport robot # 1 transports a lot to be processed next, arrives in front of a target manufacturing apparatus, and waits in front of an entrance. First, a processing completion report message 809 is sent from the manufacturing apparatus to the host computer 12.
(The response message is 810), and the transfer robot # 1 is transferred from the transfer computer 13 to the host computer 12.
This is executed when the To arrival instruction waiting message 811 (the response message is 812) is transmitted.

Next, it is determined whether or not a lot can be carried in (S303). This process is performed to carry in the lot designated by the next lot transfer instruction message 801 to the manufacturing apparatus, and is performed based on receiving the carry-in request 823 (the response message is 824) from the manufacturing apparatus. .

Thereafter, the processing of the carry-in instruction is executed (S
304). This processing corresponds to the carry-in request 823 from the manufacturing apparatus.
Is received, the host computer 12 transmits a carry-in instruction message 825 (the response message is 826) to the carry computer 13 so as to carry in the lot designated by the next lot transfer instruction message 801. . Note that the processing after loading is started in the lot loading completion message 6 shown in FIG.
This is the same as the processing after 11.

Next, the process 30 in the transfer robot # 2
0 will be described. The host computer 12, which has received the processing completion notice message 617 (FIG. 6) from the manufacturing apparatus,
A collection instruction message 803 is transmitted to the transport computer 13. Receiving this, the transport computer 13 instructs the transport robot # 2 to move to the collection place and wait. When the movement of the transfer robot # 2 is completed, the transfer computer 13 transmits an arrival completion message 805 to the host computer 12.

Thereafter, it is determined whether or not the lot can be unloaded (S306). This determination is made by the host computer 1
2 is received when the processing completion message 809 and the unloading request message 813 are received from the manufacturing apparatus. Next, a collection instruction process is performed (S307). In this process, the manufacturing apparatus transmits a lot unloading request 813 to the host computer 12, and transmits a collection instruction to the transport computer 13 when the transport robot # 2 is standing by in front of the manufacturing apparatus. A transfer robot # 2 collection completion message 817 (the response message of which is 818) is transmitted from the transfer computer 13 to the host computer 12. After that, the unloading completion message 819 (the response message is 820) is transmitted from the manufacturing apparatus to the host computer 12.

Further, the processing of the transport instruction is performed (S30).
8). In order to transfer the lot collected based on the transfer robot # 2 collection completion message 817 to the next location, a transfer instruction message 821 (the response message is 822) is transmitted to the transfer computer 13, and thereafter, the manufacturing apparatus performs an operation. A completion message 827 (the response message is 828) is transmitted to the host computer 12. Next, a transfer robot # 1 carry-in completion message 829 (the response message is 830) is transmitted from the transfer computer 13 to the host computer 12, and thereafter,
The processing after the message 801 (831) is repeatedly executed.

In the above description, the lot is carried in and out of the manufacturing apparatus by the transfer robot. However, the present invention is not limited to the manufacturing apparatus. Can be applied to all.

[0045]

As described above, according to the first aspect of the present invention, the completion notice is provided before the processing of the conveyed article by the apparatus is completed after the robot carries the conveyed article into the apparatus. From the device to the host computer,
The host computer receiving this selects the lot of the conveyed article to be set next, and transmits a transfer instruction of the lot to the transfer computer, so the lot to be set next to the apparatus is selected, and the corresponding lot is selected. Can be sent to the transfer computer, and the apparatus can minimize the waiting time for collection by the robot, thereby improving the operation rate of the apparatus. Also, even if the processing time is delayed due to an alarm of the manufacturing equipment, etc.,
Errors in the transfer schedule can be reduced.

According to a second aspect of the present invention, after the completion notice from the apparatus is received by the host computer, the transfer processing according to the first pattern is performed by determining whether the entrance and the exit of the apparatus are the same. Since the second pattern can be used separately for the transfer process, the transfer of the goods to be transferred can be performed optimally by the robot according to the structure (type) of the device, and the device minimizes the waiting time for collection by the robot. Can be.

According to a third aspect of the present invention, in the transfer processing according to the first pattern, a single robot carries in and out the article to be transferred, and in the second pattern, the transfer processing is performed by a plurality of units. The robot is used for loading and unloading of the conveyed goods, so that optimal robot operation can be performed according to the type of the device, and the device can minimize the waiting time for collection by the robot. become.

[Brief description of the drawings]

FIG. 1 is a flowchart showing main processing of a robot transfer method according to the present invention.

FIG. 2 is a flowchart illustrating details of a pattern determination process in FIG. 1;

FIG. 3 is a flowchart illustrating details of processing of a pattern I in FIG. 1;

FIG. 4 is a flowchart showing details of processing of pattern II in FIG. 1;

FIG. 5 is a configuration diagram schematically showing a transport line to which the present invention is applied.

FIG. 6 is a timing chart in the pattern determination processing of FIG. 1;

FIG. 7 is a timing chart in the processing of the pattern I of FIG. 1;

FIG. 8 is a timing chart in the processing of the pattern II of FIG. 1;

FIG. 9 is an explanatory diagram showing a processing pattern in a conventional robot transport method.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 1 Transport robot 3, 4, 5, 6, 8, 9, 10, 11 Manufacturing apparatus 7 Product shelf 12 Host computer 13 Transport computer

Claims (3)

[Claims] 1. A robot transporting method in which a robot is managed by a transport computer positioned below a host computer, and the robot transports and unloads articles to and from a device such as a manufacturing apparatus. Is sent to the apparatus, and before the processing of the conveyed article by the apparatus is completed, a notice of completion is transmitted from the apparatus to the host computer. Wherein the lot is selected and a transfer instruction of the lot is transmitted to the transfer computer. 2. After receiving the notice of completion, the host computer determines whether or not the loading port and the loading port are the same port by the apparatus, and when the port is the same port, executes the transporting process according to the first pattern. 2. The robot transfer method according to claim 1, wherein the transfer processing according to the second pattern is executed when the port of the carry-in port is different from the port of the carry-out port. 3. The transport process according to the first pattern is performed by one
3. The loading and unloading of the conveyed article by one robot, and the convey processing according to the second pattern includes loading and unloading of the conveyed article by using a plurality of robots. 4. Robot transfer method.