JPH0132039B2 - - Google Patents

Description

[Detailed description of the invention]

The present invention relates to an industrial transport robot for transporting objects. Transport robots that transport objects have been widely used in unmanned factories and the like in recent years. This transport robot performs operations such as once accelerating the transported object, transporting it at a constant speed, and then decelerating and stopping the object. By the way, in conventional transport robots, one type of predetermined speed curve (velocity data) is stored in a storage element, and the object is accelerated or decelerated based on the stored result. However, since this acceleration curve was created based on the weight of the heaviest object to be transported, the time required for transport is constant regardless of the weight of the object, and even when transporting a light object, it is difficult to transport a large object. It took the same amount of time as transporting. As a result, conventional transport robots have had the disadvantage of poor work efficiency. In view of the above-mentioned circumstances, the present invention provides a transport robot that can change the speed according to the weight of the object to be transported, thereby making the work efficiency extremely high, and in which different speed data is stored in each memory block. The apparatus is provided with a storage section for storing data, the storage block is selected based on the weight of the object to be transported, and the object to be transported is accelerated or decelerated based on the speed data in the selected storage block. Embodiments of the present invention will be described below with reference to the drawings. FIG. 1 is a block diagram showing the electrical configuration of a transfer robot which is an embodiment of the present invention. In Fig. 1, 1 is the input section, and the numeric keypad 1
It consists of a, etc. This input section 1 is configured to supply a weight signal _S1 corresponding to the weight of the object to the control section 2 when the operator inputs the weight of the object to be transported using the numeric keypad 1a. Control unit 2
The computer consists of a CPU (central processing unit) and a memory in which programs used by the CPU are stored. This control section 2 determines the acceleration time of the transported object based on the weight signal S1 supplied from the input section ₁ .
Calculate T ₁ uniform velocity conveyance time T ₂ and deceleration time T ₃ ,
Further, a speed selection signal _S2 corresponding to the weight signal _S1 is outputted from the output terminals 2c to 2e. Furthermore, the control unit 2 outputs a pulse train from the output terminals 2a and 2b.
P ₁ and P ₂ are input terminals 3a and 3b of counter 3, respectively.
It is configured to supply In addition, the pulse train
The timing of occurrence of P ₁ and P ₂ will be described later. Further, the speed selection signal _S2 mentioned above is a 3-digit binary signal,
The output terminals 2c, 2d, and 2e are output as the lower level, the middle level, and the upper level, respectively. The output terminals 2c to 2e are connected to address terminals _A9 to _A11 of a read only memory (hereinafter referred to as ROM) 4, respectively. When the pulse train P1 is supplied to the input terminal 3a, the counter ₃ performs an up count, and the pulse train P1 is supplied to the input terminal 3b.
When _P2 is supplied, it counts down, and is reset in the initial state. The output terminals C ₀ to C ₈ of this counter 3 are each
It is connected to address terminals _A0 to _A8 of ROM4. This ROM 4 stores a plurality of types of speed data. Here, an example of the storage contents of the ROM 4 is shown in Table 1.

【table】 〓

Claims (1)

[Claims] 1. In a transport robot that transports an object based on predetermined speed data, a storage unit stores different speed data for each storage block, and a storage block selection means that selects the storage block based on the weight of the object. , an access means for accessing the selected memory block in memory address order or reverse order when the object is accelerated or decelerated, and retains the access address when the object is being transported at a constant speed, and the speed read by the access means is provided. A transport robot characterized by transporting the object based on data.