JPS5840627A - Robot control method - Google Patents

Abstract

(57) [Summary] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

DETAILED DESCRIPTION OF THE INVENTION The present invention relates to the application of industrial robots, and in particular, in environments where each work does not occur frequently in many work areas, one robot body can perform each work in each work area. The present invention relates to a method of controlling a robot suitable for carrying out work.

Conventionally, there have been industrial robots that run with their own blades and perform various tasks, and industrial robots that detect external conditions and use their own blades to change the robot's operation to the optimal state according to those conditions. Already known.

However, all conventional robots, including self-propelled, fixed-type, and robots whose movements are optimized depending on external conditions, require that their movement information be stored in advance in the storage device of the robot control device. Due to the limited storage capacity within the control device, there is a limit to the amount of operational information that can be stored, and as a result, when there are many types of work, many robots are required.

In addition, when the robot's motion information changes due to a change in the work line, etc., the motion information stored in the storage device in the robot control device will be changed, and other operations that are not directly related will be changed. Even operational information may be affected.

An object of the present invention is to eliminate the above-mentioned drawbacks and to provide an entire system in which a single robot with a self-blade traveling function can perform different tasks in many work areas.

The present invention is for one robot to perform all the tasks in random order, and is capable of moving to the work place by itself.
Moreover, the motion information is given from outside the robot and the robot operates.

As an embodiment of the present invention, an example will be shown in which the present invention is applied to a screening test system for quality control of purchased semiconductors in the computer manufacturing industry.

Figure 1 is an overall diagram of the semiconductor screening test system, in which a constant temperature chamber 2 for conducting semiconductor sound inspection test H-,
An automatic IC that automatically tests the operation of semiconductors? star 3
, a flexible robot 1 of the present invention, and a travel path 4 along which the flexible robot travels.

The main tasks of the flexible robot 1 in this semiconductor screening test system are loading and unloading of semiconductors into and out of a constant temperature chamber 2, transport of semiconductors from the constant temperature chamber to an automatic IC tester 3, setting of semiconductors into an automatic IC tester 3, automatic This includes taking out the semiconductor from the IC tester 3, etc.

The work of flexible robot 1 is carried out in each thermostat and automatic IC.
It begins with a call from a device such as a tester. When each device wants the robot to perform a task, each device automatically sends out a robot call signal over the radio. When call signals are issued from a plurality of devices at the same time, a priority order is predetermined in the robot control device, and the flexible robot 1 travels to a predetermined position of the called device according to the priority order.

FIG. 2 is a diagram in which the flexible robot 1 is positioned in front of the called thermostatic chamber 2. When the flexible robot 1 is located at a predetermined position in the thermostatic oven 2, signals are exchanged between the flexible robot 1 and the thermostatic oven 2, and signals are sent from the thermostatic oven 2 side to the flexible robot 1 and to the robot. The content of the work to be performed is transferred in the form of robot motion information, and the robot motion information is stored in a storage device within the flexible robot 1. When the transfer of the operation information from the constant temperature bath 2 to the flexible robot 1 is completed, the flexible robot 1 then executes all predetermined operations on the device 2 based on the operation information.

In this way, the flexible robot 1 does not have robot motion information in its own control device, but receives and receives motion information from the called device and executes a predetermined motion. , without any restrictions on the type of operation, etc.
This effect is profound, as it becomes possible to perform an infinite variety of tasks.

Further, the work order of the robot is determined by being called arbitrarily from each device, and the work order is completely arbitrary. - Thus, according to the present invention,
In a system that requires many types of work, if the frequency of work occurrence is relatively low, one robot can freely move between each device, based on the operation information it receives from each device each time. , it becomes possible to perform an infinite variety of tasks and to make full use of the limited capacity of the robot controller.

[Brief explanation of drawings]

FIG. 1 is an overall view of a semiconductor screening system in a specific embodiment, and FIG. 2 is a diagram showing a flexible 7-/l/CI pot located in front of the apparatus.

Claims (1)

[Claims] 1. A robot consisting of an industrial robot body with a control device and a traveling trolley that allows the robot to move by self-blade running.The robot moves in response to a call from each work area and performs work in the work area that receives the call. 1. A method for controlling a robot, which is characterized in that work operation information is received in the area, and based on the information, the robot performs the work in the work area.