公开(公告)号：US5214588A

公开(公告)日：1993-05-25

申请号：US517044

申请日：1990-05-01

申请人： Kuniya Kaneko ,  Tsunezi Suzuki ,  Tadashi Naito

发明人： Kuniya Kaneko ,  Tsunezi Suzuki ,  Tadashi Naito

IPC分类号： B23Q41/02 ,  B65G43/00 ,  G05B15/02 ,  G05B19/418

CPC分类号： G05B19/41895 ,  G05B2219/32252 ,  G05B2219/41302 ,  Y02P90/18 ,  Y02P90/20 ,  Y02P90/285

摘要： A control apparatus provided for an FMS line having a robot for carrying a workpiece and an AGV for carrying a jig to be coupled to the workpiece. The control apparatus generally includes a production instruction device and an AGV movement control device. The production instruction device determines a schedule for supplying jigs on the basis of a work supply order schedule. The AGV movement control device causes an AGV to skip an unavailable station and to move to an available station in accordance with the presence or absence of a workpiece and/or a jig and a kind of a cell to which the AGV is to be moved. The robot operates continuously in the order of the disposition of cells. According to the structure, simplification and cost reduction of the control apparatus are attained.

摘要翻译： 一种用于FMS线的控制装置，其具有用于承载工件的机器人和用于承载要联接到工件的夹具的AGV。 控制装置通常包括生产指示装置和AGV运动控制装置。 生产指导装置基于工作供给订单调度确定供给夹具的时间表。 AGV移动控制装置使AGV跳过不可用站并根据工件和/或夹具的存在或不存在以及AGV要移动的单元的种类移动到可用站。 机器人按照单元的配置顺序运行。 根据该结构，能够实现控制装置的简化和成本降低。