| CPC B65G 1/045 (2013.01) [B25J 9/163 (2013.01); B25J 13/089 (2013.01); B65G 1/06 (2013.01); G06T 7/73 (2017.01); H01L 21/67259 (2013.01); H01L 21/67769 (2013.01); H01L 21/67778 (2013.01); H01L 21/681 (2013.01); G05B 2219/35468 (2013.01); G05B 2219/50391 (2013.01); G06T 2207/30204 (2013.01)] | 17 Claims |
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1. An article storage apparatus comprising:
an accommodation part comprising a plurality of shelves having teaching marks, the plurality of shelves being stacked on each other along a rotation axis of the accommodation part, wherein each of the plurality of shelves receives an article from a robot arm;
a transport robot comprising the robot arm configured to load the article on a target shelf among the plurality of shelves and configured to support a teaching jig having an image capturing part for acquiring position data by capturing an image of a teaching mark of the target shelf, wherein the teaching mark is disposed at an upper surface of the target shelf; and
a control unit configured to calculate an error value between a position of the target shelf and a position of the robot arm based on the position data acquired by the image capturing part, the control unit being configured to perform teaching on the accommodation part or the transport robot based on the error value,
wherein the control unit comprises:
a calculation part configured to calculate the error value between the position of the target shelf and the position of the robot arm; and
a determination part configured to:
select, in response to the error value not exceeding a preset limit value, a first control method that performs the teaching only on the transport robot.
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10. A method of controlling an article storage apparatus, wherein the article storage apparatus includes: an accommodation parts disposed in multiple layers to stack articles around a rotation axis and comprising a plurality of shelves having teaching marks; and a transport robot comprising a robot arm configured to load an article on a shelf among the plurality of shelves or unload the article from the shelf and configured to support a teaching jig having an image capturing part for acquiring position data by capturing an image of a teaching mark of the shelf, the method comprising:
a step of performing manual teaching on a reference shelf among the plurality of shelves;
a step of calculating an offset value for each layer of the accommodation part;
a step of selecting a teaching target layer of the multiple layers;
a step of performing teaching by applying a corresponding offset values to all shelves included in the teaching target layer; and
a step of performing automatic teaching for storing and managing a teaching value corresponding to each of the plurality of shelves by repeating the step of performing the teaching for all the multiple layers of the accommodation part,
wherein the step of the calculating the offset value comprises:
(1) selecting a target shelf from one layer of the accommodation part;
(2) capturing an image of the teaching mark of the target shelf;
(3) calculating an error value between a position of the shelf and a position of the transport robot based on the position data obtained by capturing the image of the teaching mark of the target shelf; and
(4) selecting a teaching method on the target shelf based on the error value,
wherein, when the error value does not exceed a preset limit value, the step of the selecting of the teaching method includes selecting a first control method that performs the teaching only on the transport robot.
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17. A method of controlling an article storage apparatus, wherein the article storage apparatus includes: an accommodation parts disposed in multiple layers to stack articles around a rotation axis and comprising a plurality of shelves having teaching marks; and a transport robot comprising a robot arm configured to load an article on a target shelf among the plurality of shelves or unload the article from the target shelf and configured to support a teaching jig having an image capturing part for acquiring position data by capturing an image of a teaching mark of the target shelf, the method comprising:
(A) performing manual teaching on a reference shelf among the plurality of shelves;
(B) setting the target shelf among the plurality of shelves;
(C) capturing the image of the teaching mark of the target shelf;
(D) calculating an error value between a position of the target shelf and a position of the transport robot based on position data obtained by capturing the image of the teaching mark;
(E) selecting a teaching method on the target shelf based on the error value;
(F) performing rotational teaching of the target shelf or movement teaching of the transport robot with the selected teaching method;
(G) storing a teaching value related to the performed teaching;
(H) setting one shelf, which is present in a layer that does not include the target shelf, as another target shelf when the teaching on the target shelf is completed;
(I) calculating an offset value for each layer by repeating steps (C) to (H) until steps (C) to (H) are performed on all the layers; and
(J) performing the teaching on all the shelves of the accommodation part by applying the offset value,
wherein the selecting of the target shelf selects only one shelf for one layer of the accommodation part,
wherein, when the error value does not exceed a preset limit value, the selecting of the teaching method includes selecting a first control method that performs the teaching only on the transport robot, and
wherein, when the error value exceeds the preset limit value, the selecting of the teaching method includes selecting a second control method that performs the rotational teaching of the target shelf first, and then performs teaching of the transport robot.
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