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US 2022/0063907 A1Published application
Article storage apparatus and method of controlling the same
AssigneeSemes Co., Ltd.
InventorsJun Chul PARK, No Jae PARK, Seul LEE, Hyi Jae KANG
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Abstract
The present disclosure provides an article storage apparatus and a method of controlling the same, which are capable of compensating for a position of a shelf part. The present disclosure may provide an article storage apparatus and a method of controlling the same, which include a method of performing teaching on a shelf in a rotation direction and then performing teaching on a transport robot at the time of performing the teaching on the shelf of the article storage apparatus, thereby implementing high precision and a low teaching failure rate.
Claims20
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;
- a transport robot comprising a robot arm configured to load an 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;
- 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.
1 more element
A method of controlling an article storage apparatus, wherein the article storage apparatus includes:
- accommodation parts disposed in multiple layers to stack articles around a rotation axis and comprising a plurality of shelves having teaching marks;
- a transport robot comprising a robot arm configured to load the article on the shelf 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 the teaching mark;
- and
- a control unit configured to perform teaching on the accommodation part or the transport robot based on the position data, 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 one teaching target layer;
- a step of performing teaching by applying the corresponding offset values to all the 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 shelves by repeating the teaching performing step for all the layers of the accommodation part.
7 more elements
A method of controlling an article storage apparatus, wherein the article storage apparatus includes:
- accommodation parts disposed in multiple layers to stack articles around a rotation axis and comprising a plurality of shelves having teaching marks;
- a transport robot comprising a robot arm configured to load the article on the shelf 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 the teaching mark;
- and
- a control unit configured to perform teaching on the accommodation part or the transport robot based on the position data, the method comprising:
- (A) performing manual teaching on a reference shelf among the plurality of shelves;
- (B) setting one teaching target among the plurality of shelves;
- (C) capturing an image of the teaching mark of the teaching target shelf;
- (D) calculating an error value between a position of the teaching 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 teaching target shelf based on the error value;
- (F) performing rotational teaching of the teaching 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 teaching target shelf, as the teaching target shelf when the teaching on one teaching 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 teaching target selects only one shelf for one layer of the accommodation part, and the selecting of the teaching method selects one of a method of only performing the teaching of the transport robot and a method of performing the teaching of the shelf and then performing the teaching of the transport robot.
13 more elements
Dependencies are inferred from the claim text.