CN1023517C - Manipulator for teaching demonstration purposes - Google Patents
Manipulator for teaching demonstration purposes Download PDFInfo
- Publication number
- CN1023517C CN1023517C CN90101122A CN90101122A CN1023517C CN 1023517 C CN1023517 C CN 1023517C CN 90101122 A CN90101122 A CN 90101122A CN 90101122 A CN90101122 A CN 90101122A CN 1023517 C CN1023517 C CN 1023517C
- Authority
- CN
- China
- Prior art keywords
- working arm
- robot
- extreme limit
- teaching
- travel
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Expired - Fee Related
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Classifications
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J9/00—Programme-controlled manipulators
- B25J9/16—Programme controls
- B25J9/1674—Programme controls characterised by safety, monitoring, diagnostic
- B25J9/1676—Avoiding collision or forbidden zones
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J7/00—Micromanipulators
-
- G—PHYSICS
- G05—CONTROLLING; REGULATING
- G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
- G05B19/00—Programme-control systems
- G05B19/02—Programme-control systems electric
- G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
- G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector
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- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Numerical Control (AREA)
- Manipulator (AREA)
Abstract
This polarity-variable winding for two-speed motor is a 3Y/3Y winding with equal number of turns ( including three windings with different numbers of turns ), or an Y+3Y/3Y winding that is formed by adding a single-layer winding on the 3Y/3Y winding and with equal or unequal number of turns. Not only does it overcome the problems of ring current existed in current 3Y/3Y winding and inadaptalility to far polar-ratio motor, but also it has high utilization rate of winding and slot-filling ratio. This invention is suitable for far or near polar-ratio motor, especially for two-speed motor with conic rotor.
Description
The present invention relates to a kind of manipulator for teaching demonstration purposes, particularly relate to the improvement that is applicable to according to the robot of the above-mentioned type of direct teaching program work.
When the working range of the arbitrary working arm that stretches out when robot exceeded definite working range, robot controller started buzzing type signalling alarm equipment or similar device so that report to the police to the operator, and controller interrupts the storage data in the working position simultaneously.This state remains unchanged always, even also is like this when the operator is returned to working arm in the working range.This state for a change, be about to leave control panel or similar control device of operator goes warning device is set back so that robot returns to and can carry out the duty of teaching, and then gets back to control panel, so that restart teaching.
Yet, it is found that there is following problem in above-mentioned ordinary robot:
(1) when teaching is interrupted because of the extreme limit of travel error, the operator will frequently run between robot and controller, and making resumes work becomes pretty troublesome.
(2) when teaching is interrupted, the operator will leave both hands in robot and carry out repair, and this just makes machine body produce displacement because of the weight of himself.Thereby make the play position before storage work is interrupted, the play position when just having finished with repair does not coincide, and causes the track of demonstration again of working arm to lose continuity.For correcting the track of demonstration again, just require to carry out the rectification work of play position.
Consider above-mentioned situation, task of the present invention provides a kind of teaching demonstration robot that has overcome the problems referred to above.
For finishing above-mentioned task, according to first target of the present invention, a kind of instruction demonstration mode robot is provided, it comprises working arm and controller, it is characterized in that, at two ends near the perform region of each working arm, be provided with the extreme limit of travel switch to robot, during teaching, when arbitrary working arm of robot reaches its extreme limit of travel, can predict by limit switch, by means of the controller of above-mentioned situation report being given the operator, the deactivation signalling alarm equipment, simultaneously, data storage work is interrupted; Controller is regulated the position of working arm continuously, and all working arm is all turned back in the working range, and signalling alarm equipment stops automatically, and then, controller restarts data storage work again.
According to first target of the present invention, when a working arm exceeds the perform region during teaching, and another working arm is when also remaining in the perform region, and controller starts signalling alarm equipment.Simultaneously, controller stops data storage work.Then, the operator turns back in the perform region this working arm.The control panel of operator's steering controller stops signalling alarm equipment.After the duty of robot was restored, controller restarted teaching.
There are the following problems according to teaching demonstration robot that first target of the present invention provides:
(1) the teaching meeting is interrupted because of the extreme limit of travel error.
(2) resuming work of having no progeny in the teaching is very complicated.
(3) in a single day teaching is interrupted, and the play position that teaching is interrupted does not overlap with the play position of resuming work after just finishing, and this loses continuity with regard to the track that working arm is demonstrated again.For overcoming this uncontinuity, rectification work will be carried out so that two play position overlap mutually.
(4) mechanical shutter is installed in outside the extreme limit of travel.Owing to the error of the mobile working of a working arm make another working arm exceed its extreme limit of travel but remain on extreme limit of travel and mechanical shutter between, if perhaps a working arm is owing to the influence of another working arm to the bump of mechanical shutter is shifted, then the position of other working arms just becomes discontinuous when controller restarts storage work.
For addressing the above problem, according to second target of the present invention, a kind of manipulator for teaching demonstration purposes is provided, it comprises working arm and controller, it is characterized in that the extreme limit of travel switch to robot being set at two ends, perform region near each working arm, when any working arm reaches its extreme limit of travel during teaching, just detect by limit switch, via controller deactivation signalling alarm equipment, with the notifying operation person, data storage work is interrupted, simultaneously, the detent that does not reach other working arms of extreme limit of travel is moved by European-allies, and controller is regulated the position of working arm continuously, when all working arm all is returned within the perform region, this signalling alarm equipment stops automatically, and the arrestment mechanism of all working arm also all broken away from excited state, and then, controller restarts data storage work.
Other purposes of the present invention, feature and advantage, by reading the description of carrying out with reference to the accompanying drawings, it is more obvious to become.
The present invention will be described below in conjunction with accompanying drawing.
Fig. 1 is a synoptic diagram, and it has diagrammatically illustrated according to a preferred embodiment of the invention, manipulator for teaching demonstration purposes during finishing teaching, the displacement of its working arm, two ends, perform region and extreme limit of travel.
Fig. 2 is the block scheme of diagrammatic illustration ROBOT CONTROL system architecture shown in Figure 1.
Fig. 3 be explanation according to first embodiment of the invention, the curve map that between the startup of the displacement of robot teaching's duration of work working arm, signalling alarm equipment and memory location, concerns.
To be expression respond the displacement of working arm shown in Figure 3 and when starting, the curve map that concerns between the displacement of other working arms and the memory location when signalling alarm equipment to Fig. 4.
Fig. 5 be the expression according to the second embodiment of the present invention, robot during teaching, the curve map that concerns between the displacement of its working arm, the startup of signalling alarm equipment and the memory location.
Fig. 6 is that expression is according to the second embodiment of the present invention, at the curve map of recurring the displacement of duration of work working arm.
Fig. 7 is expression when recurring the position data stored, the curve map of the wall displacement of working among Fig. 5.
Fig. 8 is expression when recurring the position data stored, the curve map of working arm displacement among Fig. 6.
Fig. 9 be illustrated in need not the situation of any arrestment mechanism under, the curve map that concerns between the displacement of working arm and the memory location among Fig. 6.
Figure 10 is expression when recurring the data of the position stored, the curve map of working arm displacement among Fig. 9.
Figure 11 is the block diagram of the robot control system of second target according to the present invention.
Accompanying drawing with reference to the expression preferred embodiment goes through the present invention below.
Fig. 1 is roughly having illustrated according to first target of the present invention of a synoptic diagram, teaching demonstration robot, and the block scheme of Fig. 2 to be diagrammatic illustration shown in Figure 1 ROBOT CONTROL system.
In Fig. 1 and 2, label 1 expression first working arm, label 2 expressions second working arm, 16 expression CD-ROM drive motor, 17 expression speed detectors, 18 expression position detectors, 19 expression stroke terminal detecting devices, 100 expression robot bodies, 21 expression servodrivers, 22 expression coupling arrangements, 23 expression memory circuits, 24 presentation directives's circuit, 25 expression counting circuits, and label number 200 expression ROBOT CONTROL devices.
In addition, parameter letter A and A ' represent the terminal of the perform region that limited by mechanical shutter respectively in Fig. 1, and reference letter B and B ' are illustrated respectively in the extreme limit of travel that is limited by stroke terminal detecting device 19 among the robot body 100.Be noted that in ROBOT CONTROL device 200 extreme limit of travel B and B ' can limit by the Programming Methodology of instruction circuit 24.Usually, perform region terminal A and A ' and extreme limit of travel B and B ' have the allowance that reaches a certain degree respectively.
As shown in Figure 2, the main body 100 of robot comprises position survey prison device 18 and stroke terminal detecting device 19, therefore, represents that respectively the position signalling of working arm current position is sent to each circuit via coupling arrangement 22.Memory circuit 23 is used for storing the data of being come by position detector 18 transmission, and counting circuit 25 is used for the quantity of displacement calculating, and instruction circuit 24 is used in robot working time servodriver 21 outputs one velocity of rotation.In addition, servodriver 21 responses are gone CD-ROM drive motor 16 by the feedback signal that speed detector 17 transmits.
In the occasion of working arm motion teaching, the moving down as shown in Figure 1 foremost of first working arm 1 usually, is transferred to memory circuit 23 to the data that obtained by position detector 18 via coupling arrangement 22 and it is stored in the memory circuit 23.When working arm 1 further was moved beyond the perform region downwards, at first, position detector 18 detected extreme limit of travel B, and then, working arm 1 reaches perform region terminal A.As long as arm 1 is in the zone between A and B or A ' and the B ', position detector 18 just is provided at the data of a plurality of positions of representing with symbol X among Fig. 3, thereby the data storage work in the memory circuit 23 is interrupted and the startup signalling alarm equipment.Yet at this moment, controller 200 is regulated the data that get from position detector 18 continuously.In case the position that working arm 1 is adopted is returned to the perform region between B and the B ', controller 200 automatically makes signalling alarm equipment reset, and memory circuit 23 is restarted with storaging position data in the working position.
Fig. 3 has roughly illustrated the displacement of working arm when teaching is finished.Position P
1To P
8(representing with the symbol small circle among the figure) stored exactly, and as working arm in-position P
9When (representing with symbol X among the figure), just surpassed extreme limit of travel.Signalling alarm equipment is activated, and data storage work is interrupted simultaneously.Meanwhile, controller 200 is regulated the residing position of working arm continuously.When working arm reached position 14, controller 200 confirmed that working arms are returned in the perform region between extreme limit of travel B and the B ', just make signalling alarm equipment from starting state.Then, memory circuit 23 restarts the data storage work of subsequent position.
Fig. 4 illustrates the displacement of working arm when position shown in Figure 3 reappears.By accompanying drawing obviously as seen, the position of temporarily interrupting data storage work because of the extreme limit of travel error has been eliminated, and working arm 8 is directly moved to position 14 from the position continuously.
Should remark additionally, the characteristics of first working arm 1 discussed above are equally applicable to other working arms.
According to first target of the present invention,, during teaching, can not carry out data storage work when operator's man-hour of outside the extreme limit of travel zone at each working arm during the teaching, operating machine.When the startup of signalling alarm equipment controlled device, perhaps when the working arm bump was positioned at the mechanical shutter of perform region terminal, the operator can produce the extreme limit of travel error, and then, he is returned in the perform region working arm.After this, the operator can not continue teaching under the interrupt teaching working condition.Therefore, do not need to unclamp both hands on the control panel of operator's slave controller or the similar device, the operator can continue this teaching, and can easily teach the continuous path that robot has its working arm moving characteristic of expression.
Below, with reference to Fig. 5, discuss according to second target of the present invention, the displacement of the working arm of teaching demonstration robot.
Figure 11 is the block diagram of the robot control system of the present invention's second target, and except that having increased arrestment mechanism 15, identical with Fig. 1, it is described in here and has omitted.
As shown in Figure 5, controller 200 memory location P exactly
1And P
8The data of (showing with small circle symbol O essence among the figure).As working arm in-position P
9When (representing with symbol X among the figure), just exceeded extreme limit of travel, thereby controller 200 starts signalling alarm equipment and interrupts data storage work.At this moment, the arrestment mechanism of working arm is unexcited.Thereby the operator can be returned in the perform region working arm according to the wish of oneself.From another point of view, as shown in Figure 6, when other working arms are set at position P
9To P
13When (illustrating with symbol X among the figure), the arrestment mechanism of these other working arms is energized, and signalling alarm equipment is activated, but does not carry out data storage work, is restored up to signalling alarm equipment.Also at this moment, controller 200 is regulated the residing position of working arm continuously.When controller is confirmed working arm in-position P
14, and when being returned in the perform region between two extreme limit of travels, controller 200 makes signalling alarm equipment remove starting state, also makes the brake unit of each working arm remove foment simultaneously.Then, controller 200 restarts the data storage work of subsequent position.
The displacement of Fig. 7 and 8 expressions working arm when reappearing position shown in Fig. 5 and 6 respectively.As seen from the figure, the temporary transient position of interrupting of data storage work is eliminated, and working arm is the continuous mobile P from the position directly
8To position P
14
Fig. 9 is as an example, and expression does not exceed the working arm of extreme limit of travel, do not use the displacement under the situation of arrestment mechanism at working arm, and Figure 10 is as an example, the displacement of expression working arm when reproduction position shown in Figure 9.
According to second target of the present invention, when the operator when moving a working arm near the two ends, perform region of working arm and surpassing extreme limit of travel during the teaching, do not carry out data storage work.When controller started a signalling alarm equipment, perhaps when working arm bump is positioned at the mechanical shutter of perform region one end, the operator can distinguish and produced the extreme limit of travel error, and working arm is returned in the perform region between two extreme limit of travels.Thereby the operator can need not continue teaching under the situation of interrupt teaching work, and uses as the same method of ordinary robot and set about resuming work.Because do not require on the control panel of operator's slave controller and unclamp both hands, the operator can only carry out teaching, and easily teach robot and have track continuously.
Although abovely according to two preferred embodiments the present invention is discussed, it should not only limit to this certainly, its various variations or improve and do not exceed the invention scope that is limited by accessory claim yet.
Claims (2)
1, a kind of manipulator for teaching demonstration purposes comprises the working arm that a working routine presets at least, so that said working arm moves according to the requirement of said teaching, it is characterized in that:
For demonstrating moving of said robot, there are two extreme limit of travels in this robot at the two ends, perform region near its working arm.
The robot controller basis corresponding to the detection to an extreme limit of travel, starts signalling alarm equipment and also interrupts data storage work during teaching,
In the time of in working arm is returned to the perform region that is limited between two extreme limit of travels, said signalling alarm equipment breaks away from starting state automatically, and then
Said controller restarts said data storage work.
2, a kind of manipulator for teaching demonstration purposes comprises the working arm that many working routines preset, so that each working arm requires to move according to said teaching, it is characterized in that:
Be moving of each working arm of demonstrating said robot, there are two extreme limit of travels in this robot at the two ends, perform region near each working arm,
Robot controller starts signalling alarm equipment corresponding to the detection to one of said extreme limit of travel during teaching, and interrupts data storage work,
At this moment, the arrestment mechanism that does not detect the working arm of its extreme limit of travel is energized,
In the time of in the working arm that detected extreme limit of travel is returned to by two perform regions that extreme limit of travel limited, said signalling alarm equipment breaks away from starting state automatically, and subsequently
Said controller restarts data storage work.
Applications Claiming Priority (4)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP49880/89 | 1989-03-03 | ||
| JP1049880A JP2664985B2 (en) | 1989-03-03 | 1989-03-03 | Teaching playback robot |
| JP22461489A JP2665001B2 (en) | 1989-09-01 | 1989-09-01 | Teaching playback robot |
| JP224614/89 | 1989-09-01 |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| CN1054681A CN1054681A (en) | 1991-09-18 |
| CN1023517C true CN1023517C (en) | 1994-01-12 |
Family
ID=26390326
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| CN90101122A Expired - Fee Related CN1023517C (en) | 1989-03-03 | 1990-03-03 | Manipulator for teaching demonstration purposes |
Country Status (3)
| Country | Link |
|---|---|
| KR (1) | KR960012702B1 (en) |
| CN (1) | CN1023517C (en) |
| GB (1) | GB2229296B (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100356030C (en) * | 2001-12-10 | 2007-12-19 | Somfy两合公司 | Method for end-of-travel learning and device therefor |
Families Citing this family (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| FR2671305B1 (en) * | 1991-01-09 | 1995-04-07 | Commissariat Energie Atomique | METHOD FOR DRIVING A ROBOT ARM BY DEFINING SUBSTITUTION PATHS. |
| US6535794B1 (en) | 1993-02-23 | 2003-03-18 | Faro Technologoies Inc. | Method of generating an error map for calibration of a robot or multi-axis machining center |
| US5495410A (en) * | 1994-08-12 | 1996-02-27 | Minnesota Mining And Manufacturing Company | Lead-through robot programming system |
| DE4433917A1 (en) * | 1994-09-23 | 1996-03-28 | Zeiss Carl Fa | Method for measuring workpieces with a hand-held coordinate measuring machine |
| JP3923053B2 (en) * | 2004-03-31 | 2007-05-30 | ファナック株式会社 | Robot teaching device |
| SE529122C2 (en) | 2004-09-24 | 2007-05-02 | Jokab Safety Ab | Protective device for area restriction and surveillance |
| CN103823464A (en) * | 2012-11-16 | 2014-05-28 | 苏州宝时得电动工具有限公司 | Self-driven mobile apparatus |
| CN106113044A (en) * | 2016-08-23 | 2016-11-16 | 重庆盛学科技有限公司 | Commercial Application teaching robot's control method |
Family Cites Families (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| KR890002025B1 (en) * | 1982-02-26 | 1989-06-08 | 미쯔비시 덴끼 가부시기바이샤 | Welding torch |
-
1990
- 1990-03-02 GB GB9004793A patent/GB2229296B/en not_active Expired - Fee Related
- 1990-03-03 CN CN90101122A patent/CN1023517C/en not_active Expired - Fee Related
- 1990-03-03 KR KR1019900002788A patent/KR960012702B1/en not_active IP Right Cessation
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN100356030C (en) * | 2001-12-10 | 2007-12-19 | Somfy两合公司 | Method for end-of-travel learning and device therefor |
Also Published As
| Publication number | Publication date |
|---|---|
| KR900014087A (en) | 1990-10-22 |
| KR960012702B1 (en) | 1996-09-24 |
| CN1054681A (en) | 1991-09-18 |
| GB2229296B (en) | 1993-08-11 |
| GB9004793D0 (en) | 1990-04-25 |
| GB2229296A (en) | 1990-09-19 |
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| C10 | Entry into substantive examination | ||
| SE01 | Entry into force of request for substantive examination | ||
| C06 | Publication | ||
| PB01 | Publication | ||
| C14 | Grant of patent or utility model | ||
| GR01 | Patent grant | ||
| C15 | Extension of patent right duration from 15 to 20 years for appl. with date before 31.12.1992 and still valid on 11.12.2001 (patent law change 1993) | ||
| OR01 | Other related matters | ||
| C19 | Lapse of patent right due to non-payment of the annual fee | ||
| CF01 | Termination of patent right due to non-payment of annual fee |