CN117882018A - 具有联锁功能的控制装置及控制方法 - Google Patents

具有联锁功能的控制装置及控制方法 Download PDF

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Publication number
CN117882018A
CN117882018A CN202180101990.6A CN202180101990A CN117882018A CN 117882018 A CN117882018 A CN 117882018A CN 202180101990 A CN202180101990 A CN 202180101990A CN 117882018 A CN117882018 A CN 117882018A
Authority
CN
China
Prior art keywords
robot
program
interlock
execution
control device
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.)
Pending
Application number
CN202180101990.6A
Other languages
English (en)
Chinese (zh)
Inventor
赖阳一
来海玲旺
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Fanuc Corp
Original Assignee
Fanuc Corp
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Fanuc Corp filed Critical Fanuc Corp
Publication of CN117882018A publication Critical patent/CN117882018A/zh
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39099—Interlocks inserted in movement process if necessary to avoid collision
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39135—For multiple manipulators operating at same time, avoid collision

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
CN202180101990.6A 2021-09-07 2021-09-07 具有联锁功能的控制装置及控制方法 Pending CN117882018A (zh)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
PCT/JP2021/032899 WO2023037418A1 (ja) 2021-09-07 2021-09-07 インタロック機能を有する制御装置及び制御方法

Publications (1)

Publication Number Publication Date
CN117882018A true CN117882018A (zh) 2024-04-12

Family

ID=85507303

Family Applications (1)

Application Number Title Priority Date Filing Date
CN202180101990.6A Pending CN117882018A (zh) 2021-09-07 2021-09-07 具有联锁功能的控制装置及控制方法

Country Status (6)

Country Link
US (1) US20250128417A1 (https=)
JP (1) JP7691507B2 (https=)
CN (1) CN117882018A (https=)
DE (1) DE112021007883T5 (https=)
TW (1) TW202319849A (https=)
WO (1) WO2023037418A1 (https=)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5769312A (en) * 1980-10-13 1982-04-28 Fanuc Ltd Numerical controller incorporating optional block skipping function
JP2868527B2 (ja) * 1989-03-23 1999-03-10 ファナック株式会社 数値制御装置
JPH0325509A (ja) * 1989-06-22 1991-02-04 Fanuc Ltd 数値制御装置の逆行運転制御方法
JP2628926B2 (ja) * 1990-04-26 1997-07-09 ファナック株式会社 加工ヘッドの干渉防止方式
JPH0871979A (ja) 1994-09-09 1996-03-19 Nissan Motor Co Ltd ロボットコントローラ
JPH1011124A (ja) * 1996-06-20 1998-01-16 Fanuc Ltd ロボットの後退実行機能を備えたロボット制御装置
JPH10260714A (ja) 1997-03-21 1998-09-29 Nissan Motor Co Ltd ロボット干渉域設定プログラム作成方法
JP2000137514A (ja) 1998-10-30 2000-05-16 Ube Ind Ltd ロボット制御方法
JP5807337B2 (ja) 2011-02-14 2015-11-10 株式会社ジェイテクト ロボット搬送装置
EP3722053B1 (en) 2017-12-08 2025-04-30 Fuji Corporation CONTROL DEVICE, WORKPIECE OPERATION DEVICE, WORKPIECE OPERATION SYSTEM, AND CONTROL METHOD

Also Published As

Publication number Publication date
JP7691507B2 (ja) 2025-06-11
JPWO2023037418A1 (https=) 2023-03-16
WO2023037418A1 (ja) 2023-03-16
US20250128417A1 (en) 2025-04-24
TW202319849A (zh) 2023-05-16
DE112021007883T5 (de) 2024-04-11

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