JP7691507B2 - インタロック機能を有する制御装置及び制御方法 - Google Patents

インタロック機能を有する制御装置及び制御方法 Download PDF

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Publication number
JP7691507B2
JP7691507B2 JP2023546601A JP2023546601A JP7691507B2 JP 7691507 B2 JP7691507 B2 JP 7691507B2 JP 2023546601 A JP2023546601 A JP 2023546601A JP 2023546601 A JP2023546601 A JP 2023546601A JP 7691507 B2 JP7691507 B2 JP 7691507B2
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Japan
Prior art keywords
robot
interlock
program
execution
control device
Prior art date
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JP2023546601A
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English (en)
Japanese (ja)
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JPWO2023037418A1 (https=
Inventor
陽一 頼
玲旺 来海
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
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Fanuc Corp
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Publication of JPWO2023037418A1 publication Critical patent/JPWO2023037418A1/ja
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Publication of JP7691507B2 publication Critical patent/JP7691507B2/ja
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    • 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)
JP2023546601A 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 Active JP7691507B2 (ja)

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 (2)

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JPWO2023037418A1 JPWO2023037418A1 (https=) 2023-03-16
JP7691507B2 true JP7691507B2 (ja) 2025-06-11

Family

ID=85507303

Family Applications (1)

Application Number Title Priority Date Filing Date
JP2023546601A Active JP7691507B2 (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

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=)

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000137514A (ja) 1998-10-30 2000-05-16 Ube Ind Ltd ロボット制御方法
JP2012166290A (ja) 2011-02-14 2012-09-06 Jtekt Corp ロボット搬送装置
WO2019111413A1 (ja) 2017-12-08 2019-06-13 株式会社Ｆｕｊｉ 制御装置、ワーク作業装置、ワーク作業システム及び制御方法

Family Cites Families (7)

* 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

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2000137514A (ja) 1998-10-30 2000-05-16 Ube Ind Ltd ロボット制御方法
JP2012166290A (ja) 2011-02-14 2012-09-06 Jtekt Corp ロボット搬送装置
WO2019111413A1 (ja) 2017-12-08 2019-06-13 株式会社Ｆｕｊｉ 制御装置、ワーク作業装置、ワーク作業システム及び制御方法

Also Published As

Publication number Publication date
JPWO2023037418A1 (https=) 2023-03-16
WO2023037418A1 (ja) 2023-03-16
US20250128417A1 (en) 2025-04-24
CN117882018A (zh) 2024-04-12
TW202319849A (zh) 2023-05-16
DE112021007883T5 (de) 2024-04-11

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