JPH042591U - - Google Patents
Info
- Publication number
- JPH042591U JPH042591U JP4177490U JP4177490U JPH042591U JP H042591 U JPH042591 U JP H042591U JP 4177490 U JP4177490 U JP 4177490U JP 4177490 U JP4177490 U JP 4177490U JP H042591 U JPH042591 U JP H042591U
- Authority
- JP
- Japan
- Prior art keywords
- identification data
- error
- error identification
- coincidence
- industrial robot
- 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
Links
- 230000005856 abnormality Effects 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 4
- 238000011084 recovery Methods 0.000 description 1
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
- B25J9/02—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type
- B25J9/04—Programme-controlled manipulators characterised by movement of the arms, e.g. cartesian coordinate type by rotating at least one arm, excluding the head movement itself, e.g. cylindrical coordinate type or polar coordinate type
- B25J9/041—Cylindrical coordinate type
- B25J9/042—Cylindrical coordinate type comprising an articulated arm
- B25J9/044—Cylindrical coordinate type comprising an articulated arm with forearm providing vertical linear movement
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
Description
第１図は各スカラ型産業用ロボツトを制御する
ためのロボツト・コントローラの構成を示すブロ
ツク図、第２図はインストラクシヨン・データの
構成を示す概略図、第３図はエラー発生時の処理
の一例を示すフローチヤート、第４図はワークＡ
を検査してワークＢに組付ける作業を概略的に示
すフローチヤート、第５図は産業用ロボツト同士
の干渉を阻止する具体例を示す図、第６図は産業
用ロボツト同士の動作を制御する他の具体例を示
す図、第７図はこの考案の制御装置が組込まれた
産業用ロボツト・システムの一例を示す平面図、
第８図は同上正面図。
４，５……スカラ型産業用ロボツト、１７……
エラー識別データ出力部、１８……エラー識別デ
ータ保持部、１９……一致判別部、２０……異常
復旧制御部。
Figure 1 is a block diagram showing the configuration of the robot controller for controlling each SCARA type industrial robot, Figure 2 is a schematic diagram showing the configuration of instruction data, and Figure 3 is the processing when an error occurs. A flowchart showing an example, Figure 4 is work A
Flowchart schematically showing the work of inspecting and assembling to work B, Figure 5 is a diagram showing a specific example of preventing interference between industrial robots, and Figure 6 is a diagram showing controlling the operation of industrial robots. FIG. 7 is a plan view showing an example of an industrial robot system incorporating the control device of this invention;
Figure 8 is a front view of the same as above. 4, 5...SCARA type industrial robot, 17...
Error identification data output unit, 18...error identification data holding unit, 19...matching determination unit, 20...abnormality recovery control unit.
Claims (1)
を行なう産業用ロボツト４，５において、エラー
の発生を検出してエラーの種類に対応するエラー
識別データを出力するエラー識別データ出力手段
１７と、複数のエラー識別データを保持するエラ
ー識別データ保持手段１８と、エラー識別データ
出力手段１７から出力されたエラー識別データが
エラー識別データ保持手段１８に保持されている
所定のエラー識別データと一致しているか否かを
判別する一致判別手段１９と、一致していること
を示す一致判別結果に基づいて産業用ロボツトの
異常処理プログラムに基づく動作を行なわせる制
御手段２０とを含むことを特徴とする産業用ロボ
ツト制御装置。 In the industrial robots 4 and 5 that automatically operate based on a preset program, an error identification data output means 17 that detects the occurrence of an error and outputs error identification data corresponding to the type of error, and a plurality of error Whether or not the error identification data outputted from the error identification data holding means 18 that holds identification data and the error identification data outputting means 17 match the predetermined error identification data held in the error identification data holding means 18. An industrial robot control system comprising: a coincidence determination means 19 for determining a coincidence; and a control means 20 for causing an industrial robot to perform an operation based on an abnormality processing program based on a coincidence determination result indicating a coincidence. Device.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4177490U JPH042591U (en) | 1990-04-18 | 1990-04-18 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP4177490U JPH042591U (en) | 1990-04-18 | 1990-04-18 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH042591U true JPH042591U (en) | 1992-01-10 |
Family
ID=31552732
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP4177490U Pending JPH042591U (en) | 1990-04-18 | 1990-04-18 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH042591U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55109447U (en) * | 1979-01-29 | 1980-07-31 |
-
1990
- 1990-04-18 JP JP4177490U patent/JPH042591U/ja active Pending
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS55109447U (en) * | 1979-01-29 | 1980-07-31 | ||
| JPS5710602Y2 (en) * | 1979-01-29 | 1982-03-01 |
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