JPS6053488U - industrial robot - Google Patents

industrial robot

Info

Publication number
JPS6053488U
JPS6053488U JP14581983U JP14581983U JPS6053488U JP S6053488 U JPS6053488 U JP S6053488U JP 14581983 U JP14581983 U JP 14581983U JP 14581983 U JP14581983 U JP 14581983U JP S6053488 U JPS6053488 U JP S6053488U
Authority
JP
Japan
Prior art keywords
servo valve
industrial robot
converter
control unit
servo
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.)
Granted
Application number
JP14581983U
Other languages
Japanese (ja)
Other versions
JPH0123756Y2 (en
Inventor
信治 熊谷
仲　哲周
Original Assignee
トキコ株式会社
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 トキコ株式会社 filed Critical トキコ株式会社
Priority to JP14581983U priority Critical patent/JPS6053488U/en
Publication of JPS6053488U publication Critical patent/JPS6053488U/en
Application granted granted Critical
Publication of JPH0123756Y2 publication Critical patent/JPH0123756Y2/ja
Granted legal-status Critical Current

Links

Landscapes

  • Fluid-Pressure Circuits (AREA)
  • Magnetically Actuated Valves (AREA)
  • Safety Devices In Control Systems (AREA)

Abstract

(57)【要約】本公報は電子出願前の出願データであるた
め要約のデータは記録されません。(57) [Abstract] This bulletin contains application data before electronic filing, so abstract data is not recorded.

Description

【図面の簡単な説明】[Brief explanation of drawings]

第１図は従来技術による工業用ロボットのブロック図、
第２図は本考案に係る工業用ロボットのブロック図、第
３図は本考案に係る工業用ロボットの要部近傍の概略回
路図である。 ２・・・制御部、６・・・サーボ弁、７・・・アクチュ
エー′　タ、８・・・流体源、９、・・・可動部、１０
・・・ポテンショメータ、１１・・・検出用抵抗、１４
・・・Ａ／Ｄ変換器、１５・・・故障判定回路。Figure 1 is a block diagram of an industrial robot according to the conventional technology.
FIG. 2 is a block diagram of the industrial robot according to the present invention, and FIG. 3 is a schematic circuit diagram of the vicinity of the main parts of the industrial robot according to the present invention. 2... Control unit, 6... Servo valve, 7... Actuator, 8... Fluid source, 9... Movable part, 10
... Potentiometer, 11 ... Detection resistor, 14
. . . A/D converter, 15 . . . Failure determination circuit.

Claims (1)

【実用新案登録請求の範囲】[Scope of utility model registration request] ロボット本体を構成する可動部に流体源からの流体を供
給することにより該可動部を作動させるアクチュエータ
と、前記流体源から該アクチュエータに供給される流体
量を調節するサーボ弁を含むサーボ系と、所定のティー
チング内容を記憶し、当該ティーチング内容に応じて前
記可動部をプレイバック作動させるよう前記サーボ弁を
制御する制御部と、前記可動部の動作を該制御部にフィ
ードバックするフィードバック系とを有する工業用ロボ
ットにおいて、前記制御部とサーボ弁との間に設けられ
該サーボ弁への電流を検出する検出用抵抗と、該検出用
抵抗の両端に接続され当該、両端電圧を比較する比較器
と、該比較器に接続されたＡ／Ｄ変換器と、該Ａ／Ｄ変
換器および前記制御部からの信号が入力され該Ａ／Ｄ変
換器からの信号が制御部からの信号と相違するときには
前記サーボ系の故障として判定する故障判定回路とから
構成したことを特徴とする工業用ロボット。an actuator that operates a movable part constituting a robot body by supplying fluid from a fluid source to the movable part; and a servo system including a servo valve that adjusts the amount of fluid supplied to the actuator from the fluid source; A control unit that stores predetermined teaching content and controls the servo valve to perform playback operation of the movable unit according to the teaching content, and a feedback system that feeds back the operation of the movable unit to the control unit. In the industrial robot, a detection resistor is provided between the control unit and the servo valve to detect the current flowing to the servo valve, and a comparator is connected to both ends of the detection resistor to compare the voltages at both ends. , when signals from an A/D converter connected to the comparator, the A/D converter, and the control section are input, and the signal from the A/D converter is different from the signal from the control section. An industrial robot comprising a failure determination circuit that determines a failure in the servo system.
JP14581983U 1983-09-20 1983-09-20 industrial robot Granted JPS6053488U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP14581983U JPS6053488U (en) 1983-09-20 1983-09-20 industrial robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP14581983U JPS6053488U (en) 1983-09-20 1983-09-20 industrial robot

Publications (2)

Publication Number Publication Date
JPS6053488U true JPS6053488U (en) 1985-04-15
JPH0123756Y2 JPH0123756Y2 (en) 1989-07-20

Family

ID=30324770

Family Applications (1)

Application Number Title Priority Date Filing Date
JP14581983U Granted JPS6053488U (en) 1983-09-20 1983-09-20 industrial robot

Country Status (1)

Country Link
JP (1) JPS6053488U (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63111298U (en) * 1987-01-08 1988-07-16
JPH0310777A (en) * 1989-06-09 1991-01-18 Kyushu Electric Power Co Inc Drive device for servo control type manipulator
JP2005273894A (en) * 2004-03-22 2005-10-06 Volvo Construction Equipment Holding Sweden Ab Operation lever mis-operation prevention system of construction heavy equipment

Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5073075A (en) * 1973-11-06 1975-06-17
JPS51120083U (en) * 1975-03-26 1976-09-29

Patent Citations (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5073075A (en) * 1973-11-06 1975-06-17
JPS51120083U (en) * 1975-03-26 1976-09-29

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS63111298U (en) * 1987-01-08 1988-07-16
JPH0310777A (en) * 1989-06-09 1991-01-18 Kyushu Electric Power Co Inc Drive device for servo control type manipulator
JP2005273894A (en) * 2004-03-22 2005-10-06 Volvo Construction Equipment Holding Sweden Ab Operation lever mis-operation prevention system of construction heavy equipment

Also Published As

Publication number Publication date
JPH0123756Y2 (en) 1989-07-20

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