JPS61185105U - - Google Patents

Info

Publication number
JPS61185105U
JPS61185105U JP6958085U JP6958085U JPS61185105U JP S61185105 U JPS61185105 U JP S61185105U JP 6958085 U JP6958085 U JP 6958085U JP 6958085 U JP6958085 U JP 6958085U JP S61185105 U JPS61185105 U JP S61185105U
Authority
JP
Japan
Prior art keywords
evacuation
robot
storage means
operating
contents
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
JP6958085U
Other languages
Japanese (ja)
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 filed Critical
Priority to JP6958085U priority Critical patent/JPS61185105U/ja
Publication of JPS61185105U publication Critical patent/JPS61185105U/ja
Pending legal-status Critical Current

Links

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  • Numerical Control (AREA)
  • Feedback Control In General (AREA)

Description

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

第１図は本考案の基本的構成図、第２図はその
実施例の構成ブロツク図、第３図は実施例におけ
る座標系の説明図、第４図はその座標系の演算手
法を説明するブロツク図、第５図はその作業プロ
グラムのフローチヤート、第６図はその自動退避
ルーチンのフローチヤート、第７図はその退避径
路の説明図、第８図はその退避動作の説明図を示
す。 Ｍ１……仕事手順記憶手段、Ｍ２……機構動作
手段、Ｍ３……機構停止検出手段、Ｍ４……退避
径路記憶手段、Ｍ５……退避実行手段、１０……
ロボツト、２０……他の外部機器、３０……シス
テムシーケンスコントローラ、４０……操作盤。 Fig. 1 is a basic block diagram of the present invention, Fig. 2 is a block diagram of its embodiment, Fig. 3 is an explanatory diagram of the coordinate system in the embodiment, and Fig. 4 is an explanation of the calculation method of the coordinate system. 5 is a flowchart of the work program, FIG. 6 is a flowchart of the automatic evacuation routine, FIG. 7 is an explanatory diagram of the evacuation route, and FIG. 8 is an explanatory diagram of the evacuation operation. M1...Work procedure storage means, M2...Mechanism operation means, M3...Mechanism stop detection means, M4...Evacuation route storage means, M5...Evacuation execution means, 10...
Robot, 20...other external equipment, 30...system sequence controller, 40...operation panel.

Claims (1)

【実用新案登録請求の範囲】 ロボツトの一連の仕事内容を記憶する仕事手順
記憶手段と、 該仕事手順記憶手段の記憶内容に従つて前記ロ
ボツトの機構を作動させる機構動作手段とを備え
るロボツト用制御装置において、 前記機構動作手段により作動される前記機構の
動作停止、停止姿勢及びその停止位置を検出する
機構停止検出手段と、 前記機構動作手段により作動される前記機構を
、該機構の姿勢及び位置に応じた所定の退避位置
まで動作させる退避径路を記憶する退避径路記憶
手段と、 前記機構停止検出手段の検出結果に応じて前記
退避記憶手段の記憶内容に従い前記機構を退避さ
せる退避実行手段とを備えることを特徴とするロ
ボツト用制御装置。[Claims for Utility Model Registration] A control for a robot, comprising a work procedure storage means for storing a series of work contents of the robot, and a mechanism operation means for operating the mechanism of the robot according to the contents stored in the work procedure storage means. In the apparatus, a mechanism stop detection means detects a stoppage of operation, a stopped posture, and a stopped position of the mechanism operated by the mechanism operating means; evacuation route storage means for storing an evacuation route for operating the mechanism to a predetermined evacuation position according to the movement of the mechanism; and evacuation execution means for evacuation of the mechanism in accordance with the storage contents of the evacuation storage means in response to a detection result of the mechanism stop detection means. A robot control device comprising:
JP6958085U 1985-05-10 1985-05-10 Pending JPS61185105U (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP6958085U JPS61185105U (en) 1985-05-10 1985-05-10

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP6958085U JPS61185105U (en) 1985-05-10 1985-05-10

Publications (1)

Publication Number Publication Date
JPS61185105U true JPS61185105U (en) 1986-11-18

Family

ID=30605385

Family Applications (1)

Application Number Title Priority Date Filing Date
JP6958085U Pending JPS61185105U (en) 1985-05-10 1985-05-10

Country Status (1)

Country Link
JP (1) JPS61185105U (en)

Cited By (2)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010094765A (en) * 2008-10-15 2010-04-30 Denso Wave Inc Apparatus for returning robot to origin
JP2018097814A (en) * 2016-12-16 2018-06-21 ファナック株式会社 Numerical control unit

Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4967355A (en) * 1972-10-30 1974-06-29
JPS54102754A (en) * 1978-01-31 1979-08-13 Fanuc Ltd Industrial robot system
JPS5721247A (en) * 1980-07-04 1982-02-03 Komatsu Ltd Determination of retracting and returning path for tool in machine tool
JPS59201747A (en) * 1983-04-28 1984-11-15 Fanuc Ltd Numerical control system

Patent Citations (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS4967355A (en) * 1972-10-30 1974-06-29
JPS54102754A (en) * 1978-01-31 1979-08-13 Fanuc Ltd Industrial robot system
JPS5721247A (en) * 1980-07-04 1982-02-03 Komatsu Ltd Determination of retracting and returning path for tool in machine tool
JPS59201747A (en) * 1983-04-28 1984-11-15 Fanuc Ltd Numerical control system

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2010094765A (en) * 2008-10-15 2010-04-30 Denso Wave Inc Apparatus for returning robot to origin
JP2018097814A (en) * 2016-12-16 2018-06-21 ファナック株式会社 Numerical control unit
US10852708B2 (en) 2016-12-16 2020-12-01 Fanuc Corporation Numerical control device

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