JPS63106591U - - Google Patents

Info

Publication number
JPS63106591U
JPS63106591U JP1986197393U JP19739386U JPS63106591U JP S63106591 U JPS63106591 U JP S63106591U JP 1986197393 U JP1986197393 U JP 1986197393U JP 19739386 U JP19739386 U JP 19739386U JP S63106591 U JPS63106591 U JP S63106591U
Authority
JP
Japan
Prior art keywords
robot
teaching data
work
data storage
storage means
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
JP1986197393U
Other languages
Japanese (ja)
Other versions
JPH0730223Y2 (en
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 JP1986197393U priority Critical patent/JPH0730223Y2/en
Publication of JPS63106591U publication Critical patent/JPS63106591U/ja
Application granted granted Critical
Publication of JPH0730223Y2 publication Critical patent/JPH0730223Y2/en
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Landscapes

  • General Factory Administration (AREA)
  • Numerical Control (AREA)
  • Safety Devices In Control Systems (AREA)

Description

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

第１図は、本考案に係るロボツトの制御装置の
ブロツク図、第２図は、本考案に係るロボツトの
制御装置の概略構成図、第３図は、第２図に示し
た本考案に係るロボツトの制御装置の動作フロー
チヤート、第４図は、一般的なスポツト溶接ライ
ンの概略構成図である。 １…車体（ワーク）、２…搬送台車、３…搬送
装置、１５…ロボツト制御装置、１６…スポツト
溶接器、１７…操作盤、２０…ロボツト（第１ロ
ボツト）、２１…異常検出回路（異常検出手段）
、２２…退避制御回路（退避指令手段）、２３…
制御回路（第１制御手段）、２４…第１記憶回路
（第１教示データ格納手段）、２５…選択回路（
データ選択手段）、２６…カウンター（カウント
手段）、２７…制御回路（第２制御手段）、２８
…ロボツト（第２ロボツト）、２９…第２記憶回
路（第２教示データ格納手段）、３０…ロボツト
制御装置、３１…スポツト溶接器。 FIG. 1 is a block diagram of a robot control device according to the present invention, FIG. 2 is a schematic configuration diagram of a robot control device according to the present invention, and FIG. 3 is a block diagram of a robot control device according to the present invention shown in FIG. FIG. 4, which is an operational flowchart of the robot control device, is a schematic diagram of a general spot welding line. DESCRIPTION OF SYMBOLS 1...Car body (work), 2...Transportation vehicle, 3...Transportation device, 15...Robot control device, 16...Spot welder, 17...Operation panel, 20...Robot (first robot), 21...Abnormality detection circuit (abnormality) detection means)
, 22... evacuation control circuit (evacuation command means), 23...
Control circuit (first control means), 24...first storage circuit (first teaching data storage means), 25...selection circuit (
data selection means), 26... counter (counting means), 27... control circuit (second control means), 28
...Robot (second robot), 29...Second memory circuit (second teaching data storage means), 30...Robot control device, 31...Spot welder.

Claims (1)

【実用新案登録請求の範囲】 搬送装置によつて搬送されるワークの所定個所
に、所定の作業を行なう第１ロボツトと、 当該第１ロボツトが行なう作業の教示データを
格納する第１教示データ格納手段と、 前記第１ロボツトにおける作業異常の発生を検
出する異常検出手段と、 当該異常検出手段が作業異常の発生を検出した
時に、前記第１ロボツトを所定位置に退避させる
べき信号を出力する退避指令手段と、 当該第１教示データ格納手段に格納されている
教示データ及び当該退避指令手段から出力される
信号により前記第１ロボツトの動作を制御する第
１制御手段と、 前記第１ロボツトによつて行なわれた作業の進
行度合を数値としてカウントするカウント手段と
、 当該ワークの搬送方向に対し、前記第１ロボツ
トよりも下流側に設けられ、搬送された前記ワー
クの所定個所に、所定の作業を行う第２ロボツト
と、 当該第２ロボツトが行なう作業の教示データを
格納する第２教示データ格納手段と、 前記異常検出手段が作業異常の発生を検出した
時に、当該カウント手段のカウント値に基づいて
、前記第１教示データ格納手段から所定のデータ
を選択するデータ選択手段と、 当該第２教示データ格納手段の教示データ及び
当該データ選択手段によつて選択された教示デー
タに基づいて、前記第２ロボツトの動作を制御す
る第２制御手段とを設け、 前記第１ロボツトの作業中に作業異常が発生し
た時には、前記第１ロボツトを所定の位置に退避
させ、前記第２ロボツトが前記第１ロボツトの未
作業部分の作業をも行なえるようにしたことを特
徴とするロボツトの制御装置。[Claims for Utility Model Registration] A first robot that performs a predetermined work at a predetermined location of a workpiece transported by a transport device, and a first teaching data storage that stores teaching data of the work to be performed by the first robot. means, an abnormality detection means for detecting the occurrence of a work abnormality in the first robot, and an evacuation device that outputs a signal to evacuate the first robot to a predetermined position when the abnormality detection means detects the occurrence of a work abnormality. a command means; a first control means for controlling the operation of the first robot based on the teaching data stored in the first teaching data storage means and a signal output from the evacuation command means; a counting means for numerically counting the degree of progress of the work carried out by the robot; a second teaching data storage means for storing teaching data of the work to be performed by the second robot; and a second teaching data storage means for storing teaching data of the work to be performed by the second robot; data selection means for selecting predetermined data from the first teaching data storage means; and data selection means for selecting predetermined data from the first teaching data storage means; a second control means for controlling the operations of the second robot, and when an abnormality occurs during the operation of the first robot, the first robot is evacuated to a predetermined position, and the second robot A robot control device characterized by being able to perform work on unworked parts of the robot.
JP1986197393U 1986-12-24 1986-12-24 Robot controller Expired - Lifetime JPH0730223Y2 (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP1986197393U JPH0730223Y2 (en) 1986-12-24 1986-12-24 Robot controller

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP1986197393U JPH0730223Y2 (en) 1986-12-24 1986-12-24 Robot controller

Publications (2)

Publication Number Publication Date
JPS63106591U true JPS63106591U (en) 1988-07-09
JPH0730223Y2 JPH0730223Y2 (en) 1995-07-12

Family

ID=31157087

Family Applications (1)

Application Number Title Priority Date Filing Date
JP1986197393U Expired - Lifetime JPH0730223Y2 (en) 1986-12-24 1986-12-24 Robot controller

Country Status (1)

Country Link
JP (1) JPH0730223Y2 (en)

Cited By (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006109603A1 (en) * 2005-04-06 2006-10-19 Honda Motor Co., Ltd. Production control system
WO2009093368A1 (en) * 2008-01-25 2009-07-30 Mitsubishi Heavy Industries, Ltd. Production facility
CN114384865A (en) * 2020-10-19 2022-04-22 北京极智嘉科技股份有限公司 Service transfer system and method

Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60158981A (en) * 1983-12-29 1985-08-20 Honda Motor Co Ltd Control system of welding in robot

Patent Citations (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS60158981A (en) * 1983-12-29 1985-08-20 Honda Motor Co Ltd Control system of welding in robot

Cited By (4)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2006109603A1 (en) * 2005-04-06 2006-10-19 Honda Motor Co., Ltd. Production control system
WO2009093368A1 (en) * 2008-01-25 2009-07-30 Mitsubishi Heavy Industries, Ltd. Production facility
JP2009172722A (en) * 2008-01-25 2009-08-06 Mitsubishi Heavy Ind Ltd Manufacturing equipment
CN114384865A (en) * 2020-10-19 2022-04-22 北京极智嘉科技股份有限公司 Service transfer system and method

Also Published As

Publication number Publication date
JPH0730223Y2 (en) 1995-07-12

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