KR900014087A - Playback Robot - Google Patents

Playback Robot Download PDF

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Publication number
KR900014087A
KR900014087A KR1019900002788A KR900002788A KR900014087A KR 900014087 A KR900014087 A KR 900014087A KR 1019900002788 A KR1019900002788 A KR 1019900002788A KR 900002788 A KR900002788 A KR 900002788A KR 900014087 A KR900014087 A KR 900014087A
Authority
KR
South Korea
Prior art keywords
robot
operating arm
operating
teaching
stroke
Prior art date
Application number
KR1019900002788A
Other languages
Korean (ko)
Other versions
KR960012702B1 (en
Inventor
유다까 기무라
Original Assignee
쇼오지 우에다
미쓰비시 쥬우 고오교오 가부시기가이샤
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
Priority claimed from JP1049880A external-priority patent/JP2664985B2/en
Priority claimed from JP22461489A external-priority patent/JP2665001B2/en
Application filed by 쇼오지 우에다, 미쓰비시 쥬우 고오교오 가부시기가이샤 filed Critical 쇼오지 우에다
Publication of KR900014087A publication Critical patent/KR900014087A/en
Application granted granted Critical
Publication of KR960012702B1 publication Critical patent/KR960012702B1/en

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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
    • B25J9/16—Programme controls
    • B25J9/1674—Programme 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
    • B25J7/00—Micromanipulators
    • 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
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/42—Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
    • G05B19/425—Teaching successive positions by numerical control, i.e. commands being entered to control the positioning servo of the tool head or end effector

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)

Abstract

내용 없음No content

Description

플레이백 로보트Playback Robot

본 내용은 요부공개 건이므로 전문내용을 수록하지 않았음Since this is an open matter, no full text was included.

제1도는 본 발명의 바람직한 실시예에 따른 플레이백 로보트 조정을 위해 수행되는 교습동작 동안의 동작 아암의 변위, 동작범위의 종지부 및 스트로크 한계를 개략적으로 보인 설명도.1 is an explanatory diagram schematically showing the displacement of the operating arm, the end of the operating range and the stroke limit during the teaching operation performed for the playback robot adjustment according to the preferred embodiment of the present invention.

제2도는 제1도에서 도시한 로보트용 제어장치의 구조를 개략적으로 보인 블록선도.2 is a block diagram schematically showing the structure of the control device for a robot shown in FIG.

제3도는 본 발명의 제1실시예에 따른 로보트 교습동작 동안의 동작아암의 변위, 경보작동 및 저장위치간의 관계를 보인 그래프.3 is a graph showing the relationship between the displacement of the operating arm, the alarm operation and the storage position during the robot teaching operation according to the first embodiment of the present invention.

Claims (2)

동작이 사전에 교습되고 그 교습에 기초하여 변위되는 적어도 하나의 동작아암을 포함하는 플레이백 로보트에 있어서, 상기 로보트에 동작아암의 변위를 교습하기 위해, 로보트가 동작아암의 종지부 부근에 설정되는 스트로크 한계를 포함하고, 로보트용 제어기가 교습동작중 상기 스트로크 한계검출에 응답하여 경보를 동작시키고 데이터 저장동작을 중단하며, 동작아암이 양쪽 스트로크 한계간에 한정되는 동작범위 내로 복귀될 때 상기 경보가 작동상태에서 자동 해제되고, 상기 제어기가 상기 데이터 저장동작을 다시 시작하게 되는 것을 특징으로 하는 플레이백 로보트.A playback robot comprising at least one operating arm whose movement is previously taught and displaced based on the teaching, wherein the stroke is set near the end of the operating arm to teach displacement of the operating arm to the robot. A limit, wherein the robot controller activates an alarm in response to the stroke limit detection during the teaching operation and stops the data storage operation; Is automatically released, and the controller restarts the data storing operation. 각각의 동작이 사전에 교습되고 그 교습에 기초하여 변위되는 다수의 동작아암을 포함하는 플레이백 로보트에 있어서, 상기 로보트이 각각의 동작아암의 변위를 교습하기 위해, 로보트가 각각의 동작아암의 종지부 부근에 설정되는 스트로크 한계를 포함하고, 로보트용 제어기가 교습동작중 상기 스트로크 한계검출에 응답하여 경보를 작동시키고 데이터가 저장동작을 중단하며, 이때, 스트로크 한계가 검출되지 않은 동작아암용 제동수단이 작동되고, 스크로크 한계가 검출되지 않은 동작아암이 양쪽 스트로크 한계간에 한정되는 동작범위내로 복귀될 때 상기 경보가 작동상태에서 자동 해제되고, 상기 제어기가 상기 데이타 저장동작을 다시 시작하게 되는 것을 특징으로 하는 플레이백 로보트.A playback robot comprising a plurality of operating arms, each movement taught in advance and displaced based on the teaching, wherein the robot is located near the end of each operating arm in order to teach the displacement of each operating arm. And a stroke limit set in the robot controller, wherein the robot controller activates an alarm in response to the stroke limit detection during the teaching operation, and the data stops the storing operation. And when the operating arm for which the stroke limit is not detected returns to within the operating range defined between both stroke limits, the alarm is automatically released from the operating state, and the controller restarts the data storing operation. Playback robot. ※ 참고사항 : 최초출원 내용에 의하여 공개하는 것임.※ Note: The disclosure is based on the initial application.
KR1019900002788A 1989-03-03 1990-03-03 Play back robot KR960012702B1 (en)

Applications Claiming Priority (6)

Application Number Priority Date Filing Date Title
JP1-49880 1989-03-03
JP49880/1989 1989-03-03
JP1049880A JP2664985B2 (en) 1989-03-03 1989-03-03 Teaching playback robot
JP224614/1989 1989-09-01
JP22461489A JP2665001B2 (en) 1989-09-01 1989-09-01 Teaching playback robot
JP1-224614 1989-09-01

Publications (2)

Publication Number Publication Date
KR900014087A true KR900014087A (en) 1990-10-22
KR960012702B1 KR960012702B1 (en) 1996-09-24

Family

ID=26390326

Family Applications (1)

Application Number Title Priority Date Filing Date
KR1019900002788A KR960012702B1 (en) 1989-03-03 1990-03-03 Play back robot

Country Status (3)

Country Link
KR (1) KR960012702B1 (en)
CN (1) CN1023517C (en)
GB (1) GB2229296B (en)

Families Citing this family (9)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
FR2671305B1 (en) * 1991-01-09 1995-04-07 Commissariat Energie Atomique METHOD FOR DRIVING A ROBOT ARM BY DEFINING SUBSTITUTION PATHS.
US6535794B1 (en) 1993-02-23 2003-03-18 Faro Technologoies Inc. Method of generating an error map for calibration of a robot or multi-axis machining center
US5495410A (en) * 1994-08-12 1996-02-27 Minnesota Mining And Manufacturing Company Lead-through robot programming system
DE4433917A1 (en) * 1994-09-23 1996-03-28 Zeiss Carl Fa Method for measuring workpieces with a hand-held coordinate measuring machine
FR2833362B1 (en) * 2001-12-10 2004-02-20 Somfy END OF STROKE LEARNING METHOD AND DEVICE FOR IMPLEMENTING THE METHOD
JP3923053B2 (en) * 2004-03-31 2007-05-30 ファナック株式会社 Robot teaching device
SE529122C2 (en) * 2004-09-24 2007-05-02 Jokab Safety Ab Protective device for area restriction and surveillance
CN103823464A (en) * 2012-11-16 2014-05-28 苏州宝时得电动工具有限公司 Self-driven mobile apparatus
CN106113044A (en) * 2016-08-23 2016-11-16 重庆盛学科技有限公司 Commercial Application teaching robot's control method

Family Cites Families (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
KR890002025B1 (en) * 1982-02-26 1989-06-08 미쯔비시 덴끼 가부시기바이샤 Welding torch

Also Published As

Publication number Publication date
CN1054681A (en) 1991-09-18
KR960012702B1 (en) 1996-09-24
CN1023517C (en) 1994-01-12
GB9004793D0 (en) 1990-04-25
GB2229296B (en) 1993-08-11
GB2229296A (en) 1990-09-19

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