TW202319849A - 具有互鎖功能之產業用機器人之控制裝置及產業用機器人之控制方法 - Google Patents

具有互鎖功能之產業用機器人之控制裝置及產業用機器人之控制方法 Download PDF

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Publication number
TW202319849A
TW202319849A TW111129686A TW111129686A TW202319849A TW 202319849 A TW202319849 A TW 202319849A TW 111129686 A TW111129686 A TW 111129686A TW 111129686 A TW111129686 A TW 111129686A TW 202319849 A TW202319849 A TW 202319849A
Authority
TW
Taiwan
Prior art keywords
robot
program
interlock
execution
control device
Prior art date
Application number
TW111129686A
Other languages
English (en)
Chinese (zh)
Inventor
頼陽一
来海玲旺
Original Assignee
日商發那科股份有限公司
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 日商發那科股份有限公司 filed Critical 日商發那科股份有限公司
Publication of TW202319849A publication Critical patent/TW202319849A/zh

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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—Program-controlled manipulators
    • B25J9/16—Program controls
    • B25J9/1674—Program 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
    • B25J19/00—Accessories fitted to manipulators, e.g. for monitoring, for viewing; Safety devices combined with or specially adapted for use in connection with manipulators
    • B25J19/06—Safety devices
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39091—Avoid collision with moving obstacles
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39099—Interlocks inserted in movement process if necessary to avoid collision
    • 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
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39135—For multiple manipulators operating at same time, avoid collision

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • Numerical Control (AREA)
TW111129686A 2021-09-07 2022-08-08 具有互鎖功能之產業用機器人之控制裝置及產業用機器人之控制方法 TW202319849A (zh)

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
WOPCT/JP2021/032899 2021-09-07
PCT/JP2021/032899 WO2023037418A1 (ja) 2021-09-07 2021-09-07 インタロック機能を有する制御装置及び制御方法

Publications (1)

Publication Number Publication Date
TW202319849A true TW202319849A (zh) 2023-05-16

Family

ID=85507303

Family Applications (1)

Application Number Title Priority Date Filing Date
TW111129686A TW202319849A (zh) 2021-09-07 2022-08-08 具有互鎖功能之產業用機器人之控制裝置及產業用機器人之控制方法

Country Status (6)

Country Link
US (1) US20250128417A1 (https=)
JP (1) JP7691507B2 (https=)
CN (1) CN117882018A (https=)
DE (1) DE112021007883T5 (https=)
TW (1) TW202319849A (https=)
WO (1) WO2023037418A1 (https=)

Family Cites Families (10)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS5769312A (en) * 1980-10-13 1982-04-28 Fanuc Ltd Numerical controller incorporating optional block skipping function
JP2868527B2 (ja) * 1989-03-23 1999-03-10 ファナック株式会社 数値制御装置
JPH0325509A (ja) * 1989-06-22 1991-02-04 Fanuc Ltd 数値制御装置の逆行運転制御方法
JP2628926B2 (ja) * 1990-04-26 1997-07-09 ファナック株式会社 加工ヘッドの干渉防止方式
JPH0871979A (ja) 1994-09-09 1996-03-19 Nissan Motor Co Ltd ロボットコントローラ
JPH1011124A (ja) * 1996-06-20 1998-01-16 Fanuc Ltd ロボットの後退実行機能を備えたロボット制御装置
JPH10260714A (ja) 1997-03-21 1998-09-29 Nissan Motor Co Ltd ロボット干渉域設定プログラム作成方法
JP2000137514A (ja) 1998-10-30 2000-05-16 Ube Ind Ltd ロボット制御方法
JP5807337B2 (ja) 2011-02-14 2015-11-10 株式会社ジェイテクト ロボット搬送装置
EP3722053B1 (en) 2017-12-08 2025-04-30 Fuji Corporation CONTROL DEVICE, WORKPIECE OPERATION DEVICE, WORKPIECE OPERATION SYSTEM, AND CONTROL METHOD

Also Published As

Publication number Publication date
JP7691507B2 (ja) 2025-06-11
JPWO2023037418A1 (https=) 2023-03-16
WO2023037418A1 (ja) 2023-03-16
US20250128417A1 (en) 2025-04-24
CN117882018A (zh) 2024-04-12
DE112021007883T5 (de) 2024-04-11

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