WO1995011114A1 - Dispositif pour robot - Google Patents
Dispositif pour robot Download PDFInfo
- Publication number
- WO1995011114A1 WO1995011114A1 PCT/JP1994/001677 JP9401677W WO9511114A1 WO 1995011114 A1 WO1995011114 A1 WO 1995011114A1 JP 9401677 W JP9401677 W JP 9401677W WO 9511114 A1 WO9511114 A1 WO 9511114A1
- Authority
- WO
- WIPO (PCT)
- Prior art keywords
- robot
- connector
- control unit
- robot mechanism
- robot control
- Prior art date
Links
- 238000009434 installation Methods 0.000 description 8
- 230000008878 coupling Effects 0.000 description 2
- 238000010168 coupling process Methods 0.000 description 2
- 238000005859 coupling reaction Methods 0.000 description 2
- 238000010586 diagram Methods 0.000 description 2
- 238000005516 engineering process Methods 0.000 description 2
- 238000012423 maintenance Methods 0.000 description 1
- 238000009958 sewing Methods 0.000 description 1
Classifications
-
- 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
- G05B19/18—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form
- G05B19/409—Numerical control [NC], i.e. automatically operating machines, in particular machine tools, e.g. in a manufacturing environment, so as to execute positioning, movement or co-ordinated operations by means of programme data in numerical form characterised by using manual data input [MDI] or by using control panel, e.g. controlling functions with the panel; characterised by control panel details or by setting parameters
-
- B—PERFORMING OPERATIONS; TRANSPORTING
- B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
- B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
- B25J13/00—Controls for manipulators
-
- 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
Definitions
- the present invention relates to a robot device, and particularly to a robot device that does not require a connection cable for connecting a robot mechanism and a robot controller.
- the robot controller in order to control the robot mechanism by the robot controller, the robot controller must be electrically connected to the robot controller outside the operating range of the robot mechanism, for example, outside the safety fence, using a connection cable.
- the operation command of the robot controller is given to the robot mechanism via a connection cable.
- the connection cables are routed through equipment such as cable ducts or grooves provided on the floor where the robot is installed for protection, and both ends are terminated by connectors, respectively. Connected to the connector of the mechanism.
- the robot control unit is usually installed outside the safety fence provided to surround the robot mechanism, on the floor where the robot mechanism is located, and on the sidewalk of the specified worker. If there is no such place, a tower may be installed above the robot mechanism and installed on this tower. In any case, the robot mechanism and the robot controller farther away are connected by a connection cable, which is protected by the connection cable. Equipment is provided.
- the conventional robot controller Since the conventional robot controller is installed at a position distant from the robot mechanism, it always requires a connection cable, and therefore requires a space for installing the connection cable and equipment for protection. I was In addition, since the robot control unit needs to be installed outside the operating range of the robot, it is necessary to secure a space for installing the robot control unit.
- connection cable has a large weight per unit length, and if the distance between the robot control unit and the robot mechanism unit is, for example, 20 meters, it will be several ten kilograms, which will be several kilograms. Handling of connection cables for removal and re-installation is not easy.
- moving the robot control unit or the mouth bot mechanism by, for example, one meter requires a large amount of work. In places where dozens of robots are installed, such as on a production line, work becomes more difficult. Disclosure of the invention
- the present invention has been made in view of such a point, and an object of the present invention is to provide a robot device that does not require a connection cable for connecting a robot mechanism and a robot controller.
- the present invention provides a robot apparatus in which a robot mechanism and a mouth robot controller are electrically connected to each other to control the operation of the robot mechanism by the robot controller.
- a robot control unit having a connector or the like to be coupled and having a location that is a blind spot in the operating range of the robot mechanism and adjacent to the robot mechanism as an installation location. Is provided.
- FIG. 1 is a perspective view showing the configuration of a robot device of the present invention
- Fig. 2 (A) and Fig. 2 (B) are diagrams for explaining the installation position of the robot controller.
- FIG. 3 is a perspective view showing another embodiment of the robot apparatus of the present invention.
- FIG. 1 is a perspective view showing the configuration of the robot device of the present invention.
- reference numeral 1 denotes a robot mechanism, which includes an arm, a drive unit for driving the arm, various sensors (not shown), and a control signal, etc., at the bottom of the robot mechanism 1. And a connector 2 for outputting sensor signals is fixed.
- Reference numeral 3 denotes a robot control unit, which includes a control circuit 4 and a servo amplifier 5 therein.
- a connector 6 is provided on the side of the robot control unit 3. The connector 6 is fixedly provided facing the connector 2 of the robot mechanism 1, and is directly connected to the connector 2 of the robot mechanism 1.
- the control signal from the control circuit 4 is amplified by the servo amplifier 5, and then supplied to the robot mechanism 1 via the connectors 6 and 2, and the robot mechanism 1 controls the control signal.
- the drive unit Upon receiving the signal, the drive unit is controlled and driven.
- the robot mechanism 1 and the robot controller 3 are placed. It is preferable to provide a guide means such as a slide rail on which the base and the mouth-bot control unit 3 are slidably mounted.
- FIGS. 2 (A) and 2 (B) are diagrams for explaining the installation position of the robot control unit.
- FIG. 2 (A) is a plan view of the robot device viewed from above
- FIG. 2 (B) is a side view of the robot device viewed from the side.
- the robot mechanism 1 has a horizontal operation range 7 and a vertical operation range 8 indicated by arrows, and the tip of the arm or hand rotates within these operation ranges 7 and 8.
- the robot controller 3 is located outside the operating ranges 7 and 8 of the mouth robot mechanism 1 and as close to the robot mechanism 1 as possible. are doing.
- This installation site is originally a place where workers cannot enter, but inside the safety fence provided around the robot mechanism 1 for safety. Therefore, the place where the robot control unit 3 is installed is outside the operating ranges 7 and 8 of the robot mechanism unit 1 and can be said to be a blind spot that cannot be used in the robot system.
- FIG. 3 is a perspective view showing another embodiment of the robot apparatus of the present invention.
- the same parts as those in FIG. 1 are denoted by the same reference numerals.
- the connector 2 of the robot mechanism 1 is not fixedly installed on the robot mechanism 1. That is, the connector 2 is mechanically free only by terminating the internal wiring cable.
- the connector 6 of the robot control unit 3 is also fixedly mounted on the robot control unit 3 so that the door 9 can be opened and the cable of the internal wiring can be pulled out to the outside. ing.
- the connectors 2 and 6 are fixed. Although the stress concentration on the connectors 2 and 6 is eliminated by making the connector free, the connector 2 of the mouth-bottom mechanism 1 or the connector 6 of the robot controller 3 is another example. Of course, the same effect can be obtained even if either one of them is fixed.
- the robot control unit is provided in a place where the robot control unit cannot be used originally, that is, in a place where a blind spot of the operation range of the robot mechanism unit is provided and the robot control unit is provided. Since it is installed in an adjacent location, there is no need for a dedicated installation space for installing the robot control unit, and limited sites and spaces such as factories can be used effectively.
- connection cable that was installed by sewing in a narrow place is not required, installation work for the connection cable is unnecessary, and equipment such as a cable duct is not required, thereby simplifying the equipment. Therefore, it is possible to install a robot device at low cost for the result and sharpness.
- the robot mechanism and the robot controller can be easily separated by removing their connectors, for example, the robot controller can be inserted into another hardware-compatible robot controller.
- the robot controller can be inserted into another hardware-compatible robot controller.
Landscapes
- Engineering & Computer Science (AREA)
- Robotics (AREA)
- Mechanical Engineering (AREA)
- Human Computer Interaction (AREA)
- Manufacturing & Machinery (AREA)
- Physics & Mathematics (AREA)
- General Physics & Mathematics (AREA)
- Automation & Control Theory (AREA)
- Manipulator (AREA)
Description
Claims
Priority Applications (5)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
US08/436,459 US5608299A (en) | 1993-10-18 | 1994-10-06 | Robot apparatus |
KR1019950702241A KR950704092A (ko) | 1993-10-18 | 1994-10-06 | 로봇 장치(Robot Apparatus) |
DE69408301T DE69408301T2 (de) | 1993-10-18 | 1994-10-06 | Robotereinrichtung |
EP94929013A EP0679481B1 (en) | 1993-10-18 | 1994-10-06 | Robot apparatus |
KR1019950702241A KR0152157B1 (ko) | 1993-10-18 | 1994-10-06 | 로봇 장치 |
Applications Claiming Priority (2)
Application Number | Priority Date | Filing Date | Title |
---|---|---|---|
JP5/259635 | 1993-10-18 | ||
JP5259635A JPH07112392A (ja) | 1993-10-18 | 1993-10-18 | ロボット装置 |
Publications (1)
Publication Number | Publication Date |
---|---|
WO1995011114A1 true WO1995011114A1 (fr) | 1995-04-27 |
Family
ID=17336807
Family Applications (1)
Application Number | Title | Priority Date | Filing Date |
---|---|---|---|
PCT/JP1994/001677 WO1995011114A1 (fr) | 1993-10-18 | 1994-10-06 | Dispositif pour robot |
Country Status (6)
Country | Link |
---|---|
US (1) | US5608299A (ja) |
EP (1) | EP0679481B1 (ja) |
JP (1) | JPH07112392A (ja) |
KR (2) | KR0152157B1 (ja) |
DE (1) | DE69408301T2 (ja) |
WO (1) | WO1995011114A1 (ja) |
Families Citing this family (7)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPH0811074A (ja) * | 1994-06-29 | 1996-01-16 | Fanuc Ltd | ロボットシステム |
JPH09300273A (ja) * | 1996-05-13 | 1997-11-25 | Nachi Fujikoshi Corp | 産業用ロボット |
JPH10315180A (ja) * | 1997-05-21 | 1998-12-02 | Fanuc Ltd | ロボット装置 |
JP4275207B2 (ja) * | 1997-10-29 | 2009-06-10 | 株式会社安川電機 | 産業用ロボットおよび分割式コネクタ |
DE112007000394T5 (de) * | 2006-02-14 | 2008-12-24 | Kabushiki Kaisha Yaskawa Denki, Kitakyushu | Robotersystem |
JP5765356B2 (ja) * | 2013-03-19 | 2015-08-19 | 株式会社安川電機 | 筐体 |
JP2015024467A (ja) * | 2013-07-26 | 2015-02-05 | セイコーエプソン株式会社 | ロボット及びロボットの緊急停止方法 |
Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61284386A (ja) * | 1985-06-12 | 1986-12-15 | 株式会社日立製作所 | ロボツト |
JPH02298488A (ja) * | 1989-05-10 | 1990-12-10 | Mitsubishi Electric Corp | 制御ボックス |
JPH04105886A (ja) * | 1990-08-22 | 1992-04-07 | Mitsubishi Electric Corp | 走行ロボット |
Family Cites Families (4)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
US4379335A (en) * | 1980-10-28 | 1983-04-05 | Auto-Place, Inc. | Electronic controller and portable programmer system for a pneumatically-powered point-to-point robot |
JPH02198792A (ja) * | 1989-01-24 | 1990-08-07 | Mitsubishi Electric Corp | 産業用ロボットの可動部ケーブルの寿命予知装置 |
US5205701A (en) * | 1990-06-04 | 1993-04-27 | Canon Kabushiki Kaisha | Industrial robot |
JP2717459B2 (ja) * | 1991-04-24 | 1998-02-18 | ファナック株式会社 | 無線手動操作盤及び無線手動操作盤と数値制御装置との結合方法 |
-
1993
- 1993-10-18 JP JP5259635A patent/JPH07112392A/ja active Pending
-
1994
- 1994-10-06 US US08/436,459 patent/US5608299A/en not_active Expired - Lifetime
- 1994-10-06 WO PCT/JP1994/001677 patent/WO1995011114A1/ja active IP Right Grant
- 1994-10-06 KR KR1019950702241A patent/KR0152157B1/ko active
- 1994-10-06 DE DE69408301T patent/DE69408301T2/de not_active Expired - Fee Related
- 1994-10-06 EP EP94929013A patent/EP0679481B1/en not_active Expired - Lifetime
- 1994-10-06 KR KR1019950702241A patent/KR950704092A/ko not_active IP Right Cessation
Patent Citations (3)
Publication number | Priority date | Publication date | Assignee | Title |
---|---|---|---|---|
JPS61284386A (ja) * | 1985-06-12 | 1986-12-15 | 株式会社日立製作所 | ロボツト |
JPH02298488A (ja) * | 1989-05-10 | 1990-12-10 | Mitsubishi Electric Corp | 制御ボックス |
JPH04105886A (ja) * | 1990-08-22 | 1992-04-07 | Mitsubishi Electric Corp | 走行ロボット |
Non-Patent Citations (1)
Title |
---|
See also references of EP0679481A4 * |
Also Published As
Publication number | Publication date |
---|---|
KR950704092A (ko) | 1995-11-17 |
JPH07112392A (ja) | 1995-05-02 |
KR0152157B1 (ko) | 1998-10-15 |
EP0679481B1 (en) | 1998-01-28 |
DE69408301D1 (de) | 1998-03-05 |
EP0679481A4 (ja) | 1995-11-15 |
US5608299A (en) | 1997-03-04 |
EP0679481A1 (en) | 1995-11-02 |
DE69408301T2 (de) | 1998-05-14 |
Similar Documents
Publication | Publication Date | Title |
---|---|---|
US5749058A (en) | Robot safety system for connecting peripheral device to a robot controller | |
WO1995011114A1 (fr) | Dispositif pour robot | |
EP0700756A1 (en) | Control device for industrial robots | |
AU2016244301A1 (en) | Robotic inspection device | |
CN1142890C (zh) | 高空作业用悬臂的定位装置 | |
JPH09182058A (ja) | ガス絶縁送電線監視システム | |
KR0152156B1 (ko) | 로봇 장치 | |
JP2670692B2 (ja) | 産業用ロボットの操作盤 | |
JPH05221516A (ja) | 無人搬送車及び無人搬送車のアタッチメント取替システム | |
JP2548845Y2 (ja) | 橋梁添架設備点検装置用台車 | |
KR20120054526A (ko) | 제어 장치 및 그 제조 방법 | |
JP3009970B2 (ja) | ネジ締付装置 | |
JPS61211176A (ja) | 自動点検・作業装置 | |
JPH08175776A (ja) | エレベータの機械室 | |
CN213661038U (zh) | 一种用于电力检修的绝缘杆 | |
JP3071184B2 (ja) | クレーン制御システム | |
US20230415334A1 (en) | Multi-membered actuated kinematic system | |
CA1302809C (en) | Boiler tube wall inspection system | |
CN117901061A (zh) | 一种超大型钢结构表面检修机器人 | |
KR19980026039U (ko) | 로보트 콘트롤러와 기능조작반 간의 연장케이블 구조 | |
FI98007C (fi) | Virtapuomi | |
JPH0453026Y2 (ja) | ||
CN117320924A (zh) | 用于作业车辆的传感器组件 | |
KR810001475B1 (ko) | 수중용 가압 케이블 장치 | |
KR19980043111U (ko) | 장착이 용이한 차량용 메인퓨즈박스 |
Legal Events
Date | Code | Title | Description |
---|---|---|---|
AK | Designated states |
Kind code of ref document: A1 Designated state(s): KR US |
|
AL | Designated countries for regional patents |
Kind code of ref document: A1 Designated state(s): AT BE CH DE DK ES FR GB GR IE IT LU MC NL PT SE |
|
WWE | Wipo information: entry into national phase |
Ref document number: 08436459 Country of ref document: US |
|
WWE | Wipo information: entry into national phase |
Ref document number: 1994929013 Country of ref document: EP |
|
121 | Ep: the epo has been informed by wipo that ep was designated in this application | ||
WWP | Wipo information: published in national office |
Ref document number: 1994929013 Country of ref document: EP |
|
WWG | Wipo information: grant in national office |
Ref document number: 1994929013 Country of ref document: EP |