知搜-全球专利检索

  1. 登录
  2. 注册

搜索结果

31 条记录 (耗时 0.018 秒)

    Method of controlling a robot in accordance with load conditions
    24.
    发明授权
    Method of controlling a robot in accordance with load conditions 失效
    根据负载条件控制机器人的方法

    公开(公告)号：US4956594A

    公开(公告)日：1990-09-11

    申请号：US332934

    申请日：1989-03-23

    申请人： Toru Mizuno ,  Haruyuki Ishikawa ,  Takashi Iwamoto

    发明人： Toru Mizuno ,  Haruyuki Ishikawa ,  Takashi Iwamoto

    IPC分类号： B25J9/16 ,  G05B19/18 ,  G05D3/12 ,  G05D13/00

    CPC分类号： B25J9/1638 ,  G05B2219/33119 ,  G05B2219/36511 ,  G05B2219/39178 ,  G05B2219/42033

    摘要： A robot control method for enabling a robot effectuate various operations, having load conditions which differ from one another, in accordance with optimum control conditions.A load condition, including the sum (W) of the weight of a robot hand and the weight of a workpiece, a distance (L) from the center point of the joint of the robot hand to the center of gravity of the hand and the workpiece, and a combined inertia (J) of the robot hand and the workpiece, is set for each of the robot operations and stored together with a group number indicating the load condition. To operate the robot, load condition commands, which are written in a program along with operation commands include a load condition control code and a group number. The control conditions are determined on the basis of the load conditions corresponding to the group numbers. The robot operations are then performed in accordance with the control conditions thus determined.

    Operation control apparatus for industrial robot
    25.
    发明授权
    Operation control apparatus for industrial robot 失效
    工业机器人操作控制装置

    公开(公告)号：US4546443A

    公开(公告)日：1985-10-08

    申请号：US428508

    申请日：1982-09-29

    申请人： Yukio Oguchi ,  Kazuyoshi Yasukawa

    发明人： Yukio Oguchi ,  Kazuyoshi Yasukawa

    IPC分类号： G05D3/12 ,  B25J9/16 ,  B25J9/18 ,  G05B19/416 ,  G05B19/18 ,  G06F15/46

    CPC分类号： G05B19/416 ,  G05B2219/36511 ,  G05B2219/43097 ,  G05B2219/45083

    摘要： An operation control apparatus for industrial robot in which a speed pattern optimum for the particular task to be performed is utilized. The operational control apparatus includes a plurality of operating program memories for storing completed operating programs compiled by a separate programming device, a speed pattern memory for storing plural speed patterns, a changeover signal generator which generates a changeover signal in response to a predetermined sensed operating parameter of the industrial robot or in response to operation of manual changeover switch, and a changeover circuit for selecting an optimum speed pattern in response to the changeover signal. Rising and falling slopes of the speed patterns can be made different from one another so that the arm of the industrial robot can be moved at a greater speed when it is not in contact with a workpiece than when it is actively manipulating a workpiece.

    摘要翻译： 一种用于工业机器人的操作控制装置，其中利用要执行的特定任务最佳的速度模式。 操作控制装置包括多个操作程序存储器，用于存储由单独的编程装置编译的完成的操作程序，用于存储多个速度模式的速度模式存储器，转换信号发生器，其响应于预定的感测操作参数产生转换信号 或者响应于手动切换开关的操作，以及用于响应于切换信号选择最佳速度模式的切换电路。 速度图案的上升和下降斜率可以彼此不同，使得当工业机器人的臂不与工件接触时可以以比主动操纵工件时更大的速度移动臂。

    Program selection arrangement for manipulator apparatus
    27.
    发明授权
    Program selection arrangement for manipulator apparatus 失效
    操纵器装置的程序选择装置

    公开(公告)号：US3654616A

    公开(公告)日：1972-04-04

    申请号：US3654616D

    申请日：1970-06-29

    申请人： UNIMATION INC

    发明人： DUNNE MAURICE J ,  CORRELL ROBERT E ,  PICARD JOSEPH ALBERT JR

    IPC分类号： B25J9/16 ,  G05B19/16 ,  G05B19/418 ,  G05B19/42 ,  B25J9/00 ,  G06F15/46

    CPC分类号： G05B19/4182 ,  B25J9/1602 ,  B25J9/1664 ,  G05B19/16 ,  G05B19/42 ,  G05B2219/36045 ,  G05B2219/36498 ,  G05B2219/36511 ,  G05B2219/36569 ,  G05B2219/45083 ,  G05B2219/45135 ,  Y02P90/083

    摘要： Manipulator apparatus is provided wherein a number of multi-step programs for controlling movement of the manipulator arm in desired patterns of movement are available. Facilities are provided for automatically selecting any one of the programs in a random manner in respect to externally developed signals representing such programs. In a particular embodiment, the programs available control movement of the arm to perform different patterns of spot welding operations in accordance with automobile bodies randomly distributed on a production line conveyor. The control system also functions automatically to perform a spot welding operation at certain program steps in accordance with recorded spot weld control signals and without requiring a separate program step for a spot welding instruction, thereby substantially decreasing the number of program steps required to carry out a given pattern. Facilities are also provided for preventing double or multiple welds in response to a single position instruction or program step of the manipulator arm. In accordance with a further embodiment, the manipulator apparatus is arranged to select different programs in a predetermined sequence but also responds to control signals indicating the presence or absence of certain external conditions associated with the programmed operations to skip one or more programs until the external conditions are changed.

    摘要翻译： 提供了一种机械手装置，其中用于控制机械手臂的运动的多个步骤程序可用于期望的运动模式。 提供了用于以代表这样的程序的外部显示的信号以随机方式自动选择任何一个程序的设施。 在特定实施例中，可利用的程序控制臂的运动，以根据随机分布在生产线输送机上的汽车车身执行不同的点焊操作模式。 控制系统还可以根据记录的点焊控制信号自动执行特定程序步骤的点焊操作，并且不需要用于点焊指令的单独的程序步骤，从而大大减少了执行点焊步骤所需的程序步骤数 给定模式 还提供了用于响应于操纵臂的单个位置指令或程序步骤来防止双重或多个焊接的设施。