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US 4,347,578 AGranted
Industrial robot control system
AssigneeFujitsu Fanuc Limited
InventorHajimu Inaba
Life of this patent
Estimating the term…
Abstract
Teach data for directing the operation of an industrial robot is entered from a teach operating panel and set in a teaching memory. Machine work identify, insufficient machine work detect and other similar external data and data, such as the current and teach positions of the robot, are set in a work memory. A processor accomplishes write/read control of the teaching memory and the work memory and processing of the various data. In accordance with the result of processing by the processor, the robot is controlled and, in accordance with the contents of the external data, the teach data or the sequence by which the teach data controls is modified, thereby to efficiently operate the robot.
Claims21
An industrial robot control system comprising:
- (a) teach operating panel means for entering teach data;
- (b) teaching memory means for setting teach data entered from the teach operating panel means in a program having specified codes for automatically modifying the set teach data or sequence of the programmed teach data in accordance with additional data corresponding to the specified program codes for directing the operation of the robot;
- (c) means for entering and coding additional external data and data of the current position of the robot;
- (d) work memory means for setting the coded external data and the data of the current and teach position of the robot;
- and
- (e) processor means for write/read control of the contents of the teaching memory and work memory means and performing an arithemtic operation, wherein the processor controls the operation of the robot by processing the coded program of the teach data memory means to read the entered teach data and to modify the teach data or the sequence of the programmed teach data in accordance with the coded data read from the work memory means.
3 more elements
An industrial robot control system comprising:
- (a) teach operating panel means for entering teach data;
- (b) teach memory means for setting teach data entered by the teach operating panel means in a program having specified codes for automatically modifying the set teach data or sequence of the programmed teach data in accordance with additional data corresponding to the specified program codes for directing the operation of the robot;
- (c) means for entering and coding additional external data relating to machine work identity, insufficient machine work and abnormality detect information and data of the current position of the robot, said external data entering means comprising means for identifying machine work, means for detecting abnormalities, means for generating input signals corresponding to the identified machine work and detected abnormalities, machine operating panel means for generating an input signal indicating insufficient machine work, and a data input encoder having an input connected to the output of the machine operating panel and the signal generating means for identified machine work and detected abnormalities;
- (d) work memory means for setting the coded external data and the data of the current and teach position of the robot;
- (e) processor means for write/read control of the contents of the teaching memory and work memory means and performing an arithmetic operation, wherein the processor provides control signals for the operation of the robot by processing the coded program of the teach data memory means to read the entered teach data and to modify the teach data or the sequence of the programmed teach data in accordance with the coded data read from the work memory means;
- (f) position control means having an input from the processor means and an output to the robot for regulating the robot to its teach position in response to the signals received from the processor means;
- and
- (g) data output means having an input from the processor means and output to a motor for driving a hand of the robot to open, closed and rotatable positions in response to signals received from the processor means and wherein the data output means has output to a drive motor for the robot for further axial positioning of the robot in response to signals received from the processor means.
5 more elements
A method for controlling an industrial robot in a machine tool and workpiece exchange system comprising the steps of:
- (a) entering and storing teach data for operation of the robot in teach memory means in a program having specified codes for automatically modifying the stored teach data or sequence of the programmed teach data in accordance with data corresponding to the program codes read from work memory means;
- (b) entering and coding data of the current position of the robot and external data relating to machine work identity, insufficient machine work, and abnormality detection in data entry and coding means;
- (c) storing the coded data of the current position of the robot and coded external data in the work memory means;
- (d) processing by processor means the coded program from the teach memory means to read the teach data and modify the teach data or sequence of the programmed teach data in accordance with coded data read from the work memory means;
- and
- (e) automatically controlling the operation of the robot in accordance with the processed teach and external data program.
3 more elements
Dependencies are inferred from the claim text.