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US 4,442,387 AGranted
Safe programming system for industrial robots
AssigneeUnimation, Inc.
InventorTorsten H. Lindbom
Life of this patent
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AssigneeUnimation, Inc.
InventorTorsten H. Lindbom
Estimating the term…
A programmable manipulator is provided in which the manipulator arm is counter-balanced in all of its major axes and these axes are provided with low friction joints so that a relatively small force is needed to move the arm in each of its principal axes. A separate low power driving source is then used to move the arm during the teaching operation, this low power driving source being capable of developing the relatively small force needed to move the arm at low speed during the teaching operation, but being incapable of moving the arm at high speed or exerting a torque on said arm which will be potentially harmful to programming personnel. After the desired path has been taught, the manipulator apparatus is switched over to a playback mode wherein a second relatively high power source is employed to move the arm at relatively high speed during successive playback cycles. An interlock arrangement is provided for positively preventing the high power driving source from being used to move the arm during the teaching operation so that it is impossible for malfunctions in the control system or servo valves to cause a build-up of enough momentum in the arm to be harmful to the programming operator who may be in the path of such movement.
In a programmable manipulator apparatus, a manipulator arm movable in a plurality of axes, memory storage means having a plurality of command signals stored therein corresponding to different positions to which said arm is to be moved during a playback cycle, means for moving said manipulator arm in each of said axes, first power driving means controlled by said stored command signals and controlling said arm moving means so that said arm is moved to said different positions during a playback cycle, counterbalancing means for said manipulator arm which is effective to reduce the force required to move said arm in each of said axes during an initial teaching mode, and second low power driving means for controlling said arm moving means during said initial programming mode, the maximum force which can be exerted on said manipulator arm by said second low power driving means during said initial teaching mode being limited to a predetermined value which is insufficient to cause injury to teaching personnel.
In a programmable manipulator apparatus, the combination of, a manipulator arm movable in a plurality of axes, teach control means including first low power driving means for moving said arm to different positions along a desired path during an initial teaching operation, said low power driving means having a maximum power output which is incapable of moving said arm at a teaching speed which is harmful to human beings, and playback control means including second power driving means for moving said arm to said different positions during repetitive playback cycles at a playback speed which is substantially greater than the maximum speed obtainable with said first low power driving means during said initial teaching operation.
In a programmable manipulator, the combination of, a manipulator arm, a plurality of hydraulic actuators for moving said arm in a plurality of different axes, a low pressure hydraulic power source, teach control means including said low power source for controlling said actuators to move said arm to different positions along a desired path during an initial teaching operation, the maximum power output of said low power source being incapable of driving said actuators at a teaching speed which is harmful to human beings during said teaching operation, a high pressure hydraulic power source, and means including said high power source for controlling said actuators to move said arm to said different positions during repetitive playback cycles at a playback speed which is substantially greater than the maximum speed of said arm during said initial teaching operation.
In a programmable manipulator, the combination of, a manipulator arm, means including a plurality of electric motors for moving said arm in a plurality of different axes, a first electrical power supply, teach control means including said first power supply for driving said motors to move said arm to different positions along a desired path during an initial teaching operation, the maximum power output of said first power supply being insufficient to drive said arm at a teaching speed which is harmful to human beings during said teaching operation, a second electrical power supply having substantially greater maximum power output than said first power supply, and means including said second power supply for controlling said motors to move said arm to said different during repetitive playback cycles at a playback speed which is substantially greater than the maximum speed of said arm during said initial teaching operation.
Dependencies are inferred from the claim text.