Safety maintaining apparatus for automatic machines
AssigneeHitachi, Ltd.
InventorTakashi Kogawa
Life of this patent
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Abstract
Each of some automatic machines, such as an industrial robot of the type having a servo-amplifier (4) controlled by a central processing unit (1) through a servo-control (3), has a plurality of control modes for moving a movable part (50), for example, teaching and playback modes. In the specified control mode, for example, the teaching mode, the velocity or driving force of the movable part (50) is restrained directly via a man-machine interface (7) by controlling either or both of the servo-amplifier (4) and a power source (5) to regulate driving energy supplied by a servo-motor (8) to the movable part (50) so as to mitigate danger to a person who is near the movable part.
Claims18
In an automatic machine having a movable part driven by a servo-control system and which operates in a plurality of different modes, a safety maintaining apparatus for an automatic machine, characterized by:
- means for generating a mode signal indicative of a specified one of a plurality of control modes;
- and
- means for limiting a velocity of a servomotor in response to reception of the mode signal, the limiting means being arranged in a loop of a servo-amplifier which feeds driving energy to said servomotor for driving said movable part.
In an automatic machine having a movable part driven by a servo-control system and which operates in a plurality of different modes, a safety maintaining apparatus for an automatic machine characterized by:
- means for generating a mode signal indicative of a specified one of a plurality of control modes;
- and
- means for limiting a driving force of a servomotor in response to generation of the mode signal, the limiting means being arranged in a loop of a servo-amplifier which feeds driving energy to said servomotor for driving said movable part.
Dependencies are inferred from the claim text.