Industrial robot apparatus
AssigneeMitsubishi Denki Kabushiki Kaisha
InventorsNobuo Yagi, Teruo Kurihara, Hisao Kato
Life of this patent
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Abstract
An industrial robot apparatus comprise for controlling an industrial robot and a peripheral unit thereof according to a program so as to load workpieces on a pallet, an abnormal stop unit for detecting an abnormality which occurs in at least either of the industrial robot and the peripheral unit and for stopping both the industrial robot and the peripheral unit, a storage unit for storing a step of the program which is being executed when the abnormal stop takes place, and a removal unit for removing remaining workpieces to be loaded on the pallet in steps following the stored step of the storage unit.
Claims5
An industrial robot apparatus for loading workpieces on a pallet and adapted for use with an industrial robot and a peripheral unit for supplying said workpieces to said industrial robot, said apparatus comprising:
- control means for controlling said industrial robot and said peripheral unit associated with said industrial robot by using a program to load the workpieces on the pallet;
- abnormal stop means for detecting an abnormality which occurs in at least one of said industrial robot and said peripheral unit and for stopping both said industrial robot and said peripheral unit;
- storage means for storing a step of said program which is being executed when said abnormal stop occurs;
- and
- removal means for removing remaining workpieces from said peripheral unit which have not been loaded on said pallet in steps of the program following said step stored in said storage means, wherein said control means actuates said removal means to remove all of said remaining workpieces from said peripheral unit upon detection of said abnormality by said stop means.
Dependencies are inferred from the claim text.