Synchronous control device for robots
AssigneeAida Engineering, Ltd.
InventorYoshiharu Hashimukai
Life of this patent
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Abstract
A synchronous control unit receives data describing robot motion and speed along a pathway. A storage unit stores the data. In accordance with an internal clock or encoder equivalent internal to the robot, an output unit outputs the data to a positioning controller thereby synchronizing the robot movement with the data.
Claims8
A synchronous control device, comprising:
- an internal clock;
- said internal clock defining increments of time;
- each said increment of time defining a motion of an outside element;
- means for storing data characterizing at least one of a position and a speed history of said outside element;
- means for outputting said data to a positioning controller in accordance with said internal clock;
- and
- said positioning controller controlling said outside element, whereby a position of said outside element is continuously synchronized with said data.
A synchronous control device, comprising:
- an encoder signal;
- said encoder signal defining increments of time;
- each said increment of time defining a motion of an outside element;
- means for storing data characterizing at least one of a position and a speed history of said outside element;
- means for outputting said data to a positioning controller in accordance with said encoder signal;
- and
- said positioning controller controlling said outside element, whereby a position of said outside element is continuously synchronized with said data.
A synchronous control device, comprising:
- means for storing data characterizing a path of a robot;
- a clock;
- means for outputting said data to a positioning controller responsive to said clock;
- and
- said positioning controller commanding a control source for said robot, whereby said robot is continuously synchronized with said data.
A robot controller for controlling first and second robots serving a common machine tool, said first and second robots being capable of collision with each other or with said machine tool, comprising:
- a command generator for generating a first and a second commands;
- said first robot being responsive to said first command;
- said second robot being responsive to said second command;
- and
- said first and second commands being preprogrammed to avoid said collision.
A synchronous control device for a robot, for control of a work-transporting robot provided between press machines and having a drive source, comprising:
- an internal clock being of a type equivalent to a motion speed of said robot;
- a positioning controller being of a type which outputs a command signal to a drive source for said robot;
- means for storage being of a type which stores position data describing a pathway motion of said robot;
- and
- means for output being of a type which outputs said position data to said positioning controller in accordance with said internal clock.
A synchronous control device for a robot, for control of a work-transporting robot provided between press machines and having a drive source, comprising:
- an encoder signal being of a type equivalent to a motion speed of said robot;
- a positioning controller being of a type which outputs a command signal to a drive source for said robot;
- means for storage being of a type which stores position data describing a pathway motion of said robot;
- and
- means for output being of a type which outputs said position data to said positioning controller in accordance with said encoder signal;
- said internal clock is replaced with a signal of an encoder detecting a crank angle of a press machine.
Dependencies are inferred from the claim text.