Robot restarting method
AssigneeKawasaki Jukogyo Kabushiki Kaisha
InventorKoji Doi
Life of this patent
Estimating the term…
Abstract
When an emergency stop button 12 is pressed after a robot 1 passes a teaching point PN, and then reach a position PE, the robot 1 is stopped at a position PS diverted from the predetermined teaching route L. When the start button is pressed next, the robot 1 moves at a speed VL lower than a teaching speed Vt until it reaches a next first teaching point PN+1. Passing first teaching point PN+1, the robot 1 moves at the teaching speed Vt. The robot 1 moves at the low speed VL at a restarting time, so that an operator can check for interference between the robot 1 and the workpiece W. Passing the next first teaching point PN+1, the robot 1 moves at the teaching speed Vt, so that the reduction of the operation efficiency can be prevented.
Claims6
A robot restarting method for restarting a robot after the robot, moving at a predetermined teaching speed along a teaching route passing a plurality of preset teaching points, is stopped at a stop position during movement, comprising:
- a step of restarting said robot;
- a low speed moving step of moving said robot at a lower speed than said teaching speed until said robot reaches a next first reaching point of stop position;
- and
- a speed return step of accelerating said robot and returning said robot speed to said teaching speed.
A robot restarting method for restarting a robot after the robot, moving at a predetermined teaching speed along a teaching route passing a plurality of preset teaching points, is stopped at a stop position during movement, comprising:
- a step of restarting said robot;
- and
- a low speed moving step of moving said robot at a lower speed than said teaching speed until said robot reaches a next first reaching point of stop position, wherein said robot can change said speed by a restarting button, and said robot is moved by changing a speed of said robot by the restarting button in said low speed moving step.
A robot restarting method for restarting a robot after the robot, moving at a predetermined teaching speed along a teaching route passing a plurality of preset teaching points, is stopped at a stop position during movement, comprising:
- a step of restarting said robot;
- a low speed moving step of moving said robot at a lower speed than said teaching speed until said robot reaches a next first reaching point of stop position, wherein said robot is moved at the fixed acceleration in said low speed moving step, and said robot is moved continuously at the same acceleration as said acceleration in said low speed moving step until said robot reaches said teaching speed after said low speed moving step.
A robot restarting method for restarting a robot after the robot, moving at a predetermined teaching speed along a teaching route passing a plurality of preset teaching points, is stopped at a stop position during movement, comprising:
- a step of restarting said robot;
- and
- a low speed moving step of moving said robot at a lower speed than said teaching speed until said robot reaches a next first reaching point of stop position, wherein said robot is returned to a return position of said teaching route once from said stop position and then restarted from said return position.
Dependencies are inferred from the claim text.