Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1989-04-28
1990-06-05
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318628, 318112, 364513, 901 20, 901 23, G05B 1942
Patent
active
049317113
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to an industrial robot control apparatus for controlling paint robots and the like, and more particularly, to an industrial robot control apparatus able to carry out a safe, accurate teaching of a robot.
BACKGROUND ART
To operate a paint robot or the like, the operator holds a paint gun, teaches the required movements of the gun to the robot, and causes the robot to store the taught movements and to carry out the painting process in accordance with those stored movements. During the teaching operation, vectors of force are detected by a force sensor attached to the distal end of a robot arm, and are decoded by a control apparatus, which then causes the robot to act in the directions of the vectors.
In this system, however, since the robot is controlled by the control apparatus, an incorrect operation by the operator or a malfunction of the robot control apparatus may place the operator in danger, despite the low speed of the operation.
Further, since the robot is operated in the directions of the vectors of force detected as described above, the reactions of the robot during the operation are very slow, and thus a delicate positioning movement and accurate teaching are difficult.
DISCLOSURE OF THE INVENTION
The object of the present invention is to provide an industrial robot control apparatus which solves these problems, and is able to carry out a safe, accurate teaching of a robot.
To solve the aforementioned problems, according to the present invention, there is provided an industrial robot control apparatus for teaching an industrial robot and operating the robot in accordance with the teaching, which comprises stop condition, to thereby release a dynamic brake of a servomotor and release a brake, in response to a signal from the brake release switch, and
a teaching memory means for storing taught positions through the operation of the teaching switch.
According to the present invention, to begin a teaching operation, first the operator grips the teaching handle, whereby the brake release switch is activated and the servo amplifier is brought to an emergency stop condition in response to a signal from the switch, so that an output from the servo amplifier to the servomotor is cut off, and thus the servomotor is in a dynamically braked state.
Namely, the sequence control circuit releases the dynamic brake, and also releases the brake.
Accordingly, the operator is able to operate the robot as desired and teach required movements to the robot, and the robot stores the taught positions through operation of the teaching switch.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a block diagram of an industrial robot control apparatus according to one embodiment of the present invention; and
FIG. 2 is a diagram showing details of a teaching handle.
BEST MODE OF CARRYING OUT THE INVENTION
One embodiment of the present invention will now be described with reference to the drawings.
FIG. 1 shows a block diagram of an industrial robot control apparatus according to one embodiment of the present invention. In FIG. 1, numeral 1 denotes a sequence control circuit for controlling output to a servomotor and the like; 2 denotes an auxiliary brake control circuit which supplies power to a brake, described later; 3 denotes a relay for disconnecting a dynamic brake of the servomotor; 4 denotes a relay for switching the brake control to an automatic or manual mode; 5 denotes an amplifier power circuit which supplies power to a servo amplifier 6; 7 denotes a main brake control circuit for controlling the brake; and 8 denotes an intrinsically safe circuit, which lowers the voltage, current, etc., of signal lines below the level at which arcing will occur, to prevent explosions caused by an ignition of an evaporated solvent in a paint robot or the like, caused by sparking at electrical contacts therein.
Numeral 9 denotes a teaching handle provided with a teaching switch 10 and a brake release switch 11. When teaching required movements to the robot, the teaching switch 10 i
REFERENCES:
patent: 4476954 (1984-10-01), Johnson et al.
patent: 4510574 (1985-04-01), Guittet et al.
patent: 4602195 (1986-07-01), Eberle et al.
patent: 4737697 (1988-04-01), Maruo et al.
Fanuc Ltd
Ip Paul
Shoop Jr. William M.
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