Data processing: generic control systems or specific application – Specific application – apparatus or process – Robot control
Reexamination Certificate
2001-03-26
2003-07-01
Cuchlinski, Jr., William A (Department: 3661)
Data processing: generic control systems or specific application
Specific application, apparatus or process
Robot control
C700S256000, C700S264000, C318S568100, C318S568130, C318S568240, C074S490010, C074S490020, C701S023000
Reexamination Certificate
active
06587749
ABSTRACT:
FIELD OF THE INVENTION
The present invention relates to an industrial robot and a method of operating the industrial robot.
BACKGROUND OF THE INVENTION
In recent years, the improvement of maintenance has been increasingly demanded with respect to industrial robots.
Generally, a driving motor for industrial robots is equipped with a holding brake for holding the robot position when the power supply is turned off.
The configuration of a conventional robot will be described in the following with reference to FIG.
2
.
FIG. 2
shows a configuration of a prior art industrial robot. An industrial robot of conventional type comprises a control device
11
, hand control unit
15
, manipulator
12
, cable
13
, and connector
14
. The cable
13
connects the manipulator
12
and the control device
11
.
By using the hand control unit
15
of the control device
11
, the robot can be operated to change its position.
However, when the operator is unable to operate the robot by using the control device
11
as the control device
11
is in alarm mode, the control device
11
is not supplied with power, or the manipulator
12
is not connected to the control device
11
, the following two methods have been commonly employed to operate the robot.
One of the methods is such that the cable
13
which connects the manipulator
12
and the control device
11
of the robot is first disconnected, and after that, a voltage for releasing the holding brake is applied to the connector
14
connected to the holding brake, thereby releasing the holding brake. The other method is such that a means (a switch or the like) for releasing the holding brake is operated to release the holding brake. However, in these methods, it is generally required that the manipulator
12
be connected to the control device
11
and also that the control device
11
be supplied with power.
The means (a switch or the like) for releasing the holding brake is installed in the control device
11
or manipulator
12
. Manual releasing of a holding brake of such motor is one of the regulation items specified in some of the safety standards.
A method of releasing a holding brake of a driving motor for such prior art industrial robot involves the following problems.
In case the cable
13
which connects the manipulator
12
and the control device
11
of the robot is disconnected, and a voltage for releasing the holding brake is applied to the connector
14
connected to the holding brake, then it is necessary to separately prepare a power supply to generate the voltage for releasing the holding brake.
Further, similarly, in case the cable
13
which connects the manipulator
12
and the control device
11
of the robot is disconnected, and a voltage for releasing the holding brake is applied to the connector
14
connected to the holding brake, then it is necessary to disconnect the cable
13
and also to retrieve the pin number of connector
14
connected to the holding brake. Accordingly, it is not easy to release the holding brake.
Furthermore, when a means (a switch or the like) for releasing the holding brake is operated, it is absolutely required that the control device
11
be supplied with power. That is, in case the control device
11
is not supplied with power just after installation of the robot, and in case the manipulator
12
is not connected to the control device
11
, then it is difficult to change the position of the robot.
The present invention provides an industrial robot which can meet the requirement for easier maintenance.
SUMMARY OF THE INVENTION
An industrial robot in an embodiment of the present invention comprises:
(a) a robot body;
(b) a manipulator to control the operation of the robot body;
(c) a control device to control the manipulator;
(d) a first path disposed between the manipulator and the control device; and
(e) a second path disposed between a commercial power source and the manipulator.
Preferably, the voltage supplied from the commercial power source in the second path is applied to the manipulator, and then the robot body becomes freely movable without being controlled by the manipulator.
A method of operating an industrial robot of the present invention comprises:
(a) a step of feeding a robot system, wherein the robot system comprises
a robot body,
a manipulator to control the operation of the robot body,
a control device to control the manipulator,
a first path disposed between the manipulator and the control device, and
a second path disposed between a commercial power source and the manipulator;
(b) a step of operating the manipulator by controlling the control device by the first path, thereby controlling the operation of the robot body; and
(c) a step of freely moving the robot body without being controlled by the manipulator, applying a voltage from the commercial power source to the manipulator when it is unable to control the control device by the first path.
With the above configuration, the robot position can be easily changed by applying a voltage from a commercial power source. As a result, an industrial robot which assures easier maintenance may be obtained.
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Cuchlinski, Jr. William A
Marc McDieunel
Matsushita Electric - Industrial Co., Ltd.
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