Operation control apparatus for robots

• US 4,567,418 A
• Filed: 08/15/1984
• Issued: 01/28/1986
• Est. Priority Date: 08/29/1983
• Status: Expired due to Fees

• Current Assignee: Hitachi, Ltd.
• Original Assignee: Hitachi, Ltd.
• Inventors: Takeichi, Kenzo, Yabe, Yuhiko, Yoshikawa, Yoshiaki, Takemoto, Akinobu
• Primary Examiner(s): Shoop, Jr., William M.
• Assistant Examiner(s): BERGMANN, SAUL
• Application Number:
  US06/640,884
• Time in Patent Office: 531 Days
• Field of Search: 318/685, 318/696, 118/109
• US Class Current: 318/685
• CPC Class Codes: B25J 9/042 comprising an articulated arm
• CPC Class Codes: B25J 9/044 with forearm providing vertical linear movement
• CPC Class Codes: B25J 9/12 electric
• CPC Class Codes: G05B 19/40 Open loop systems, e.g. using stepping motor
• CPC Class Codes: G05B 2219/33337 For each axis a processor, microprocessor
• CPC Class Codes: G05B 2219/45083 Manipulators, robot

Abstract

In a control apparatus controlling point-to-point movement of arms of a robot, stepping motors are used to drive the shafts of the robot arms respectively, and motor drivers drive the stepping motors according to a 1-2-phase excitation mode in a low speed range but according to a 2-phase excitation mode in an intermediate and a high speed range.

Claims

1. A robot operation control apparatus having control signal generating means and driver means for driving arms of a robot in a predetermined point-to-point movement in response to a control signal of said control signal generating means, wherein

each robot arm is provided with a stepping motor and said driver means, said arm being driven by said stepping motor, said stepping motor being excited by said driver means, said control signal generating means being associated with each said driver means,

said control signal generating means being provided for controlling each said driver means so that said driver means excites said stepping motor in 1-2-phase excitation mode at a predetermined low-speed range and in 2-phase excitation mode at a predetermined intermediate and high speed ranges, wherein a change from the 1-2-phase excitation mode to the 2-phase excitation mode occurs when two phases of said stepping motor are excited at a same time.

2. A robot operation control apparatus as claimed in claim 1, wherein said control signal generating means includes a single-chip microcomputer.

3. A rotor operation control apparatus as claimed in claim 1, wherein said stepping motor is 2-phase stepping motor.

4. A robot operation control apparatus as claimed in claim 2, wherein said stepping motor is 2-phase stepping motor.

5. A robot operation control apparatus according to any one of claims 1 to 4, wherein at least one horizontal arm and shafts of a vertical arm coupled to said horizontal arm, respectively, are driven by stepping motors.