Industrial robot system

• US 5,086,262 A
• Filed: 07/25/1990
• Issued: 02/04/1992
• Est. Priority Date: 07/27/1989
• Status: Expired due to Fees

• Current Assignee: Nachi-Fujikoshi Corporation
• Original Assignee: Nachi-Fujikoshi Corporation
• Inventors: Ishiguro, Kazuya, Koizumi, Tatsuya, Hariki, Kazuo, Kanitani, Kiyoshi
• Primary Examiner(s): Ip, Paul
• Application Number:
  US07/557,071
• Time in Patent Office: 559 Days
• Field of Search: 318/41, 318/562, 318/564, 318/568.11, 318/568.12, 318/568.2, 318/601, 318/616, 318/618, 364/573, 364/513, 901/3, 901/9, 901/12, 901/20, 901/21
• US Class Current: 318/568.1
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05B 2219/34314 Slow down, limit speed for energy saving

Abstract

An industrial robot system comprising a plurality of robots for conducting a work in cooperation with each other. A system clock is provided in the system, and clocks are provided in the respective robots. These clocks are counted up at the same cycle time, and are set for original points of the respective robots, which are the waiting positions thereof, and the clock values of the robots located in the respective positions during the drive operation. During the drive of the system, the system clock is advanced by adding a predetermined increment value thereto, and the respective robots held under the enabling condition, start the operations by advancing the robot clocks by adding the same increment value as that of the system clock.

Claims

1. A method for controlling an industrial robot system including a plurality of robots arranged for conducting a job in cooperation with each other, comprising the following steps of:

a) setting a system clock and a clock for each robot so that a predetermined increment value is added to each clock in every constant basic time period, each clock reaching a predetermined saturated value just within a cycle time of the system, and then each clock again starting to count from zero;

b) setting, for each of the robots, an original point clock value which is a waiting position for starting an operation, and setting respective positions of each robot during operation of that robot in accordance with clock values of the clock associated with that robot; and

c) advancing the system clock by adding thereto the predetermined increment value every constant basic time period during drive of the system, and advancing the clock of each robot by adding thereto the predetermined increment value whenever a robot corresponding to that clock is enabled.

2. The method according to claim 1, further comprising the step of:

(d) calculating a position which each robot reaches in every constant basic time period of a recycle operation, by following the steps of;

1) obtaining a difference between a clock value of a present step and a clock value of a next step for each robot;

2) obtaining a calculation number as to what multiple of the predetermined increment value of the clock corresponds to the difference;

3) obtaining an increment value of position by dividing a difference between a target position to be reached and a present position by the calculation number;

4) obtaining a first complementary point by adding the increment value of position to the present position; and

5) successively complementing the present position, calculating the present position synchronously with the clock of the corresponding robot and outputting the calculated position to the corresponding robot for the operation by replacing the calculation number with "1" minus the calibration number and repeatedly obtaining an n-th complementary point from step

     3) if "1" minus the calibration number is not zero.

3. The method according to claim 1, further comprising the steps of:

e) setting a safety operational range for each robot, within which, even when a stop command is generated during a recycle operation of the system, operation of the robot is continued, except for an emergency stop, from a present step to an original point step when it is judged that any operational interference and accidental release of a work may not occur; and

f) conducting a predetermined safety stop of the robot which suffers from an abnormality, transferring a stop signal to the other adjacent robots to avoid interference between the robots, determining whether any other robots are to stop or to continue operating until reaching their respective original points by judging whether or not the other robots are in the respective safety operational ranges, and preventing interference between adjacent robots by transmitting the stop command to other robots upstream and downstream from the robot with an abnormality.

4. The method according to claim 1, further comprising the step of:

g) setting availability/unavailability signals for controlling a supply of power to each robot, and during teaching operation, supplying power only to a robot to be taught.

5. The method according to claim 1, further comprising the steps of:

h) controlling information on a work, said controlling step including;

1) setting a work delivery association number representing which of the robots receives the work from a subject robot;

2) setting a transfer mode number defining a method of handling the work to an associated robot by releasing the work form the subject robot and picking up the work of the associated robot from the subject robot; and

3) obtaining data of work conditions representing whether the work is machined or not, whereby judging a condition of the work and a next process concerning the work at any time; and

j) synchronizing the clock of each robot and the system clock by, in the case where an associated robot holds the work during drive of the system, enabling the robot when the system clock reaches the original clock value of the robot, to start operating.

6. An industrial robot system comprising:

a plurality of robots each having at least one axis, arranged for performing a job in cooperation with each other;

a teaching controller for moving the robots to conduct teaching thereof and assigning a recordation of positions of the robots; and

a single robot controlling unit, said robot controlling unit comprising;

a) a system clock and a clock for each robot, a predetermined increment value being added to each clock every constant basic time period, each clock reaching a predetermined saturated value within a cycle time of the system and then each clock starting to count again from zero;

b) program forming means for correspondingly recording values of the clock of each robot in accordance with positions of the corresponding robot;

c) means for registering an original point of each robot corresponding to the clock thereof, by setting the original point which corresponds to a waiting position of the robot for starting operation and selecting any step of a program as the original point;

d) means for advancing the system clock during drive of the system by adding thereto a predetermined increment value every basic time period, and advancing the clock of each robot by adding thereto the predetermined increment value when the robot associated with that clock is enabled;

e) means for setting a safety operational range for each robot within which operation of the robot is continued except for an emergency stop, in the case where it is judged that, if continuing the operation up to the original point of the robot after a present step, even when a stop command is generated during a recycle operation of the system, any operational interference and an accidental release of work may not occur;

f) abnormality transferring means for conducting a predetermined safety stop of the robot which suffers from an abnormality, transferring a stop signal to the other adjacent robots to avoid interference between the robots, determining whether any other robots are to stop or to continue operating until reaching the respective original points by judging whether or not the other robots are in the respective safety operational ranges, and preventing interference between adjacent robots by transmitting the stop command to the other robots upstream and downstream from the robot having the abnormality;

g) means for setting availability/unavailability signals for controlling a supply of power to each robot, and during teaching operation, supplying power only to a robot to be taught; and

h) controlling means for controlling information on the work, said controlling means comprising;

1) means for obtaining a difference between a clock value of a present step and a clock value of a next step;

2) means for obtaining a calculation number as to what multiple of the predetermined increment of the clocks corresponds to the difference;

3) means for obtaining an increment value of position by dividing the difference between a target position to be reached and a present position by the calculation number;

4) means for obtaining a first complementary point by adding the increment value of position to the present position; and

5) means for successively complementing the position, calculating the position synchronous with the clock and outputting the calculated position to the robot for operation by subtracting "1" from the calculation number and repeatedly obtaining an n-th complementary point from

     3) if the subtracted number is not zero.

7. An apparatus according to claim 6, further comprising:

j) means for controlling information of the work, said controlling means including;

1) means for setting a work delivery association number representing a robot which receives the work from the subject robot;

2) means for setting a transfer mode number defining one of a method of handing the work to the associated robot by releasing the work from the subject robot and a method of picking up the work by the associated robot from the subject robot; and

3) means for obtaining data of work conditions representing whether the work is machined or not, whereby judging a condition of the work and a next process concerning the work at an time; and

j) means for synchronizing the clock of each robot and the system clock by, in the cane where the associated robot holds the work during drive of the system, enabling the robot at the time when the system clock reaches the original clock value of the robot to start operating.