Running type robot control system

• US 4,941,103 A
• Filed: 09/12/1988
• Issued: 07/10/1990
• Est. Priority Date: 09/11/1987
• Status: Expired due to Fees

• Current Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Original Assignee: Mitsubishi Denki Kabushiki Kaisha (Mitsubishi Electric Corporation)
• Inventors: Kato, Hisao
• Primary Examiner(s): MACDONALD, ALLEN R
• Application Number:
  US07/242,577
• Time in Patent Office: 666 Days
• Field of Search: 364/513, 364/461, 364/424.02, 901/49, 901/50, 180/167, 180/168, 318/587
• US Class Current: 700/248
• CPC Class Codes: B25J 9/1676 Avoiding collision or forbidden zones
• CPC Class Codes: G05B 19/4182 manipulators and conveyor only
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A running type robot control system in which a plurality of running type robots run along a common running path to actuate machines arranged at both sides of the running path cooperatively. With such a running type robot control system, while in service, the running type robots are controlled so that no interference occurs in service areas of the robots. Further, the running path is provided with turnouts at both ends thereof. When one of the robots is inoperative, the damaged robot is controlled to be directed to the turnout, and the remaining robot is controlled to cover all of the machines. Consequently, productivity or workability is improved remarkably.

Claims

1. A running type robot control system, comprising:

at least two running type robots running along a common running path, running ranges of said robots overlapping with each other;

present position detecting means for detecting respective present positions of said robots;

arithmetic calculating means for arithmetically calculating a relative distance between adjacent ones of said robots, based on outputs from said detecting means, the outputs representing the respective present positions of said robots; and

controlling means, coupled to said arithmetic calculating means, for controlling at least one of said robots which is adjacent to another of said robots so that the relative distance therebetween is maintained not smaller than a minimum predetermined standard distance.

2. A running type robot control system as defined in claim 1, wherein a control signal is supplied from said control means to said at least one robot in order that the running stage of said at least one robot receiving said control signal is limited forcibly.

3. A running type robot control system as defined in claim 1, wherein said present position detecting means detects the present position of said robots from an origin point determined on the running path.

4. A running type robot control system as defined in claim 1, wherein said controls means control the operation of said robots according to priority given to said robots.

5. A running type robot control system as defined in claim 1, wherein two robots are employed as said running type robots.

6. A running type robot control system as defined in claim 5, wherein said running path is provided with turnouts at both ends thereof, respectively.

7. A running type robot control system as defined in claim 6, further comprising a service area covering all machines to be actuated, said machines being arranged at both sides of said running path, wherein said two robots operate cooperatively in a normal operation condition to service all of the machines, whereas upon an occurrence of a fault in one of said robots, the damaged robot is controlled to be directed to one of the turnouts and the remaining robot is controlled to cover all of said machines.

8. A running type robot control system as defined in claim 7, wherein the normal operation, said running path of said robot is predesignated according to the machines to be actuated.