Synchronous control device for robots

• US 6,401,011 B1
• Filed: 11/28/2000
• Issued: 06/04/2002
• Est. Priority Date: 02/02/2000
• Status: Active Grant

• Current Assignee: AIDA Engineering Limited
• Original Assignee: AIDA Engineering Limited
• Inventors: Hashimukai, Yoshiharu
• Primary Examiner(s): Louis-Jacques, Jacques H.
• Assistant Examiner(s): Marc, McDieunel, Marc, McDieunel
• Application Number:
  US09/723,695
• Time in Patent Office: 553 Days
• Field of Search: 700/245, 700/248, 700/11, 700/17, 700/56, 700/83, 700/86, 700/292, 901/6, 901/8, 701/24, 701/25, 297/11, 297/83, 297/01, 297/84, 297/87, 292/40, 294/30, 318/587, 414/277, 414/281, 414/416.01
• US Class Current: 700/248
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: G05B 19/41825 machine tools and manipulators only, machining centre
• CPC Class Codes: G05B 2219/33083 Clock for microprocessor synchronized with pulses from encoder
• CPC Class Codes: G05B 2219/39105 Manipulator cooperates with moving machine, like press brake
• CPC Class Codes: G05B 2219/45142 Press-line
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
• CPC Class Codes: Y10T 29/49829 Advancing work to successive stations [i.e., assembly line]
• CPC Class Codes: Y10T 29/53365 Multiple station assembly apparatus
• CPC Class Codes: Y10T 29/53383 and means to fasten work parts together

Abstract

A synchronous control unit receives data describing robot motion and speed along a pathway. A storage unit stores the data. In accordance with an internal clock or encoder equivalent internal to the robot, an output unit outputs the data to a positioning controller thereby synchronizing the robot movement with the data.

Claims

1. A synchronous control device, comprising:

an internal clock;

said internal clock defining increments of time;

each said increment of time defining a motion of an outside element;

means for storing data characterizing at least one of a position and a speed history of said outside element;

means for outputting said data to a positioning controller in accordance with said internal clock; and

said positioning controller controlling said outside element, whereby a position of said outside element is continuously synchronized with said data.

2. A synchronous control device, comprising:

an encoder signal;

said encoder signal defining increments of time;

each said increment of time defining a motion of an outside element;

means for storing data characterizing at least one of a position and a speed history of said outside element;

means for outputting said data to a positioning controller in accordance with said encoder signal; and

said positioning controller controlling said outside element, whereby a position of said outside element is continuously synchronized with said data.

3. A synchronous control device, comprising:

means for storing data characterizing a path of a robot;

a clock;

means for outputting said data to a positioning controller responsive to said clock; and

said positioning controller commanding a control source for said robot, whereby said robot is continuously synchronized with said data.

4. A synchronous control device, according to claim 3, wherein:

means for storing data characterizing a path of a robot;

a encoder signal;

means for outputting said data to an positioning controller responsive to said encoder signal; and

said positioning controller commanding a control source for said robot, whereby said robot is continuously synchronized with said data.

5. A robot controller for controlling first and second robots serving a common machine tool, said first and second robots being capable of collision with each other or with said machine tool, comprising:

a command generator for generating a first and a second commands;

said first robot being responsive to said first command;

said second robot being responsive to said second command; and

said first and second commands being preprogrammed to avoid said collision.

6. Apparatus according to claim 5, further comprising:

a first means for producing a first signal indicating at least one of a position and a speed of said first robot;

a second means for producing a second signal indicating at least one of a position and a speed of said first robot; and

said command generator being responsive to said first and second signals to modify at least one of said first and second commands to avoid a collision when said first and second signals indicate that a collision is likely to occur.

7. A synchronous control device for a robot, for control of a work-transporting robot provided between press machines and having a drive source, comprising:

an internal clock being of a type equivalent to a motion speed of said robot;

a positioning controller being of a type which outputs a command signal to a drive source for said robot;

means for storage being of a type which stores position data describing a pathway motion of said robot; and

means for output being of a type which outputs said position data to said positioning controller in accordance with said internal clock.

8. A synchronous control device for a robot, for control of a work-transporting robot provided between press machines and having a drive source, comprising:

an encoder signal being of a type equivalent to a motion speed of said robot;

a positioning controller being of a type which outputs a command signal to a drive source for said robot;

means for storage being of a type which stores position data describing a pathway motion of said robot; and

means for output being of a type which outputs said position data to said positioning controller in accordance with said encoder signal;

said internal clock is replaced with a signal of an encoder detecting a crank angle of a press machine.