Kabushiki Kaisha Yaskawa Denki

Michiharu Tanaka

Hirokazu Kariyazaki

Minoru Yamamoto

Kenji Matsukuma

Shinji Okumura

Yasuyuki Inoue

Hideo Nagata

Shingo Ando

Hiroyuki Handa

Ryuichi Morita

Shinichi Maehara

Shigenori Takayama

Akira Akashi

Keijiro Yuasa

Takeshi Horibe

Yukio Misumi

The safety of an operator which may be endangered by an erroneous instruction by the operator or a robot control system is ensured by making more stringent a condition regarding the separation of the operator from the vicinity of a robot when an operation program of the robot is activated. An interlock to which a condition regarding activation of the operation program of the robot is added is provided in a feeding unit which is connected to a robot controlling unit by wireless connection for charging a teaching unit, so as to provide a robot system which improves the safety of the operator.

Robot system

A robot system includes a robot and a robot controller including a drive unit, a memory that stores an arm-occupied region and a movement-forbidden region, a target position calculation unit that outputs a target position of a tool or a workpiece, a movement-forbidden region entry monitoring unit that checks whether the arm-occupied region based on the target position enters the movement-forbidden region and outputs a stop request if it is checked that the arm-occupied region enters the movement-forbidden region, and a predicted-coasting-position calculating unit that calculates a predicted coasting position of each axis and a coasting position of the tool or the workpiece in the case that the robot is urgently stopped. The movement-forbidden region entry monitoring unit checks whether the arm-occupied region at the coasting position enters the movement-forbidden region and outputs another stop request if it is checked that the arm-occupied region enters the movement-forbidden region.

To provide an automatic machine system for readily and reliably selecting a desired mechanism part from among the automatic machine systems composed of a plurality of mechanism parts and teaching the mechanism part. Each of a plurality of mechanism parts such as robots includes a first communication part. A teaching operation part includes a second communication part with directivity. When the second communication part of the teaching operation part is oriented to the first communication part included in a target mechanism part to select the same, the second communication part transmits selection request information to the first communication part. A controller for controlling the mechanism parts places the target mechanism part in an operable state based on the selection request information thereby operating the target mechanism part with the operation of the worker on the teaching operation part.

Automatic machine system

In an automatic machine system comprising a mechanism unit () including at least one driving mechanism, a controller () for controlling a driving operation of the mechanism unit (), and a teaching unit () for operating the mechanism unit (), the teaching unit () includes a teaching unit communicating portion for carrying out a wireless communication with the controller () and a first field intensity monitoring portion () for monitoring a field intensity of communication data in the teaching unit communicating portion, and the controller () includes a controller communicating portion for carrying out a wireless communication with the teaching unit (), a second field intensity monitoring portion () for monitoring a field intensity of communication data in the controller communicating portion, and a driving portion for driving the mechanism unit () based on an operation signal sent from the teaching unit () in the controller communicating portion.

Automatic machine system and wireless communication method thereof

The present invention provides a safe robot system adapted to always and clearly indicate a worker whether an emergency stop operation can be performed by an emergency stop operation section in an unwired portable teaching operation section, thereby to prevent occurrence of a misconception. A portable teaching operation portionincludes a display section () configured to indicate whether an emergency stop operation to be conducted by an emergency stop operation section () can be performed.

A robot control apparatus for controlling a robot based upon a work program registered in storage means. A program display means is provided for displaying said work program in a list form. A child program list producing means retrieves another work program which is called by said work program and produces a child program list thereof A mother program list producing means retrieves another work program which calls said work program, and produces a mother program list. A related program storage means stories both said child program list and said mother program list in said storage means. A display selecting means selects a display way when said work program is displayed in the list form.

Robot control apparatus

A robot control apparatus with great safety is provided by detecting access of a teacher to a robot and automatically reducing the operating speed of the robot when the teacher accesses the robot. The robot control device equipped with a pendant () to be manipulated by a teacher, for controlling the operation of a robot on the basis of an operation command from the pendant (), includes a detecting device () for detecting the position of the teacher; a signal processing unit () for receiving a signal from the detecting device to produce the position information of the teacher; and a limited speed selecting unit () for selecting the operating speed of the robot on the basis of the position information. The robot is controlled at the maximum speed set at the operating speed selected by the limited speed selecting unit () on the basis of the operation command from the pendant ().

Robot controller and robot system

When a teach pendant is passed from one hand to the other hand in operating the teach pendant having two enable devices (three-position switches) at right and left sides, a problem arises that an operation is inhibited when the teach pendant is shifted from one hand to the other hand. Even when the three-position switches are operated by both the hands during shifting the teach pendant from one hand to the other hand, the operation can be performed Until a prescribed time passes. Thus, the teach pendant can be shifted from one hand to the other hand and can be continuously operated. When an operating time by both the hands exceeds the prescribed time, the operation is inhibited, so that a safety is ensured.

Teach pendant control method and device

Since a release voltage to a brake is applied by a plurality of series-connected contacts and at least one contact is a normally open contact of a relay for controlling a driving power supply of a motor, a control apparatus having a high safety characteristic for an industrial-purpose robot is provided, while even when fusion of a contact happens to occur, the control apparatus can firmly interrupt the application of the release voltage to the brake. Also, the control apparatus for the industrial-purpose robot is provided which need not be equipped with a power supply for releasing the brake by an operator in a manual manner. To this end, in a control apparatus of an industrial-purpose robot () equipped with an electromagnetic type brake () which locks a shaft of a motor, the control apparatus is provided with a first relay contact () which is closed when the electromagnetic type brake () is released, and a second relay contact () which is closed when driving electric power is supplied to the motor; and the first relay contact (), the second relay contact (), and the electromagnetic type brake () are series-connected to a drive-purpose power supply () of the electromagnetic type brake ().

Growing community of inventors

Kitakyushu, Japan

Michiharu Tanaka