Jtekt Corporation

Toyoda Koki Kabushiki Kaisha

Toyota Jidosha Kabushiki Kaisha

Toshio Aono

Katsumi Yamamoto

Shuichi Nakata

Shinichi Sugita

Yuji Yamaguchi

Yoshinobu Shimizu

Satoshi Kato

Terukazu Senda

Minoru Enomoto

Yasuharu Mukai

Yoshiji Yamamoto

Katsuhisa Tanaka

Toshiyuki Tsuzuki

Fumihiko Komuro

Tadashi Koyama

Yasunori Ban

Tsuyoshi Yamamoto

Toshiro Itaya

Tomoyuki Nakagawa

Shigeo Ohishi

Tomoyuki Ohtake

Katsuhiro Komuro

Masanori Ido

Toshiyuki Kamauchi

Kazuki Yoshikawa

A work instruction system for a facility including processing machines is configured to provide work instructions on the processing machines to workers. The work instruction system includes a process plan storage section configured to store a process plan that defines a performing sequence regarding processing performed by the processing machines and work on the processing machines performed by the workers; a next work candidate extraction section configured to extract next work candidates for the workers based on current states of the processing machines and the process plan; a capacity database configured to store work capacity of each worker with regard to each work type; and a next work determination section configured to determine next work for a specified worker from among the next work candidates, based on the work capacity stored in the capacity database.

Work instruction system

An operation order system includes a management apparatus that manages processing executed by a plurality of processing machines and operations performed on the processing machines by operators and that determines a next operation for each operator based on an operation state of the operator, and portable terminal that can be carried by the operator and via which the operator can input the operation state of the operator so that the portable terminal transmits the input operation state to the management apparatus through wireless communication, the portable terminal receives the next operation from the management apparatus through wireless communication and displays the received next operation. The portable terminal receives, as the operation state, operation start information or operation completion information input from the operator indicating that the operator has started or completed the operation at a home position in a facility.

Operation order system

In a facility system, a first gateway PLC connected to first processing machines and second gateway PLCs connected to second processing machines are connected to an upper-level network. Further, the first gateway PLC and the second gateway PLCs control operation mutually associated between the first processing machines and the second processing machines on the basis of mutually associated information which is acquired from the first processing machines and the second processing machines.

Facility system

The PLC communication system associated with the invention is characterized in that the system comprises a programmable logic controller (PLC), a plurality of processing devices, at least three communication processing nodes provided at the PLC and at the plurality of processing devices respectively to establish communication of the PLC and each of the processing devices and an interconnecting device and a plurality of communication lines for connecting the communication processing nodes with one another to establish data communication among the communication processing nodes. The PLC detects a state of communication failure and a display device displays an abnormal portion in a communication route based on the number of occurrences of the state of communication failure in respective interconnecting device and plurality of communication lines.

PLC communication system

It is determined whether the first tool identification information that is output from a robot control device, and that indicates a present tool and the second tool identification information for detecting and identifying a tool attached to the robot are unequal to each other. The position coordinates of the taught reference point in an actual space of the robot occurring at the time when the unequalness therebetween is first detected are set as reference coordinates, and a region that contains the reference coordinates is set as a predetermined region. If the position coordinates of the taught reference point have come to exist outside the predetermined region during a period during which it is determined that the foregoing two pieces of information are unequal, an emergency stop signal for causing the robot to be in a safe state is output.

Robot safety monitor device, and robot safety monitor method

The control section can determine, on the basis of a detection signal from a detection device, whether operation of an element corresponding to the detection device has completed. The display device can display step sequence data and a three-dimensional model of a machine tool operated through simulation. When the abnormality detection section detects an abnormality of the machine tool, the control section extracts, from a ladder circuit corresponding to a step in which an abnormality has been detected, an element to be operated in response to completion of operation of a preceding element in the ladder circuit, or an element not having completed its operation. The control section then specifies a detection device corresponding to the extracted element or a moving part corresponding to the detection device, and displays the element or the moving part in the displayed three-dimensional model in a distinguishable manner.

Machine tool control apparatus

A numerical controller for an industrial machine such as a robot and an assembling system utilizing plural robots. The numerical controller controls movements of plural movable portions of the industrial machine by a synchronous control in which plural movable portions are moved in a synchronized manner. Based on an operational program, the numerical controller identifies a movable portion or movable portions which must be moved independently from other movable portion. The identified movable portion or portions are moved by an independent control. On the other hand, movable portions which are not designated are moved by synchronous control. Further, plural groups of movable portions may be formed for the synchronous control. In this case, movable portions in each group are controlled in a synchronized manner independently from other groups.

Method and apparatus for numerically controlling industrial machine

A robot controller for having a workpiece held by a robot and having the workpiece machined by moving it relative to a stationary tool. The robot controller can control the velocity of relative motion, against the tool, of a machining point on the workpiece. At each teaching point, a transformation matrix is calculated to convert a position matrix of the flange center as teaching data (i.e., 4.times.4 matrix giving position and attitude in homogeneous coordinates) into a position matrix of the tool tip. Between two adjacent teaching points, interpolation points are set according to a specified velocity. Transformation matrices applicable to the two teaching points are put to interpolation calculations to provide a transformation matrix at each interpolation point. An inverse matrix of the transformation matrix at each interpolation point is applied to the position matrix for the tool tip. This allows the position matrix for the flange center keyed to each interpolation point to be calculated. Using the position matrix for the flange center, rotation angles on the controllable axes of the robot are calculated. With the distance between interpolation points set based on a given velocity, the machining velocity at any machining point may be controlled.

Robot controller

An electric control apparatus for an industrial robot the arm of which is actuated to carry out machining of a workpiece by means of a machining tool attached thereto. The control apparatus includes a force sensor arranged to detect reaction force acting on the tool, a memory for memorizing a maximum reaction force detected by the sensor during each machining process of the workpiece in a plurality of split sections of a teaching line, a comparator for comparing the memorized maximum reaction force with a set value indicative of a limit of reaction force acting on the tool and for producing a signal therefrom when the memorized maximum force exceeds the set value. The control apparatus is arranged to operate the robot in such a manner that the machining tool is moved along the teaching line to successively carry out machining of the workpiece in the split sections and is further arranged to ascertain as to whether or not the comparator produces the signal therefrom at each time when the tool arrives at each terminal point of the split sections for producing a control signal therefrom when applied with the signal from the comparator, thereby operating the robot in response to the control signal in such a manner that the machining tool is returned to each start point of the slipt sections to repeat deburring in the same section.

Electric control apparatus for industrial robot

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Chiryu, Japan

Toshio Aono