公开(公告)号：EP0037704A1

公开(公告)日：1981-10-14

申请号：EP81301415.6

申请日：1981-04-01

申请人： NORDSON CORPORATION

发明人： Kostas, Evans ,  Crum, Gerald W. ,  Walker, Jerome F.

IPC分类号： B25J9/00 ,  B25J3/04 ,  G05B19/42

CPC分类号： G05B19/427 ,  B25J3/04 ,  B25J9/0081 ,  G05B2219/42309

摘要： A system for evaluating whether a work-performing robot can perform a series of programmed motions is disclosed which includes means for continuously comparing the velocity of the various links of a robot simulator, which is manually moved through the sequence of motions to be programmed, against predetermined velocity limits associated with the corresponding links of the work-performing robot which will reproduce the programmed steps, and providing humanly perceptible alarm indications uniquely identifiable with the various robot links when the motions manually programmed on the robot simulator exceed the velocity limits of the work-performing robot. Additionally, the individual velocities of the various robot simulator links are summed, and the sum continuously compared against the power limit of the hydraulic pump driving the link actuators of the work-performing robot. Should the aggregate velocity of the robot simulator links exceed the power capability of the hydraulic pump, that is, the pump capacity, an alarm indication is provided. In spray coating robot applications, the alarm indications occasioned by excessive link velocities, as well as excessive demands on the hydraulic pump, are recorded along with information indicating whether or not during a particular alarm condition the spray gun was ON or OFF. This record enables the manually programmed motion sequence to be evaluated to determine whether or not the alarm conditions which occurred during programming can be safely ignored and the program used to operate the work-performing robot.

公开(公告)号：EP0051387B1

公开(公告)日：1985-02-06

申请号：EP81304911.1

申请日：1981-10-20

申请人： NORDSON CORPORATION

发明人： Kostas, Evans ,  Crum, Gerald W. ,  Walker, Jerome F.

IPC分类号： B25J9/00

CPC分类号： G05B19/427 ,  B25J3/04 ,  B25J9/0081 ,  G05B2219/42309

公开(公告)号：EP0037704B1

公开(公告)日：1984-03-21

申请号：EP81301415.6

申请日：1981-04-01

申请人： NORDSON CORPORATION

发明人： Kostas, Evans ,  Crum, Gerald W. ,  Walker, Jerome F.

IPC分类号： B25J9/00 ,  B25J3/04 ,  G05B19/42

CPC分类号： G05B19/427 ,  B25J3/04 ,  B25J9/0081 ,  G05B2219/42309

公开(公告)号：EP0051387A1

公开(公告)日：1982-05-12

申请号：EP81304911.1

申请日：1981-10-20

申请人： NORDSON CORPORATION

发明人： Kostas, Evans ,  Crum, Gerald W. ,  Walker, Jerome F.

IPC分类号： B25J9/00

CPC分类号： G05B19/427 ,  B25J3/04 ,  B25J9/0081 ,  G05B2219/42309

摘要： A robot (Fig. 1) having a plurality of power driven links (12-22) with corresponding transducers (24, 30, 34, 46, 50, 54) generating signals responsive to the position of each robot link; a portable light weight manually manipulable robot simulator (Fig. 2) at a location remote from the robot and having links (112-122) simulating those of the robot and with corresponding transducers (124, 130, 134, 146, 150, 154) generating signals responsive to the position of each simulator link; signal recording and storage means (201) for storing the simulator link position signals representing a program; robot control means (200) responsive to the program and which controls the robot links; an analyzer (210) responsive to the actual and desired position signals of the robot links and which generates error signals due to inherent limitations of the robot; an indicator (212) responsive to the analyzer providing humanly perceptible indication of the feasibility of the robot to perform the program of desired mechanical responses imparted to the simulator.

摘要翻译： 具有动力驱动左（12-22）与相应的换能器产生响应于每个机器人连杆的位置信号的多个（24,30,34,46,50,54）一种机器人）; 在从机器人的位置远程便携式轻质手动可操纵机器人仿真器和具有左（112-122）模拟这些机器人的并与相应的换能器（124，130，134，146，150，154）响应于所述信号 每个模拟器链路的位置; 信号记录和存储装置（201），用于存储表示节目的模拟器链接位置信号; 机器人控制装置（200）响应于所述程序和控制离开机器人; 在分析器（210），响应于左机器人和哪个基因率误差信号由于机器人的固有限制的实际和期望的位置信号; 指示器（212）响应于所述分析仪提供所述机器人的可行性的人类可感知的指示来执行，将赋予所述模拟器期望的机械响应的程序。