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公开(公告)号：EP0322415A4
公开(公告)日：1990-12-27
申请号：EP87905894
申请日：1987-09-02
IPC分类号： G05D1/02 , G01D3/10 , G05B19/35 , G05B19/4062 , G08B21/00
CPC分类号： G05B19/4062 , G01D3/10 , G05B19/351 , G05B2219/33256 , G05B2219/35272 , G05B2219/36399 , G05B2219/42329 , G05B2219/50181 , Y10S303/08
摘要： In the field of automated guided vehicles it is particularly important that speed and steering angle feedbacks be accurate and reliable. Any deviations in these feedback signals should be promptly detected and used to alter operation of the vehicle. An apparatus (10) constantly monitors the time varying output signals of a pair of resolvers (66, 184) respectively associated with wheel rotation and steering angle. The loss of either of the resolver signals for more than a preselected duration of time related to the excitation frequency and vehicle speed results in the power delivered to an electric drive motor (220) being discontinued and the vehicle brakes being applied.
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公开(公告)号：EP0788865A1
公开(公告)日：1997-08-13
申请号：EP96927901.7
申请日：1996-08-26
申请人： FANUC LTD
CPC分类号： B25J13/02 , B25J19/0004 , G05B19/423 , G05B2219/36399 , G05B2219/36423 , G05B2219/36428 , G05B2219/39447
摘要： A robot control apparatus capable of effecting the lead-through teaching easily and safely. When an operator presses down a lead-through teaching effective switch (12) provided in a control apparatus body, the supplying of electric power to a servo controller (17) is stopped, and a mechanical brake (18) is made effective. When the operator presses down a dead-man switch (4) with a teaching handle (3) gripped, an electromagnetic relay (RL1) is energized and a normally opened contact (14) is closed. Consequently, the mechanical brake (18) is made ineffective, and an electromagnetic relay (RL2) is energized at the same time, so that a normally opened contact (15) is closed to cause a power source current to be supplied to the servo controller (17). A signal making a torque instruction zero is also sent to the servo controller (17). This enables the operator to move a robot in a desired direction. When the operator discontinues to press down the dead-man switch, the mechanical brake is made effective immediately, and the robot is locked in the current position.
摘要翻译： 一种机器人控制装置，能够轻松，安全地实现导通教学。 当操作者按下设置在控制装置主体中的引导式教导有效开关（12）时，停止向伺服控制器（17）供电，并使机械制动器（18）有效。 当操作者按下带有教导把手（3）的死人开关（4）时，电磁继电器（RL1）通电，并且常开触点（14）闭合。 因此，使机械制动器（18）无效，电磁继电器（RL2）同时被通电，使得常开触点（15）闭合，使得电源电流被提供给伺服控制器 （17）。 将转矩指令置零的信号也发送到伺服控制器（17）。 这使得操作者能够以期望的方向移动机器人。 当操作人员停止按下死人开关时，机械制动立即生效，机器人锁定在当前位置。
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公开(公告)号：EP0540753B1
公开(公告)日：1997-08-13
申请号：EP92910209.3
申请日：1992-05-14
IPC分类号： G05B19/425 , B25J9/16
CPC分类号： G05B19/425 , B25J9/1674 , G05B2219/36399 , G05B2219/36473 , G05B2219/42123
摘要： A system for controlling an industrial robot, which is simplified in operation and capable of direct-teaching safely all the time. The system is provided with means (131 and 132) for monitoring a magnitude of an external force applied to the forward end of a hand during direct teaching, so that the motion of the robot can be forcibly restricted when the external force reaches a predetermined value of thereabove. Furthermore, when the system is operated to be set in a direct teach mode, a process (136) of correcting the offset of a force sensor is performed automatically. By monitoring a force detected by the force sensor, the discrimination is made as to whether an external force to operate the robot at an abnormal speed is applied to the robot or not, and, when the external force becomes higher than a reference value, a mode of prohibiting the operation of the robot by the external force (position control mode) is set, or current supplied to a servo motor is cut off to prevent the robot from going into the erroneous operation due to an erroneous control.
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4.发明公开
公开(公告)号：EP0540753A1
公开(公告)日：1993-05-12
申请号：EP92910209.3
申请日：1992-05-14
CPC分类号： G05B19/425 , B25J9/1674 , G05B2219/36399 , G05B2219/36473 , G05B2219/42123
摘要： A system for controlling an industrial robot, which is simplified in operation and capable of direct-teaching safely all the time. The system is provided with means (131 and 132) for monitoring a magnitude of an external force applied to the forward end of a hand during direct teaching, so that the motion of the robot can be forcibly restricted when the external force reaches a predetermined value of thereabove. Furthermore, when the system is operated to be set in a direct teach mode, a process (136) of correcting the offset of a force sensor is performed automatically. By monitoring a force detected by the force sensor, the discrimination is made as to whether an external force to operate the robot at an abnormal speed is applied to the robot or not, and, when the external force becomes higher than a reference value, a mode of prohibiting the operation of the robot by the external force (position control mode) is set, or current supplied to a servo motor is cut off to prevent the robot from going into the erroneous operation due to an erroneous control.
摘要翻译： 一种控制工业机器人的系统，其操作简单，能够安全地直接教学。 该系统设置有用于在直接教导期间监视施加到手的前端的外力的大小的装置（131和132），使得当外力达到预定值时可以强制地限制机器人的运动 在上面。 此外，当系统被操作以设置在直接教学模式时，自动执行校正力传感器的偏移的过程（136）。 通过监视由力传感器检测到的力，判断是否将机器人以异常速度操作的外力施加到机器人，并且当外力变得高于参考值时， 设定通过外力（位置控制模式）禁止机器人操作的模式，或者切断供给到伺服电动机的电流，以防止机器人由于错误的控制而进入错误操作。
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5.发明公开
公开(公告)号：EP0380707A4
公开(公告)日：1992-07-08
申请号：EP89909236
申请日：1989-08-11
申请人： FANUC LTD
发明人： TORII, NOBUTOSHI , NAITO, YASUO ROOM 7-205, FANUC MANSHONHARIMOMI , HAMURA, MASAYUKI ROOM 8-103, FANUC , OTSUKA, KAZUHISA ROOM 8-104, FANUC
CPC分类号： G05B19/4061 , G05B2219/34047 , G05B2219/36399 , G05B2219/37624 , G05B2219/49162 , G05B2219/50179
摘要： This invention relates to an impingement detection/driving stop method which can quickly detect the impingement of a machine operation portion driven by a servo motor against foreign matters, can quickly stop driving of the machine operation portion when the impingement is detected and can prevent or reduce damage to the machine due to the impingement. A digital signal processor of a shaft controller constituting a software servo calculates (S2) periodically a speed difference (εv) on the basis of a command speed (Vc) calculated on the basis of the instruction from a main computer and an actual motor speed (V) from a pulse coder of a servo motor, judges (S3) whether or not the absolute value (|εv - εV'|) of the difference between the speed difference in the current servo control period and the speed difference in the preceding period is smaller than the impingement judgement reference value (ERR), displays an alarm, delivers a torque command of a value of 0 and stops the rotation of the servo motor when the absolute value is greater than the judgement reference value (S8, S9).
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公开(公告)号：EP0042848A1
公开(公告)日：1982-01-06
申请号：EP81900093.0
申请日：1980-12-16
申请人： HJELM, Sven , HOLMLÖV, Hans
IPC分类号： G05B19
CPC分类号： G05B19/4062 , G05B2219/36399 , G05B2219/50197
摘要： Systeme de controle automatique de machines outils en fonctionnement. Le cycle de travail est divise en phases, ou des valeurs de reference differentes peuvent etre valables pour les parametres qui sont controles, p.ex. la consommation de courant de moteurs. Lorsqu'une nouvelle phase doit commencer, ceci est indique par l'operateur. De plus, il existe la possibilite d'obtenir des impulsions de changement de phase a partir de generateurs montes sur la machine outil ou le systeme de commande. Une reponse sans ambiguite sur la question de savoir ou a lieu le changement de valeurs de reference (changement de phases) dans le cycle de travail est obtenue par le fait que le systeme de controle ajoute des impulsions provenant de generateurs d'impulsions couples aux axes d'alimentation de la machine outil. Le controle est synchronise avec le cycle de travail par le fait que l'impulsion de depart du programme detaille est envoyee au systeme de controle. A l'aide d'ecarts par rapport aux valeurs de reference valables, obtenues par enregistrement, des signaux ALARME OU ARRET sont obtenus en fonction du type de l'ecart.
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7.发明授权
公开(公告)号：EP2555065B1
公开(公告)日：2018-09-26
申请号：EP11176082.3
申请日：2011-08-01
发明人： Jöhnßen, Oliver , Zintel, Andreas
IPC分类号： G05B9/02 , G06F3/041 , G06F3/048 , G05B19/409
CPC分类号： G05B9/02 , G05B19/409 , G05B2219/23082 , G05B2219/23377 , G05B2219/24008 , G05B2219/36399 , G05B2219/39447
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8.发明公开Verfahren zum Betrieb eines Bedien- und Beobachtungsgerätes für sicherheitskritische Anwendungen 审中-公开用于运行控制和安全关键应用监控设备的方法
公开(公告)号：EP2555065A1
公开(公告)日：2013-02-06
申请号：EP11176082.3
申请日：2011-08-01
发明人： Jöhnßen, Oliver , Zintel, Andreas
IPC分类号： G05B9/02 , G06F3/041 , G06F3/048 , G05B19/409
CPC分类号： G05B9/02 , G05B19/409 , G05B2219/23082 , G05B2219/23377 , G05B2219/24008 , G05B2219/36399 , G05B2219/39447
摘要： Die Erfindung betrifft ein Verfahren zum Betrieb eines Bedien- und Beobachtungsgerätes (1) für sicherheitskritische Anwendungen, wobei das Bedien- und Beobachtungsgerät (1) ein Display und einen berührungssensitiven Sensor umfasst, wobei in Vorbereitung auf eine freizugebende sicherheitskritische Anwendung auf dem Display ein Bedienelement dargestellt wird, welches ein Bediener um eine Freigabe zu erhalten berühren muss, wobei die Freigabe solange erteilt wird, wie das Bedienelement berührt wird,
dadurch gekennzeichnet , dass als Sensor ein berührungsempfindlicher Sensor verwendet wird, welcher dafür ausgelegt ist mehrfach Berührungen zu erkennen, wobei das Bedienelement in
- einen ersten Bedienbereich (11) und in
- einen zweiten Bedienbereich (12) unterteilt wird, wobei innerhalb des ersten Bedienbereiches (11)
- eine erste Anzahl (L) von Berührpunkten (L1,...,L5) und innerhalb des zweiten Bedienbereiches (12)
- eine zweite Anzahl (R) von Berührpunkten (R1,...,R5) dargestellt werden,
dabei werden die Positionsdaten des ersten Bedienbereichs (11) und des zweiten Bedienbereichs (12) derart gewählt, das es nicht möglich ist mit den Fingern einer menschlichen Hand gleichzeitig alle Berührpunkte (L1,...,L5) aus dem ersten Bedienbereich (12) und alle Berührpunkte (R1,...,R5) aus dem zweiten Bedienbereich (12) zu berühren, wobei die Freigabe für die sicherheitskritische Anwendung nur erteilt wird, wenn sämtliche Berührpunkte (L1,...,L5) aus dem ersten Bedienbereich (11) und sämtliche Berührpunkte (R1,...,R5) aus dem zweiten Bedienbereich (12) berührt werden,.摘要翻译： 该方法包括使用传感器作为控制和观察装置（1），以确定多个触摸的触敏传感器，并且将一个控制元件进入控制区（11，12）。 控制区的接触点（L1-L5，R1-R4）被表示。 控制区的位置数据（P1，P2）被选中的搜索没有一个手的手指不同时接触控制区的所有接触点。 批准安全关键应用程序如果控制区的所有接触点被同时触摸是理所当然的。 触敏传感器被形成为电阻式多点触摸传感器。
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公开(公告)号：EP0788865A4
公开(公告)日：1998-11-18
申请号：EP96927901
申请日：1996-08-26
申请人： FANUC LTD
CPC分类号： B25J13/02 , B25J19/0004 , G05B19/423 , G05B2219/36399 , G05B2219/36423 , G05B2219/36428 , G05B2219/39447
摘要： A robot control apparatus capable of effecting the lead-through teaching easily and safely. When an operator presses down a lead-through teaching effective switch (12) provided in a control apparatus body, the supplying of electric power to a servo controller (17) is stopped, and a mechanical brake (18) is made effective. When the operator presses down a dead-man switch (4) with a teaching handle (3) gripped, an electromagnetic relay (RL1) is energized and a normally opened contact (14) is closed. Consequently, the mechanical brake (18) is made ineffective, and an electromagnetic relay (RL2) is energized at the same time, so that a normally opened contact (15) is closed to cause a power source current to be supplied to the servo controller (17). A signal making a torque instruction zero is also sent to the servo controller (17). This enables the operator to move a robot in a desired direction. When the operator discontinues to press down the dead-man switch, the mechanical brake is made effective immediately, and the robot is locked in the current position.
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公开(公告)号：EP0540753A4
公开(公告)日：1994-08-24
申请号：EP92910209
申请日：1992-05-14
CPC分类号： G05B19/425 , B25J9/1674 , G05B2219/36399 , G05B2219/36473 , G05B2219/42123
摘要： A system for controlling an industrial robot, which is simplified in operation and capable of direct-teaching safely all the time. The system is provided with means (131 and 132) for monitoring a magnitude of an external force applied to the forward end of a hand during direct teaching, so that the motion of the robot can be forcibly restricted when the external force reaches a predetermined value of thereabove. Furthermore, when the system is operated to be set in a direct teach mode, a process (136) of correcting the offset of a force sensor is performed automatically. By monitoring a force detected by the force sensor, the discrimination is made as to whether an external force to operate the robot at an abnormal speed is applied to the robot or not, and, when the external force becomes higher than a reference value, a mode of prohibiting the operation of the robot by the external force (position control mode) is set, or current supplied to a servo motor is cut off to prevent the robot from going into the erroneous operation due to an erroneous control.
摘要翻译： 一种控制工业机器人的系统，其操作简单，能够安全地直接教学。 该系统设置有用于在直接教导期间监视施加到手的前端的外力的大小的装置（131和132），使得当外力达到预定值时可以强制地限制机器人的运动 在上面。 此外，当系统被操作以设置在直接教学模式时，自动执行校正力传感器的偏移的过程（136）。 通过监视由力传感器检测到的力，判断是否将机器人以异常速度操作的外力施加到机器人，并且当外力变得高于参考值时， 设定通过外力（位置控制模式）禁止机器人操作的模式，或者切断供给到伺服电动机的电流，以防止机器人由于错误的控制而进入错误操作。
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