公开(公告)号：US5084826A

公开(公告)日：1992-01-28

申请号：US557074

申请日：1990-07-25

申请人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani ,  Masaki Togitani ,  Kazuyuki Doi ,  Shin-ichi Izumisawa

发明人： Kazuo Hariki ,  Tatsuya Koizumi ,  Kazuya Ishiguro ,  Kiyoshi Kanitani ,  Masaki Togitani ,  Kazuyuki Doi ,  Shin-ichi Izumisawa

IPC分类号： B25J19/06 ,  B25J9/18 ,  G05B19/18 ,  G05B19/4155 ,  G05B19/418 ,  G05B19/42

CPC分类号： G05B19/41815 ,  Y02P90/08

摘要： An industrial robot system comprising a single working machine, and a plurality of robots arranged so as to transfer a work to and from this working machine. The operation of these robots and the working machine is controlled by a single control unit, and the operation of all the robots is controlled in a realtime manner in synchronism with the operation of the working machine, thereby ensuring the smooth operation of the overall system while obviating waiting time of each robot and the working machine without using a conventional mutual interlock system. The control unit is set so that clocks of the robots and the working machine and the system clock are counted up in the same cycle time, simultaneously therewith the original point clock value of the robot or the working machine located on the most upstream side of the system is set as the original clock value of the system, and each of the robots and the working machine is operated as the count of the system clock reaches the original clock value of the robot on the working machine.

摘要翻译： 一种工业机器人系统，包括单个工作机器和多个机器人，其布置成将工件传送到该工作机器和从该工作机器传送工件。 这些机器人和作业机器的操作由单个控制单元控制，并且与作业机器的操作同步地实时地控制所有机器人的操作，从而确保整个系统的平稳运行，同时 无需使用传统的互锁系统，无需每台机器人和作业机器的等待时间。 控制单元被设置为使得机器人，工作机器和系统时钟的时钟在相同的周期时间内被计数，同时机器人或位于最上游侧的工作机器的原点时钟值 系统设置为系统的原始时钟值，并且每个机器人和工作机器都作为系统时钟的计数达到机器人在工作机器上的原始时钟值。