DE60143777D1 - Vorrichtung zur synchronen Steuerung für Roboter - Google Patents

Vorrichtung zur synchronen Steuerung für Roboter

Info

Publication number
DE60143777D1
DE60143777D1 DE60143777T DE60143777T DE60143777D1 DE 60143777 D1 DE60143777 D1 DE 60143777D1 DE 60143777 T DE60143777 T DE 60143777T DE 60143777 T DE60143777 T DE 60143777T DE 60143777 D1 DE60143777 D1 DE 60143777D1
Authority
DE
Germany
Prior art keywords
robots
control device
synchronous control
synchronous
control
Prior art date
Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
Expired - Lifetime
Application number
DE60143777T
Other languages
English (en)
Inventor
Yoshiharu Hashimukai
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Aida Engineering Ltd
Original Assignee
Aida Engineering Ltd
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Aida Engineering Ltd filed Critical Aida Engineering Ltd
Application granted granted Critical
Publication of DE60143777D1 publication Critical patent/DE60143777D1/de
Anticipated expiration legal-status Critical
Expired - Lifetime legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B25—HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; MANIPULATORS
    • B25J—MANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
    • B25J9/00—Programme-controlled manipulators
    • B25J9/16—Programme controls
    • B25J9/1679—Programme controls characterised by the tasks executed
    • B25J9/1682—Dual arm manipulator; Coordination of several manipulators
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B19/00—Programme-control systems
    • G05B19/02—Programme-control systems electric
    • G05B19/418—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM]
    • G05B19/41815—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell
    • G05B19/41825—Total factory control, i.e. centrally controlling a plurality of machines, e.g. direct or distributed numerical control [DNC], flexible manufacturing systems [FMS], integrated manufacturing systems [IMS] or computer integrated manufacturing [CIM] characterised by the cooperation between machine tools, manipulators and conveyor or other workpiece supply system, workcell machine tools and manipulators only, machining centre
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/33—Director till display
    • G05B2219/33083—Clock for microprocessor synchronized with pulses from encoder
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/39—Robotics, robotics to robotics hand
    • G05B2219/39105—Manipulator cooperates with moving machine, like press brake
    • G—PHYSICS
    • G05—CONTROLLING; REGULATING
    • G05B—CONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
    • G05B2219/00—Program-control systems
    • G05B2219/30—Nc systems
    • G05B2219/45—Nc applications
    • G05B2219/45142—Press-line
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y02—TECHNOLOGIES OR APPLICATIONS FOR MITIGATION OR ADAPTATION AGAINST CLIMATE CHANGE
    • Y02P—CLIMATE CHANGE MITIGATION TECHNOLOGIES IN THE PRODUCTION OR PROCESSING OF GOODS
    • Y02P90/00—Enabling technologies with a potential contribution to greenhouse gas [GHG] emissions mitigation
    • Y02P90/02—Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/49—Method of mechanical manufacture
    • Y10T29/49826—Assembling or joining
    • Y10T29/49828—Progressively advancing of work assembly station or assembled portion of work
    • Y10T29/49829—Advancing work to successive stations [i.e., assembly line]
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53313—Means to interrelatedly feed plural work parts from plural sources without manual intervention
    • Y10T29/53365—Multiple station assembly apparatus
    • Y—GENERAL TAGGING OF NEW TECHNOLOGICAL DEVELOPMENTS; GENERAL TAGGING OF CROSS-SECTIONAL TECHNOLOGIES SPANNING OVER SEVERAL SECTIONS OF THE IPC; TECHNICAL SUBJECTS COVERED BY FORMER USPC CROSS-REFERENCE ART COLLECTIONS [XRACs] AND DIGESTS
    • Y10—TECHNICAL SUBJECTS COVERED BY FORMER USPC
    • Y10T—TECHNICAL SUBJECTS COVERED BY FORMER US CLASSIFICATION
    • Y10T29/00—Metal working
    • Y10T29/53—Means to assemble or disassemble
    • Y10T29/53313—Means to interrelatedly feed plural work parts from plural sources without manual intervention
    • Y10T29/53383—Means to interrelatedly feed plural work parts from plural sources without manual intervention and means to fasten work parts together

Landscapes

  • Engineering & Computer Science (AREA)
  • Robotics (AREA)
  • Mechanical Engineering (AREA)
  • General Engineering & Computer Science (AREA)
  • Manufacturing & Machinery (AREA)
  • Quality & Reliability (AREA)
  • Physics & Mathematics (AREA)
  • General Physics & Mathematics (AREA)
  • Automation & Control Theory (AREA)
  • Numerical Control (AREA)
  • Manipulator (AREA)
  • Control Of Position Or Direction (AREA)
  • General Factory Administration (AREA)
DE60143777T 2000-02-02 2001-01-30 Vorrichtung zur synchronen Steuerung für Roboter Expired - Lifetime DE60143777D1 (de)

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2000025392A JP2001212781A (ja) 2000-02-02 2000-02-02 ロボットの同期制御装置

Publications (1)

Publication Number Publication Date
DE60143777D1 true DE60143777D1 (de) 2011-02-17

Family

ID=18551254

Family Applications (1)

Application Number Title Priority Date Filing Date
DE60143777T Expired - Lifetime DE60143777D1 (de) 2000-02-02 2001-01-30 Vorrichtung zur synchronen Steuerung für Roboter

Country Status (4)

Country Link
US (1) US6401011B1 (de)
EP (1) EP1122036B1 (de)
JP (1) JP2001212781A (de)
DE (1) DE60143777D1 (de)

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US7211978B2 (en) * 2003-06-20 2007-05-01 Fanuc Robotics America, Inc. Multiple robot arm tracking and mirror jog
US7610119B2 (en) * 2003-07-08 2009-10-27 Omron Corporation Safety controller and system using same
DE102005058867B4 (de) * 2005-12-09 2018-09-27 Cine-Tv Broadcast Systems Gmbh Verfahren und Vorrichtung zum Bewegen einer auf einem Schwenk- und Neigekopf angeordneten Kamera entlang einer vorgegebenen Bewegungsbahn
ES2452022T3 (es) * 2006-02-06 2014-03-31 Abb Research Ltd. Sistema de línea de prensas y método
KR101089536B1 (ko) * 2006-06-06 2011-12-05 에이비비 리써치 리미티드 로더 또는 언로더 기계와 관련하여 사이클릭 제조 기계를 작동시키는 개선 방법 및 작동 시스템
DE102008018962B4 (de) * 2008-04-16 2015-08-20 Kuka Roboter Gmbh Verfahren zur Steuerung eines Roboters
JP5123050B2 (ja) * 2008-05-21 2013-01-16 ファナック株式会社 ロボットおよびプレス機械を含むシステム、複数のロボットを含むシステム、ならびにそのようなシステムにおいて使用されるロボットの制御装置
US8948906B2 (en) * 2008-08-14 2015-02-03 Spectra Logic Corporation Robotic storage library with queued move instructions and method of queuing such instructions
US8457778B2 (en) * 2008-08-15 2013-06-04 Spectra Logic Corp. Robotic storage library with queued move instructions and method of queuing such instructions
US8666537B2 (en) * 2008-10-31 2014-03-04 Spectra Logic, Corporation Robotic storage library with queued move instructions and method of queing such instructions
US8340810B2 (en) * 2008-10-31 2012-12-25 Spectra Logic Corp. Robotic storage library with queued move instructions and method of queuing such instructions
CN101740441B (zh) * 2008-11-04 2012-04-11 北京北方微电子基地设备工艺研究中心有限责任公司 一种机械手调度方法、装置及等离子体处理设备
US20100180711A1 (en) 2009-01-19 2010-07-22 Comau, Inc. Robotic end effector system and method
WO2010107872A2 (en) * 2009-03-17 2010-09-23 Comau, Inc. Industrial communication system and method
WO2011088079A2 (en) * 2010-01-12 2011-07-21 Comau, Inc. Distributed control system
CN101850548B (zh) * 2010-04-16 2011-06-08 北京工业大学 一种基于飞轮的倒立摆平衡控制***
US8615322B2 (en) 2010-09-27 2013-12-24 Spectra Logic Corporation Efficient moves via dual pickers
US8682471B2 (en) 2010-09-27 2014-03-25 Spectra Logic Corporation Efficient magazine moves
JP5798410B2 (ja) * 2011-08-19 2015-10-21 株式会社アイエイアイ 中継器
JP5774223B2 (ja) * 2012-06-29 2015-09-09 三菱電機株式会社 ロボット制御装置およびロボット制御方法
CN102929191B (zh) * 2012-10-18 2014-11-05 中达光电工业（吴江）有限公司 控制多个驱动器同步工作的方法及其装置
EP3060513B1 (de) 2013-10-25 2017-07-05 Transformix Engineering Inc. Flexible zuführungs- und verschliessmaschine für scharnierkappen
ES2654335T3 (es) 2014-10-23 2018-02-13 Comau S.P.A. Sistema para monitorizar y controlar una instalación industrial
JP6026484B2 (ja) * 2014-10-31 2016-11-16 ファナック株式会社 工作機械の周辺機器の自立制御を可能とするシステム
CN105511400B (zh) * 2016-02-04 2018-06-19 合肥泰禾光电科技股份有限公司 一种冲压机器人控制***
RS59305B1 (sr) 2017-02-23 2019-10-31 Comau Spa Zglobni robot koji nosi glavu za elektrootporno zavarivanje sa elektrodama smeštenim na istoj strani; odgovarajući postupak elektrootpornog zavarivanja na komponenti koja se zavaruje
CN107745382A (zh) * 2017-09-29 2018-03-02 李少锋 机器手臂的同步控制***
CN110125244B (zh) * 2018-02-08 2020-08-14 上海一芯智能科技有限公司 一种多冲压机械手联动控制方法、***以及一种控制器
IT201800004086A1 (it) * 2018-03-29 2019-09-29 Fca Italy Spa Procedimento per la messa in opera e/o la riconfigurazione di un impianto industriale, in particolare per la produzione di autoveicoli o loro sottogruppi
IT201800005091A1 (it) 2018-05-04 2019-11-04 "Procedimento per monitorare lo stato di funzionamento di una stazione di lavorazione, relativo sistema di monitoraggio e prodotto informatico"
CN110103232A (zh) * 2019-03-14 2019-08-09 上海古鳌电子科技股份有限公司 一种银行用机器人
CN114310898B (zh) * 2022-01-07 2022-09-06 深圳威洛博机器人有限公司 一种机器手同步控制***及控制方法

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JPS5317461A (en) * 1976-07-30 1978-02-17 Janome Sewing Machine Co Ltd Electronic control sewing machine
US4815190A (en) * 1987-08-20 1989-03-28 Gmf Robotics Corporation Method for automated assembly of assemblies such as automotive assemblies
US4894908A (en) * 1987-08-20 1990-01-23 Gmf Robotics Corporation Method for automated assembly of assemblies such as automotive assemblies and system utilizing same
JPH0731532B2 (ja) * 1989-05-24 1995-04-10 オ−クマ株式会社 数値制御装置
JPH0736993B2 (ja) * 1989-07-27 1995-04-26 株式会社不二越 産業用ロボットシステム
JPH03204703A (ja) * 1990-01-08 1991-09-06 Mitsubishi Electric Corp 数値制御装置
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JP3282470B2 (ja) * 1995-11-08 2002-05-13 三菱電機株式会社 パソコンを用いた数値制御装置及びその制御方法
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Also Published As

Publication number Publication date
EP1122036B1 (de) 2011-01-05
US6401011B1 (en) 2002-06-04
EP1122036A2 (de) 2001-08-08
EP1122036A3 (de) 2003-07-02
JP2001212781A (ja) 2001-08-07

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