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1. 发明授权

US4803640A Control arrangement for an industrial robot 失效
标题翻译：工业机器人的控制装置
公开(公告)号：US4803640A
公开(公告)日：1989-02-07
申请号：US48631
申请日：1987-05-11
申请人： Takashi Mitomi , Hitoshi Kubota
发明人： Takashi Mitomi , Hitoshi Kubota
IPC分类号： G05B19/42 , B25J9/18 , G05B19/4103 , G05B19/425 , G06F15/46
CPC分类号： G05B19/425 , G05B2219/36471 , Y02P90/265
摘要： The disclosure is directed to a control arrangement for an industrial robot, which is capable of teaching a continuous path operation, and playing back the operation thereby. According to the present invention, it is so arranged that, in a process for automatically memorizing the operating path information of the industrial robot by direct teaching, data for the operating distance on the taught path is also computed so as to be stored together with positional data, and during play back of the function, interpolation is effected based on the operating distance data, whereby the robot is caused to function at a predetermined speed, according to the path at the teaching, and thus, it becomes possible to effect the playing back operation without being influenced by the operating speed during the teaching.
摘要翻译：本公开涉及一种能够教导连续路径操作并且由此再现该操作的工业机器人的控制装置。根据本发明，通过直接教导自动存储工业机器人的操作路径信息的处理，也计算出教导路径上的操作距离的数据，以便与位置数据，并且在回放功能时，根据操作距离数据进行内插，由此根据教导路径使机器人以预定速度起作用，因此可以实现播放不受教学过程中运行速度的影响。

2. 发明授权

US5371836A Position teaching method and control apparatus for robot 失效
标题翻译：机器人位置教学方法及控制装置
公开(公告)号：US5371836A
公开(公告)日：1994-12-06
申请号：US476426
申请日：1990-06-14
申请人： Takashi Mitomi , Takafumi Tetsuya , Katsuyoshi Satoh
发明人： Takashi Mitomi , Takafumi Tetsuya , Katsuyoshi Satoh
IPC分类号： B25J9/22 , B25J9/18 , G05B19/418 , G05B19/425 , G05B19/415 , G06F15/46
CPC分类号： G05B19/425 , G05B19/4182 , G05B2219/39124 , G05B2219/39138 , Y02P90/083 , Y02P90/265
摘要： The present invention, by manually operating a robot and memorizing a position of the extremity of the robot, teaches a reference point representing a representative position and orientation on a moving path and a relative position of an operating position of a robot extremity in operation from the above-mentioned reference point, and designate a path of a moving position of the robot extremity in operation by an array of the reference points, and teachings of the moving path and a gripping position can be separated each other, and an accurate and easy teaching is enabled.
摘要翻译： PCT No.PCT / JP89 / 00850 Sec。 371 1990年6月14日第 102（e）日期1990年6月14日PCT提交1989年8月22日PCT公布。出版物WO90 / 02029 日本1990年8月3日。本发明通过手动操作机器人并记忆机器人的末端的位置，教导了表示在移动路径上的代表性位置和取向的参考点以及操作位置的相对位置从上述参考点操作的机器人末端，并且通过参考点的阵列指定操作中的机器人末端的移动位置的路径，并且移动路径和夹持位置的教导可以彼此分离，并且能够进行准确和容易的教学。

3. 发明授权

US5227707A Interference avoiding system of multi robot arms 失效
标题翻译：多机器人手臂的干扰避免系统
公开(公告)号：US5227707A
公开(公告)日：1993-07-13
申请号：US936451
申请日：1992-08-28
申请人： Takashi Mitomi , Yoichi Sugitomo
发明人： Takashi Mitomi , Yoichi Sugitomo
IPC分类号： B25J9/16 , B25J9/18 , B25J19/00 , B25J19/06 , G05B19/18 , G05B19/4155
CPC分类号： B25J9/1682 , B25J9/1666
摘要： The interference avoiding system is provided with an automatic correcting means for correcting a code string programmed for each robot, so that the communication and the waiting processes to check the interference are automatically inserted. In order to check the interference, a target position is transmitted to a checking device immediately before the robot starts operating, thereby to check the interference area by the checking device. Instead, data of the interference area is fed to a robot controller at the start of operation, and the communication is established only when the robot moves from inside to outside the interference area or vice versa. An operation command for the robots is selectively corrected automatically, that is, an operation command to move the robots in a direction not related to the interference direction is not corrected.
摘要翻译：干扰避免系统设置有用于校正针对每个机器人编程的代码串的自动校正装置，从而自动插入用于检查干扰的通信和等待处理。为了检查干扰，在机器人开始操作之前将目标位置发送到检查装置，由检查装置检查干扰区域。相反，干扰区域的数据在操作开始时被馈送到机器人控制器，并且只有当机器人从内部移动到干扰区域外部或者反之时才建立通信。自动地选择性地修正机器人的操作命令，即不修正与干涉方向无关的方向移动机器人的操作命令。

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