Patent US4495453A successfully refreshed from Google Patents.
US4495453A
Expired / Lapsed
US
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System for controlling an industrial robot
Assignee: Fanuc Corp
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Filing: 1982-06-23
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Granted: 1985-01-22
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Expires: 2002-06-23
Abstract
Abstract A system for controlling an industrial robot having a wrist (1) driven to rotate by a direct-current motor (2) having a servomechanism, wherein stroke-limit position control (6) of the wrist and rotational control (7) of the wrist can be selectively carried out.
Inventors
- 👤 Hajimu Inaba
- 👤 Shinsuke Sakakibara
- 👤 Shigemi Inagaki
- 👤 Nobutoshi Torii
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 16:10
CPC Classifications
B; B25; B25J; B25J13/00; B25J17/00; B25J17/02; B25J9/00; B25J9/16; B25J9/1612
Claims Analysis
Total Claims: 4
Claim 1
Independent Claim
112 words
A system for controlling an industrial robot having a wrist rotated by a direct-current motor which is controlled by feeding back the output pulses of a pulse coder (5) provided on the output shaft of said direct-current motor, comprising: a stroke-limit position control means connected to said pulse coder, for controlling the position of said wrist between the minimum stroke and the maximum stroke; a rotational control means connected to said pulse coder, for controlling the rotations of said wrist; and a selecting means connected between said direct-current motor and the outputs of said stroke-limit position control means and said rotation control means, for selecting either stroke-limit position control or rotational control.
Claim 2
Independent Claim
112 words
A system for controlling an industrial robot having a wrist rotated by a direct-current motor which is controlled by feeding back the output pulses of a pulse coder (5) provided on the output shaft of said direct-current motor, comprising: a stroke-limit position control means connected to said pulse coder, for controlling the position of said wrist between the minimum stroke and the maximum stroke; a rotational control means connected to said pulse coder, for controlling the rotations of said wrist; and a selecting means connected between said direct-current motor and the outputs of said stroke-limit position control means and said rotation control means, for selecting either stroke-limit position control or rotational control.
Claim 3
Dependent Claim
127 words
A system as set forth in claim 1, wherein said stroke-limit position control means comprises: a first counter means for counting the output pulses of said pulse coder; a first storing means for storing predetermined values corresponding to the minimum and maximum strokes of said wrist; a first comparing means for comparing the count value of said first counter means with the predetermined values of said first storing means; a first pulse-generating means for generating output pulses; and a first switching means connected to said first comparing means and to said first pulse-generating means, for supplying the output pulses of said first pulse-generating means to said direct-current motor when the counter value of said first counter means is between the predetermined values of said first storing means.
Claim 4
Dependent Claim
137 words
A system as set forth in claim 1, wherein said rotational control means comprises: a second counter means for counting the output pulses of said pulse coder; a third counter means for counting each time the counter value of said second counter means reaches a predetermined value; a second storing means for a predetermined value; a second comparing means for comparing the count value of said third counter means with the predetermined value of said second storing means; a second pulse-generating means for generating output pulses; and a second switching means connected to said second comparing means and to said second pulse-generating means, for supplying the output pulses of said pulse-generating means to said direct-current motor only when the counter value of the third counter means is less than the predetermined value of said second storing means.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1988-01-22 | 1988-07-23 | 1989-01-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1992-01-22 | 1992-07-23 | 1993-01-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1996-01-22 | 1996-07-23 | 1997-01-22 | $7700.00 | Window Closed / Lapsed |