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US4549276A
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Industrial robot control method
Assignee: Fanuc Corp
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Filing: 1982-08-04
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Granted: 1985-10-22
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Expires: 2002-08-04
Abstract
Abstract An industrial robot control method for use in a system having a machine tool (MAC), a numerical control device (NCU) for controlling the machine tool, an industrial robot (RBT), and a robot control device (RCU) for controlling the industrial robot. In accordance with this industrial robot control method, a plurality of robot programs are stored beforehand in an internal memory (DMR) of the robot control device (RCU), and a plurality of NC programs are stored beforehand in an internal memory (DMN) of the numerical control device (NCU). The size or shape of a workpiece is sensed by a workpiece discriminating unit (WKD) to select the robot program conforming to the particular workpiece. An NC program number, corresponding to the robot program, is transmitted from the robot control device (RCU) to the numerical control device (NCU). The machine tool (MAC) is controlled in accordance with the NC program identified by NC program number, and the robot (RBT) is controlled based on the selected robot program.
Inventors
- 👤 Hajimu Inaba
- 👤 Shinsuke Sakakibara
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 21:23
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/418; G05B19/41815; G05B19/41825; G05B2219/00; G05B2219/30; G05B2219/36; G05B2219/36511; Y; Y02; Y02P; Y02P90/00; Y02P90/02
Claims Analysis
Total Claims: 12
Claim 1
Independent Claim
106 words
An industrial robot control method for use in a system having a machine tool, a numerical control device for controlling the machine tool under one of a plurality of NC programs, an industrial robot and a robot control device for controlling the industrial robot, comprising the steps of: (a) storing the plurality of NC programs in the numerical control device; (b) automatically generating an NC program selection signal under the control of the robot control device; and (c) executing numerical control processing, under the control of the numerical control device, based on a selected one of the NC programs corresponding to the NC program selection signal.
Claim 2
Dependent Claim
106 words
An industrial robot control method for use in a system having a machine tool, a numerical control device for controlling the machine tool under one of a plurality of NC programs, an industrial robot and a robot control device for controlling the industrial robot, comprising the steps of: (a) storing the plurality of NC programs in the numerical control device; (b) automatically generating an NC program selection signal under the control of the robot control device; and (c) executing numerical control processing, under the control of the numerical control device, based on a selected one of the NC programs corresponding to the NC program selection signal.
Claim 3
Dependent Claim
82 words
An industrial robot control method according to claim 1, further comprising the steps of: (d) storing a plurality of robot programs in the robot control device; (e) inserting an NC program identification code into each of the robot programs prior to said step (d); and (f) automatically selecting a predetermined robot program, wherein said step (b) comprises transmitting the NC program selection signal to the numerical control device to select the one of the NC programs corresponding to the selected robot program.
Claim 4
Dependent Claim
102 words
An industrial robot control method according to claim 1, further comprising the steps of: (d) storing a plurality of robot programs in the robot control device; (e) storing a correspondence table, indicating the correspondence between the robot programs and NC programs, in memory in advance; (f) automatically selecting a predetermined robot program; and (g) referring to the correspondence table to determine the NC program corresponding to the predetermined robot program selected in said step (f), wherein said step (b) comprises transmitting the NC program selection signal to the numerical control device to select the NC program corresponding to the selected robot program.
Claim 5
Dependent Claim
64 words
An industrial robot control method according to claim 3, further comprising the steps of: (h) storing a corresponding relationship, between robot programs and the sizes of workpieces to be loaded or unloaded relative to a machine tool, in memory in advance; (i) discriminating the sizes of the workpieces; and (j) selecting a desired robot program based on the results of said discrimination step (i).
Claim 6
Dependent Claim
65 words
An industrial robot control method according to claim 3, further comprising the steps of: (h) storing a corresponding relationship, between robot programs and the shapes of workpieces to be loaded or unloaded relative to a machine tool, in memory in advance; (i) discriminating the shapes of the workpieces; and (j) automatically selecting a desired robot program based on the results of said discrimination step (i).
Claim 7
Dependent Claim
61 words
An industrial robot control method according to claim 3, further comprising the steps of: (h) storing a schedule, including the machining sequence of a plurality of workpieces and the number of workpieces to be machined, beforehand in an internal memory of the robot control device; and (i) automatically selecting the robot programs based on the schedule stored in said step (h).
Claim 8
Dependent Claim
65 words
An industrial robot control method according to claim 2, further comprising the steps of: (g) storing a corresponding relationship, between robot programs and the sizes of workpieces to be loaded or unloaded relative to a machine tool, in memory in advance; (h) discriminating the sizes of the workpieces; and (i) automatically selecting a desired robot program based on the results of said discrimination step (h).
Claim 9
Dependent Claim
65 words
An industrial robot control method according to claim 2, further comprising the steps of: (g) storing a corresponding relationship, between robot programs and the shapes of workpieces to be loaded or unloaded relative to a machine tool, in memory in advance; (h) discriminating the shapes of the workpieces; and (i) automatically selecting a desired robot program based on the results of said discrimination step (h).
Claim 10
Dependent Claim
62 words
An industrial robot control method according to claim 2, further comprising the steps of: (g) storing a schedule, including the machining sequence of a plurality of workpieces and the number of workpieces to be machined, beforehand in an internal memory of the robot control device; and (h) automatically selecting the robot programs based on the schedule stored in the said step (g).
Claim 11
Dependent Claim
190 words
An industrial robot control method for use in a system having a machine tool for machining workpieces, a numerical control device for controlling the machine tool under one of a plurality of numerical control programs, an industrial robot and a robot control device for controlling the industrial robot under one of a plurality of robot control programs, comprising the steps of: (a) storing the relationship between the workpieces, the NC programs, and the robot control programs, so that there is a stored correspondence between a workpiece of a particular size or shape, a predetermined NC program and a predetermined robot control program; (b) determining the size or shape of the workpiece to be machined; (c) automatically selecting the corresponding one of the robot control programs based on the results of said determining step (b); (d) transmitting an NC program selection signal to the numerical control device in accordance with the selected robot control program, to select the corresponding NC program; and (e) executing numerical control processing under the control of the numerical control device based on the selected one of the NC programs corresponding to the NC program selection signal.
Claim 12
Dependent Claim
190 words
An industrial robot control method for use in a system having a machine tool for machining workpieces, a numerical control device for controlling the machine tool under one of a plurality of numerical control programs, an industrial robot and a robot control device for controlling the industrial robot under one of a plurality of robot control programs, comprising the steps of: (a) storing the relationship between the workpieces, the NC programs, and the robot control programs, so that there is a stored correspondence between a workpiece of a particular size or shape, a predetermined NC program and a predetermined robot control program; (b) determining the size or shape of the workpiece to be machined; (c) automatically selecting the corresponding one of the robot control programs based on the results of said determining step (b); (d) transmitting an NC program selection signal to the numerical control device in accordance with the selected robot control program, to select the corresponding NC program; and (e) executing numerical control processing under the control of the numerical control device based on the selected one of the NC programs corresponding to the NC program selection signal.
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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) | 1988-10-21 | 1989-04-22 | 1989-10-22 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1992-10-21 | 1993-04-22 | 1993-10-22 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1996-10-21 | 1997-04-22 | 1997-10-22 | $7700.00 | Window Closed / Lapsed |