Patent US4904911A successfully refreshed from Google Patents.
US4904911A
Expired / Lapsed
US
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System for controlling robot
Assignee: Fanuc Corp
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Filing: 1988-02-24
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Granted: 1990-02-27
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Expires: 2008-02-24
Abstract
Abstract A system for controlling a robot includes a control portion (7) for supplying a control signal to and receiving a control signal from a servo unit (6) for carrying out a signal supply and a signal feedback to an electric motor (5) for driving a shaft executing a Z-axis linear motion, and threshold value supply portion (8) for supplying a threshold value to the control portion. Based on a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion, an alarm is delivered and the process subsequently proceeds to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value.
Inventors
- 👤 Kenichi Toyoda
- 👤 Nobutoshi Torii
- 👤 Ryo Nihei
- 👤 Akihiro Terada
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-11-06 14:43
CPC Classifications
B; B25; B25J; B25J19/00; B25J19/06; B25J9/00; B25J9/02; B25J9/04; B25J9/041; B25J9/042; B25J9/044; B25J13/00; B25J13/08; B25J13/085; B25J19/063; G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/406; G05B19/4062
Claims Analysis
Total Claims: 2
Claim 1
Independent Claim
152 words
A system controlling a robot, characterized in that said system comprises: an electric motor for driving a shaft executing a Z-axis linear motion of said robot; a servo unit for carrying out a signal supply and a signal feedback to said electric motor; a control portion for supplying a control signal to and receiving a control signal from said servo unit; and a threshold value supply portion for supplying a threshold value to said control portion; a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion being carried out in said control portion; an alarm being delivered and the process subsequently proceeding to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value; whereby, a control is carried out based on a detection of a force along the Z-axis of said robot.
Claim 2
Independent Claim
152 words
A system controlling a robot, characterized in that said system comprises: an electric motor for driving a shaft executing a Z-axis linear motion of said robot; a servo unit for carrying out a signal supply and a signal feedback to said electric motor; a control portion for supplying a control signal to and receiving a control signal from said servo unit; and a threshold value supply portion for supplying a threshold value to said control portion; a comparison between a motor torque instruction value and a threshold value supplied from the threshold value supplying portion being carried out in said control portion; an alarm being delivered and the process subsequently proceeding to a step of dealing with an abnormal condition when said motor torque instruction value becomes greater than a predetermined threshold value; whereby, a control is carried out based on a detection of a force along the Z-axis of said robot.
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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) | 1993-02-26 | 1993-08-28 | 1994-02-27 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1997-02-26 | 1997-08-28 | 1998-02-27 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2001-02-26 | 2001-08-28 | 2002-02-27 | $7700.00 | Window Closed / Lapsed |