Patent US6433679B1 successfully refreshed from Google Patents.
Patent US6522949B1 successfully refreshed from Google Patents.
US6522949B1
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robot controller
Assignee: Panasonic Holdings Corp
•
Filing: 2000-09-26
•
Granted: 2003-02-18
•
Expires: 2020-09-26
Abstract
Abstract When a position deviation of teaching point of a robot manipulator is detected during continuous operation of a robot system, device for correcting the teaching point without stopping continuous operation of the robot system is provided, thereby presenting device for operating the robot system efficiently without having effects on productivity of the production line. Having a changeover unit for changing over modes by selecting from an input mode for entering teaching points, an operation mode for operating according to the teaching points, and an in-process correction mode for correcting the teaching points stored in the storage unit according to the data from the input unit during operation of the robot manipulator, the mode is changed over to the in process correction mode by the changeover unit, the data for correcting the teaching point is entered from the input unit, and the control unit corrects and processes according to the entered data.
Inventors
- 👤 Tatsuya Ikeda
- 👤 Kazuhiko Ochiai
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-27 17:18
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/42; G05B19/425; G05B2219/00; G05B2219/30; G05B2219/35; G05B2219/35472; G05B2219/36; G05B2219/36053; G05B2219/36162
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
148 words
A robot control apparatus including an input unit and a control unit comprising: a storage unit for storing data of teaching points entered from said input unit; and a changeover unit provided in said input unit for changing over modes by selecting from an input mode for entering data of teaching points, an operation mode for operating the robot manipulator according to the entered data of teaching points, and an in-process correction mode for correcting the data of teaching points stored in said storage unit according to the data from said input unit during operation of the robot manipulator, wherein said input unit for entering teaching points of a robot manipulator is connected said control unit, and wherein said control unit transmits data for operating the robot manipulator to a drive unit of the robot manipulator according to the data of teaching points stored in said storage unit.
Claim 2
Dependent Claim
148 words
A robot control apparatus including an input unit and a control unit comprising: a storage unit for storing data of teaching points entered from said input unit; and a changeover unit provided in said input unit for changing over modes by selecting from an input mode for entering data of teaching points, an operation mode for operating the robot manipulator according to the entered data of teaching points, and an in-process correction mode for correcting the data of teaching points stored in said storage unit according to the data from said input unit during operation of the robot manipulator, wherein said input unit for entering teaching points of a robot manipulator is connected said control unit, and wherein said control unit transmits data for operating the robot manipulator to a drive unit of the robot manipulator according to the data of teaching points stored in said storage unit.
Claim 3
Dependent Claim
37 words
The robot control apparatus of claim 1 , wherein, in the in-process correction mode, only the teaching points not put in operation yet can be corrected, and teaching points during operation are corrected after completion of operation.
Claim 4
Dependent Claim
46 words
The robot control apparatus of claim 2 , further comprising: a display unit for specifying the teaching points that can be corrected, in the in-process correction mode, and means for selecting the teaching points to be corrected therefrom, and correcting and setting the selected teaching points.
Claim 5
Dependent Claim
84 words
The robot control apparatus of claim 2 , further comprising setting means for determining the correction direction of the teaching point by selecting the system of coordinates, in the in-process correction mode, from an absolute system of coordinates on the basis of a preset machine origin of the RM (robot manipulator), a tool system of coordinates on the basis of the tool attached to the final leading end of the RM (robot manipulator), and a user system of coordinates arbitrarily set by the user.
Claim 6
Dependent Claim
46 words
The robot control apparatus of claim 1 , further comprising: a display unit for specifying the teaching points that can be corrected, in the in-process correction mode, and means for selecting the teaching points to be corrected therefrom, and correcting and setting the selected teaching points.
Claim 7
Dependent Claim
85 words
The robot control apparatus of claim 5 , further comprising setting means for determining the correction direction of the teaching point by selecting the system of coordinates, in the in-process correction mode, from an absolute system of coordinates on the basis of a preset machine origin of the RM (robot manipulator), a tool system of coordinates on the basis of the tool (hand) attached to the final leading end of the RM (robot manipulator), and a user system of coordinates arbitrarily set by the user.
Claim 8
Dependent Claim
84 words
The robot control apparatus of claim 1 , further comprising setting means for determining the correction direction of the teaching point by selecting the system of coordinates, in the in-process correction mode, from an absolute system of coordinates on the basis of a preset machine origin of the RM (robot manipulator), a tool system of coordinates on the basis of the tool attached to the final leading end of the RM (robot manipulator), and a user system of coordinates arbitrarily set by the user.
References Cited (Backward Citations)
US4179602A
Cited
US4888708A
Cited
US4553077A
Cited
JPH04359302A
Cited
JPH06222829A
Cited
US5650077A
Cited
JPH08171409A
Cited
JPH08267381A
Cited
US6134102A
Cited
US6362813B1
Cited
JPH1199492A
Cited
US6356806B1
Cited
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 2006-02-17 | 2006-08-19 | 2007-02-18 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 2010-02-17 | 2010-08-19 | 2011-02-18 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 2014-02-17 | 2014-08-19 | 2015-02-18 | $7700.00 | Window Closed / Lapsed |