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    • 10. 发明授权
    • Cooperative control system of robots
    • 机器人协同控制系统
    • US07558646B2
    • 2009-07-07
    • US10494583
    • 2002-11-07
    • Naoyuki MatsumotoMasatoshi SanoTsuyoshi MaeharaNobuyasu ShimomuraTakahiro Ueno
    • Naoyuki MatsumotoMasatoshi SanoTsuyoshi MaeharaNobuyasu ShimomuraTakahiro Ueno
    • G05B19/042
    • B25J9/1682G05B2219/33097G05B2219/39051G05B2219/39124G05B2219/39141
    • The present invention has a communication connection means (21) which mutually connects communicatably control units (Ca, Cb) for individually controlling operations of robots (Ra, Rb) to constitute a network, input means (37a, 37b) which are respectively installed in the control units and input operation instructions of the robots, and timing signal generation means (69a, 69b). The control units are selectively set to any one of an independent function execution mode, a master function execution mode, and a slave function execution mode, and among the control units, the control unit (Ca) to perform a master operation is set to the master function execution mode, and the residual control unit (Cb) is set to the slave function execution mode, and by correcting a minimum interruption period (Ts(b)) of the slave side control unit (Cb), a control time (ta11, ta12, ta13) to the master robot (Ra) of the master side control unit (Ca) is delayed by a predetermined time (T) to perform the cooperative operation. By doing this, the control units are always kept in the synchronized state, thus the operations of the robots can be prevented from variations.
    • 本发明具有通信连接装置(21),其连接用于单独控制机器人(Ra,Rb)的操作的可通信控制单元(Ca,Cb)以构成网络,输入装置(37a,37b)分别安装在 机器人的控制单元和输入操作指令,以及定时信号生成装置(69a,69b)。 控制单元被选择性地设置为独立功能执行模式,主功能执行模式和从功能执行模式中的任何一个,并且在控制单元中,执行主操作的控制单元(Ca)被设置为 主功能执行模式,剩余控制单元(Cb)被设定为从功能执行模式,并且通过校正从侧控制单元(Cb)的最小中断周期(Ts(b)),控制时间(ta11 ,ta12,ta13)到主控制单元(Ca)的主机器人(Ra)延迟预定时间(T)以执行协作操作。 通过这样做,控制单元总是保持在同步状态,从而可以防止机器人的操作变化。