Robot controller permitting lead-through teaching
US5783922A · kind A · utility
Assignee
Inventors
Key dates
| Filing date | Apr 24, 1997 |
| Grant date | Jul 21, 1998 |
| Priority date | — |
| Expiry date | Apr 24, 2017 |
Classification
- Technology area (CPC G)Physics
- CPC primaryG05B2219/39447
- WIPO fieldHandling
- WIPO sectorMechanical engineering
Abstract
A robot controller capable of performing the lead-through-teaching easily and safely. When an operator depresses a lead-through-teach enabling switch (12) provided at a main body of a control apparatus, power supply to a servo control unit (17) is stopped and mechanical brakes (18) are set effective. When a deadman switch (4) is depressed by the operator holding a teaching handle (3), an electromagnetic relay RL1 is energized and a normally-open contact (14) is closed. Consequently, the mechanical brakes (18) are rendered ineffective and an electromagnetic relay RL2 is energized to close a normally-open contact (15), whereby electric power is supplied to the servo control unit (17). Further, a signal for setting a torque command to zero is inputted to the servo control unit. Thus, the operator can move the robot in a desired direction. When the operator stops depressing the deadman switch (4), the mechanical brake is immediately set effective to lock the robot at its current position.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.