发明名称 |
LEAD-THROUGH TEACHING PERMITTING ROBOT CONTROL APPARATUS |
摘要 |
A robot control apparatus capable of effecting the lead-through teaching easily and safely. When an operator presses down a lead-through teaching effective switch (12) provided in a control apparatus body, the supplying of electric power to a servo controller (17) is stopped, and a mechanical brake (18) is made effective. When the operator presses down a dead-man switch (4) with a teaching handle (3) gripped, an electromagnetic relay (RL1) is energized and a normally opened contact (14) is closed. Consequently, the mechanical brake (18) is made ineffective, and an electromagnetic relay (RL2) is energized at the same time, so that a normally opened contact (15) is closed to cause a power source current to be supplied to the servo controller (17). A signal making a torque instruction zero is also sent to the servo controller (17). This enables the operator to move a robot in a desired direction. When the operator discontinues to press down the dead-man switch, the mechanical brake is made effective immediately, and the robot is locked in the current position.
|
申请公布号 |
WO9707941(A1) |
申请公布日期 |
1997.03.06 |
申请号 |
WO1996JP02379 |
申请日期 |
1996.08.26 |
申请人 |
FANUC LTD;HASHIMOTO, YOSHIKI;TANABE, YOSHIKIYO |
发明人 |
HASHIMOTO, YOSHIKI;TANABE, YOSHIKIYO |
分类号 |
B25J9/22;B25J13/02;B25J19/00;B25J19/06;G05B19/42;G05B19/423;(IPC1-7):B25J13/00 |
主分类号 |
B25J9/22 |
代理机构 |
|
代理人 |
|
主权项 |
|
地址 |
|