Title:
DOUBLE ARM ROBOT OPERATING METHOD
Document Type and Number:
WIPO Patent Application WO/1994/009950
Kind Code:
A1
Abstract:
In a double arm robot having a carry-in-side arm for carrying a work into a working machine and a carry-out-side arm for carrying out a work from the working machine, both of which arms are provided on both sides of one support post so that these arms are operated with a mutual interference region provided, a double arm robot operating method characterized in that a signal for discriminating the condition (1) of the arms not gripping a work and positioned out of the mutual interference region, the condition (2) of the arms gripping a work and positioned out of the mutual interference region, the condition (3) of the arms gripping a work and positioned in the mutual interference region and the condition (4) of the arms not gripping a work and positioned in the mutual interference region from one another is outputted for each arm so as to move one arm out of the two to a position in the interference region after it has been ascertained with reference to this condition signal outputted for the other arm that the latter arm is out of the interference region. According to this arrangement, one arm is moved in the interference region after the condition of the other arm has been ascertained, whereby the interference of the arms with each other can be prevented. Similarly, the interference of an arm of a double arm robot with that of an adjacent double arm robot can be prevented, and the passing of a work from one arm to the other and the delivering of a work between the arms can be done without causing one arm from interfering with the other. Even when a plurality of working machines and a plurality of double arm robots are used, they can be used as a production line or independently, i.e., they can be applied to works flexibly. Moreover, works can be carried into and from a plurality of working machines by one double arm robot without causing the arms to interfere with each other.
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Inventors:
TAKECHI HIROAKI (JP)
Application Number:
PCT/JP1993/001578
Publication Date:
May 11, 1994
Filing Date:
October 29, 1993
Export Citation:
Assignee:
KOMATSU MFG CO LTD (JP)
TAKECHI HIROAKI (JP)
TAKECHI HIROAKI (JP)
International Classes:
B21D43/10; B23Q7/04; B25J9/06; B25J9/16; B30B15/30; (IPC1-7): B25J19/06; B25J9/06; B25J13/00
Foreign References:
| JPH02198782A | 1990-08-07 | |||
| JPS59107883A | 1984-06-22 | |||
| JPS59129691A | 1984-07-26 |
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