JPH0253585A - Control method for industrial robot - Google Patents
Control method for industrial robotInfo
- Publication number
- JPH0253585A JPH0253585A JP20709088A JP20709088A JPH0253585A JP H0253585 A JPH0253585 A JP H0253585A JP 20709088 A JP20709088 A JP 20709088A JP 20709088 A JP20709088 A JP 20709088A JP H0253585 A JPH0253585 A JP H0253585A
- Authority
- JP
- Japan
- Prior art keywords
- painting
- robot
- robots
- continuous conveyor
- downstream side
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Granted
Links
- 238000000034 method Methods 0.000 title claims description 16
- 238000010422 painting Methods 0.000 claims abstract description 126
- 239000011248 coating agent Substances 0.000 claims description 16
- 238000000576 coating method Methods 0.000 claims description 16
- 238000011144 upstream manufacturing Methods 0.000 claims description 8
- 238000013459 approach Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 9
- 238000000926 separation method Methods 0.000 description 2
- 230000002159 abnormal effect Effects 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 239000003973 paint Substances 0.000 description 1
Landscapes
- Manipulator (AREA)
- Application Of Or Painting With Fluid Materials (AREA)
Abstract
Description
【発明の詳細な説明】
〔産業上の利用分野］
本発明は、連続コンベアにより搬送される被塗装物に複
数の塗装用ロボットを順次追従移動させながら塗装を行
う際の塗装用ロボットの制御ｎ方法に関するものである
。Detailed Description of the Invention [Industrial Field of Application] The present invention is directed to control of a painting robot when painting a workpiece being conveyed by a continuous conveyor while sequentially moving a plurality of painting robots to follow it. It is about the method.
〔従来技術］
従来、塗装面積の比較的大きな被塗装物の表面を例えば
複数のブロックに分割し、複数の塗装用ロボットを用い
て塗装作業を行う場合、第４図に示すように、塗装ブー
ス（不図示）内において、連続コンベア１の側部に対向
して該連続コンベア１の移動方向に並設された複数の塗
装用ロボット２．２．・・・を、各塗装用ロボット２毎
に設けられた走行レール３上をぞれぞれ連続コンベア１
の移動方向（矢印４方向）に追従移動させながら、該連
続コンベア１により搬送される被塗装物５の塗装が行わ
れる。そして、各ブロック毎の塗装作業が終了した後、
上記塗装用ロボット２はそれぞれ連続コンベア１の被塗
装物搬送方向（矢印４方向）上流側の原点位置に復帰さ
れる。[Prior Art] Conventionally, when the surface of a workpiece with a relatively large painting area is divided into, for example, a plurality of blocks and a plurality of painting robots are used for painting work, a painting booth is used as shown in Fig. 4. (not shown), a plurality of painting robots 2.2. . . , a continuous conveyor 1 is conveyed on the traveling rail 3 provided for each painting robot 2.
The object to be coated 5 conveyed by the continuous conveyor 1 is coated while being moved in the moving direction (arrow 4 direction). After the painting work for each block is completed,
Each of the painting robots 2 is returned to its original position on the upstream side of the continuous conveyor 1 in the direction of conveyance of the objects to be painted (in the direction of arrow 4).
尚、同図中の塗装用ロボット２の位置と時間との関係を
示す図表において、実線は塗装用ロボット２が連続コン
ベア１に追従移動しながら塗装作業を行う際の移動軌跡
、破線は上記塗装用ロボット２が塗装作業を終了した後
、原点位置に復帰する際の移動軌跡をそれぞれ示す。In addition, in the diagram showing the relationship between the position and time of the painting robot 2 in the same figure, the solid line is the movement trajectory when the painting robot 2 performs painting work while following the continuous conveyor 1, and the broken line is the above-mentioned painting path. The movement trajectory of the robot 2 when it returns to the origin position after finishing the painting work is shown.
〔発明が解決しようとする課題）
ところが、上記したような従来の塗装システムにおいて
は、各塗装用ロボット２を連続コンベア１の移動方向へ
移動させるための走行レール３が、各塗装用ロボット２
毎に独立して設けられているため、塗装ブース内におい
て、上記連続コンベアｌの移動方向に関し比較的広いス
ペースを確保しなければならない。[Problem to be Solved by the Invention] However, in the conventional painting system as described above, the traveling rail 3 for moving each painting robot 2 in the moving direction of the continuous conveyor 1 is
Since each conveyor is provided independently, a relatively large space must be secured in the coating booth in the direction of movement of the continuous conveyor I.
また、連続コンベア１の速度が変化した場合の各塗装用
ロボット２の移動ストロークの変化量をも吸収し得るよ
うに、上記各走行レール３をそれぞれ余裕を見て長く設
定する必要があり、そのことも上記スペースを広く確保
しなければならない一因となっている。第５図はこのよ
うな状況の一例を示すものであって、連続コンベア１の
速度が速くなった場合の塗装用ロボット２の移動ストロ
ークの軌跡を二点鎖線で示す。In addition, in order to absorb the amount of change in the movement stroke of each painting robot 2 when the speed of the continuous conveyor 1 changes, each of the traveling rails 3 needs to be set long enough to accommodate the change in the speed of the continuous conveyor 1. This is also one of the reasons why it is necessary to secure a wide space. FIG. 5 shows an example of such a situation, and the trajectory of the movement stroke of the painting robot 2 when the speed of the continuous conveyor 1 increases is shown by a chain double-dashed line.
そこで、本発明の目的とするところは、複数の塗装用ロ
ボットを用いて塗装を行うシステムにおいて、塗装スペ
ースを大きく確保することなくコンパクト化し、そのス
ペース内で上記塗装用ロボットを円滑に移動させて効率
良く塗装を行うことのできる塗装用ロボットの制御方法
を提供することにある。Therefore, an object of the present invention is to make a system that performs painting using a plurality of painting robots compact without requiring a large painting space, and to smoothly move the painting robots within that space. An object of the present invention is to provide a method for controlling a painting robot that can efficiently perform painting.
（Ｌｍ題を解決するための手段〕
上記目的を達成するために、本発明が採用する主たる手
段は、その要旨とするところが、連続コンベアの側部に
対向して該連続コンベアの移動方向に並設された複数の
塗装用ロボットをそれぞれ連続コンベアの移動方向へ追
従移動させながら該連続コンベアにより搬送される被塗
装物の塗装を行い、塗装作業終了後、上記複数の塗装用
ロボットを連続コンベアの被塗装物搬送方向上流側の各
原点位置に復帰させるようにした塗装用ロボットの制御
方法において、上記複数の塗装用ロボットを上記連続コ
ンベアの移動方向に対して略平行に配備された共通の走
行レール上に移動可能に設け、上記複数の塗装用ロボッ
トの内、被塗装物搬送方向下流側に位置する塗装用ロボ
ットを原点位置に復帰させる際、この塗装物搬送方向下
流側に位置する塗装用ロボットと被塗装物搬送方向上流
側に位置する塗装用ロボットとが所定距離以上接近しな
いように被塗装物搬送方向下流側に位置する塗装用ロボ
ットを原点位置の方向へ移動させるようにした点に係る
塗装用ロボットの制御方法である。(Means for Solving the Lm Problem) In order to achieve the above object, the main means adopted by the present invention is that the main means adopted by the present invention is to line up the machine facing the side of the continuous conveyor in the moving direction of the continuous conveyor. The plurality of painting robots installed are moved in the direction of movement of the continuous conveyor to paint the objects to be coated conveyed by the continuous conveyor, and after the painting work is completed, the plurality of painting robots are moved to the direction of movement of the continuous conveyor. In a method for controlling a coating robot, the coating robot is returned to its original position on the upstream side in the conveyance direction of the object to be coated, wherein the plurality of coating robots are arranged substantially parallel to the moving direction of the continuous conveyor. When the painting robot located on the downstream side in the direction of conveyance of the object to be painted among the plurality of painting robots is returned to its origin position, the robot for painting located on the downstream side in the direction of conveyance of the object to be painted is movably installed on the rail. The coating robot located on the downstream side in the direction of conveyance of the object to be painted is moved in the direction of the origin position so that the robot and the robot for painting located on the upstream side in the direction of conveyance of the object to be painted do not approach each other by more than a predetermined distance. This is a method of controlling such a painting robot.
以下添付図面を参照して、本発明を具体化した実施例に
つき説明し、本発明の理解に供する。尚、以下の実施例
は、本発明を具体化した一例であって、本発明の技術的
範囲を限定する性格のものではない。DESCRIPTION OF THE PREFERRED EMBODIMENTS Examples embodying the present invention will be described below with reference to the accompanying drawings to provide an understanding of the present invention. It should be noted that the following examples are examples embodying the present invention, and are not intended to limit the technical scope of the present invention.
ここに第１図は本発明の一実施例に係る塗装用ロボット
の制御方法を実施することのできる塗装システムの制御
ブロック図、第２図は上記塗装システムにおける塗装用
ロボットとその移動軌跡を示す説明図、第３図は上記塗
装用ロボットに適用することのできる他の実施例に係る
距離検出器の説明図である。Here, FIG. 1 is a control block diagram of a painting system that can carry out a method for controlling a painting robot according to an embodiment of the present invention, and FIG. 2 shows a painting robot and its movement trajectory in the painting system described above. An explanatory diagram, FIG. 3, is an explanatory diagram of a distance detector according to another embodiment that can be applied to the above-mentioned painting robot.
また、第４図に示した前記従来の塗装システムと共通す
る要素には、同一の符号を使用して説明する。Further, the same reference numerals will be used to describe the same elements as those of the conventional coating system shown in FIG. 4.
この実施例に係る塗装用ロボットの制御方法を実施する
ことのできる塗装システムでは、第２図に示す如く、被
塗装物５を連続的に搬送する連続コンベアｌの側部に対
向して、該連続コンベア１の移動方向（矢印４方向）に
対して平行に走行レール６が配備されている。上記走行
レール６には、例えば２台の第１．第２の塗装用ロボッ
ト２ａ２トが移動可能に設けられている。In a coating system capable of implementing the method for controlling a coating robot according to this embodiment, as shown in FIG. A traveling rail 6 is arranged parallel to the moving direction of the continuous conveyor 1 (arrow 4 direction). The traveling rail 6 includes, for example, two first... A second painting robot 2a2 is movably provided.
上記塗装システムにおける第１．第２の塗装用ロボット
２□、２１．の制御方法では、該第１．第２の塗装用ロ
ボット２ｉ、２ｈを、それぞれ共通の走行レール６上。First in the above coating system. Second painting robot 2□, 21. In the control method of the first. The second painting robots 2i and 2h are respectively placed on a common traveling rail 6.
を連続コンベア１の移動方向へ順次追従移動させながら
、該連続コンベア１により搬送される被塗装物５の各ブ
ロック毎の塗装が連続的に行われる。While sequentially following and moving in the moving direction of the continuous conveyor 1, each block of the object to be coated 5 conveyed by the continuous conveyor 1 is continuously coated.
そして、塗装作業が終了した後、上記第１．第２の塗装
用ロボット２１．２＆は、それぞれ連続コンベア１の被
塗装物搬送方向（矢印４方向）上流側の各原点位置に復
帰されるが、この場合、上記第１．第２の塗装用ロボッ
ト２ｍ、２ｂの内、被塗装物搬送方向下流側に位置する
第１の塗装用ロボット２１を原点位置に復帰させる際、
この第１の塗装用ロボット２□と被塗装物搬送方向上流
側に位置する第２の塗装用ロボット２トとが所定距離以
上接近しないように、上記第１の塗装用ロボット２１が
制御されながら原点位置の方向へ移動される。After the painting work is completed, the above-mentioned step 1. The second painting robots 21.2& are each returned to their respective origin positions on the upstream side of the continuous conveyor 1 in the direction of conveyance of the objects to be painted (arrow 4 direction). When returning the first painting robot 21 of the second painting robots 2m and 2b, which is located on the downstream side in the direction of transporting the object to be painted, to the original position,
The first painting robot 21 is controlled so that the first painting robot 2 Moved in the direction of the origin position.
上記第１．第２の塗装用ロボット２１．２＆の離間距離
は、例えば上記第１．第２の塗装用ロボット２１．２＋
、のそれぞれ相対向する面倒に取り付けられた超音波式
の距離検出器７により測定される。上記距離検出器７に
より測定された第１゜第２の塗装用ロボッ）２ａ、２ｔ
、の離間距離は、第１図に示す如く、データ信号として
制御装置８に入力され、この距離に基づいて、上記制御
装置８により第１．第２の塗装用ロボット２＆、２＋。Above 1st. The separation distance of the second painting robot 21.2& may be, for example, the distance of the first painting robot 21.2&. Second painting robot 21.2+
, are measured by ultrasonic distance detectors 7 mounted on opposite sides of each other. The first and second painting robots) 2a and 2t measured by the distance detector 7
, is input to the control device 8 as a data signal as shown in FIG. 1, and based on this distance, the control device 8 selects the first... Second painting robots 2&, 2+.
が移動制御される。movement is controlled.
塗装作業終了後、上記第１の塗装用ロボット２１をその
原点位置に復帰させる際の具体的制御例としては、第２
図に示す如く、第１の塗装用ロボット２ａと第２の塗装
用ロボット２しとの距離が接近して、例えばＬｌの値に
なった時、上記第１の塗装用ロボット２１は、上記連続
コンベアｌの移動方向へ追従移動され、待機状態となる
。As a specific control example for returning the first painting robot 21 to its original position after the painting work is completed, the second painting robot 21 is
As shown in the figure, when the distance between the first painting robot 2a and the second painting robot 2 approaches and reaches a value of Ll, for example, the first painting robot 21 It is moved to follow the direction of movement of the conveyor I and enters a standby state.
その間に上記第２の塗装用ロボット２トによる塗装作業
が終了し、該第２の塗装用ロボット２１゜が原点位置の
方向へ移動し、第１の塗装用ロボット２１と第２の塗装
用ロボット２＋、との距離が離間して、例えばＬ２の値
となった時、上記第１の塗装用ロボット２．の原点位置
の方向への移動が再開される。In the meantime, the painting work by the second painting robot 2 is completed, the second painting robot 21° moves in the direction of the origin position, and the first painting robot 21 and the second painting robot 2+, for example, when the distance from the first painting robot 2. movement in the direction of the origin position is resumed.
本実施例に係る塗装用ロボットの制御方法は上記したよ
うに構成されている。The method for controlling the painting robot according to this embodiment is configured as described above.
従って、上記制御方法により制御される塗装シ゛ステム
においては、複数の塗装用ロボット２１゜２５を連続コ
ンベア１の移動方向へ移動させるための走行レール６を
共用し得ることから、該走行レール６を短くすることが
できると共に、隣合う上記塗装用ロボット２ａ、２ｂの
離間距離を最小限の値に設定することができ、塗装ブー
ス（不図示）内における連続コンベア１の移動方向に関
するスペースを小さくすることができる。Therefore, in the painting system controlled by the above control method, since the traveling rail 6 for moving a plurality of painting robots 21, 25 in the moving direction of the continuous conveyor 1 can be shared, the traveling rail 6 can be shortened. In addition, the separation distance between the adjacent painting robots 2a and 2b can be set to a minimum value, and the space in the moving direction of the continuous conveyor 1 in the painting booth (not shown) can be reduced. Can be done.
また、上記したような手順により塗装用ロボッ）２１．
２６を制御することにより、走行レール６上における塗
装用ロボット２□、２Ｉ、の相互干渉は回避される。Also, by following the steps described above, the painting robot) 21.
By controlling the robots 26, mutual interference between the painting robots 2□ and 2I on the traveling rail 6 is avoided.
その結果、設備コストの低減を図ることができると共に
、塗装ブース内における温調費等が減少し、ランニング
コストの低減を図ることも可能となる。As a result, it is possible to reduce equipment costs, reduce temperature control costs in the coating booth, and reduce running costs.
更に、上記各塗装用ロボット２□、２トの塗装サイクル
の時間差を小さく設定することが可能となり、各ブロッ
クにおける塗装セツティングタイムを均一化することも
可能となる。Furthermore, it is possible to set a small time difference between the painting cycles of the painting robots 2 and 2, and it is also possible to equalize the painting setting time for each block.
尚、上記塗装システムにおいては、第２の塗装用ロボッ
ト２トを連続コンベア１に追従移動させて塗装作業を行
う際、該第２の塗装用ロボット２ｂが予め設定された所
定距離以上、走行レール６上を矢印４方向へ移動し、第
１の塗装用ロボット２□の移動ストロークを所定距離確
保することができなくなった場合、制御装置８からは異
常信号が出力され、該塗装システムが停止するように構
成されている。In the above-mentioned painting system, when the second painting robot 2b is moved to follow the continuous conveyor 1 to perform painting work, the second painting robot 2b moves over a predetermined distance from the traveling rail. 6 in the direction of the arrow 4 and the movement stroke of the first painting robot 2□ cannot be secured for a predetermined distance, the control device 8 outputs an abnormal signal and the painting system stops. It is configured as follows.
尚、上記実施例においては、塗装用ロボット２１．２ｂ
の離間距離を検出する手段として、超音波式の距離検出
器７に代えて、第３図に示すように、該塗装用ロボット
２Ｍ、２ｂ本体にタッチセンサ付きバンパー９を取り付
けて使用することも可能である。In addition, in the above embodiment, the painting robot 21.2b
Instead of the ultrasonic distance detector 7, a bumper 9 with a touch sensor may be attached to the main body of the painting robot 2M, 2b as shown in FIG. It is possible.
更に１．上記走行レール６に対する塗装用ロボット２ｉ
、２ｂの位置を検出し、この位置データから上記制御装
置８により該塗装用ロボット２１・２トの離間距離を算
出するようにしても良い。Furthermore 1. Painting robot 2i for the traveling rail 6
, 2b may be detected, and the distance between the painting robots 21 and 2 may be calculated by the control device 8 from this position data.
本発明は、上記したように、連続コンベアの側部に対向
して該連続コンベアの移動方向に並設された複数の塗装
用、ロボットをそれぞれ連続コンベアの移動方向へ追従
移動させながら該連続コンベアにより搬送される被塗装
物の塗装を行い、塗装作業終了後、上記複数の塗装用ロ
ボットを連続コンベアの被塗装物搬送方向上流側の各原
点位置に復帰させるようにした塗装用ロボットの制御方
法において、上記複数の塗装用ロボットを上記連続コン
ベアの移動方向に対して略平行に配備された共通の走行
レール上に移動可能に設け、上記複数の塗装用ロボット
の内、被塗装物搬送方向下流側に位置する塗装用ロボッ
トを原点位置に復帰させる際、この塗装物搬送方向下流
側に位置する塗装用ロボットと被塗装物搬送方向上流側
に位置する塗装用ロボットとが所定距離以上接近しない
ように被塗装物搬送方向下流側に位置する塗装用ロボッ
トを原点位置の方向へ移動させるようにしたことを特徴
とする塗装用ロボットの制御方法であるから、複数の塗
装用ロボットの走行用のレールを共用することができ、
塗装スペースをコンパクト化することができる。As described above, the present invention provides a plurality of painting robots arranged in parallel in the moving direction of the continuous conveyor facing the side of the continuous conveyor, and moving the continuous conveyor while moving each of the robots to follow the continuous conveyor in the moving direction of the continuous conveyor. A method for controlling a coating robot, the method comprising: coating an object being conveyed by a conveyor, and returning the plurality of coating robots to their respective origin positions on the upstream side of a continuous conveyor in the direction of conveyance of the object after the completion of the painting operation. , the plurality of painting robots are movably provided on a common traveling rail arranged substantially parallel to the moving direction of the continuous conveyor, and among the plurality of painting robots, one of the plurality of painting robots is positioned downstream in the conveying direction of the object to be painted. When returning the painting robot located on the side to the origin position, the painting robot located on the downstream side in the direction of transporting the object to be painted and the painting robot located on the upstream side in the direction of transporting the object to be painted are prevented from approaching each other by more than a predetermined distance. This method of controlling a painting robot is characterized in that the painting robot located on the downstream side in the transport direction of the object to be painted is moved in the direction of the origin position. can be shared,
Painting space can be made more compact.
そして、上記走行レール上において、複数の塗装用ロボ
ットを相互干渉させることなく、円滑に移動させて効率
良く塗装を行うことができる。Moreover, on the traveling rail, a plurality of painting robots can be smoothly moved and painted efficiently without mutual interference.
第１図は本発明の一実施例に係る塗装用ロボットの制御
方法を実施することのできる塗装システムの制御ブロッ
ク図、第２図は上記塗装システムにおける塗装用ロボッ
トとその移動軌跡を示す説明図、第３図は上記塗装用ロ
ボットに適用することのできる他の実施例に係る距離検
出器の説明図、第４図は従来の塗装システムにおける塗
装用ロボットとその移動軌跡を示す説明図、第５図は上
記従来の塗装システムにおいｔコンベア速度が変化した
場合の塗装用ロボットの移動ストロークの軌跡を示す説
明図である。
〔符号の説明〕
１・・・連続コンベア
２ａ、２ｂ・・・塗装用ロボット
５・・・被塗装物
６・・・走行レール。FIG. 1 is a control block diagram of a painting system capable of implementing a method for controlling a painting robot according to an embodiment of the present invention, and FIG. 2 is an explanatory diagram showing a painting robot and its movement trajectory in the painting system. , FIG. 3 is an explanatory diagram of a distance detector according to another embodiment that can be applied to the above-mentioned painting robot, FIG. 4 is an explanatory diagram showing a painting robot in a conventional painting system and its movement trajectory, and FIG. FIG. 5 is an explanatory diagram showing the locus of the movement stroke of the painting robot when the conveyor speed changes in the conventional painting system. [Explanation of symbols] 1... Continuous conveyor 2a, 2b... Painting robot 5... Object to be painted 6... Traveling rail.
Claims (1)
動方向に並設された複数の塗装用ロボットをそれぞれ連
続コンベアの移動方向へ追従移動させながら該連続コン
ベアにより搬送される被塗装物の塗装を行い、塗装作業
終了後、上記複数の塗装用ロボットを連続コンベアの被
塗装物搬送方向上流側の各原点位置に復帰させるように
した塗装用ロボットの制御方法において、上記複数の塗
装用ロボットを上記連続コンベアの移動方向に対して略
平行に配備された共通の走行レール上に移動可能に設け
、上記複数の塗装用ロボットの内、被塗装物搬送方向下
流側に位置する塗装用ロボットを原点位置に復帰させる
際、この塗装物搬送方向下流側に位置する塗装用ロボッ
トと被塗装物搬送方向上流側に位置する塗装用ロボット
とが所定距離以上接近しないように被塗装物搬送方向下
流側に位置する塗装用ロボットを原点位置の方向へ移動
させるようにしたことを特徴とする塗装用ロボットの制
御方法。1. A plurality of coating robots arranged in parallel in the moving direction of the continuous conveyor facing the side of the continuous conveyor are respectively moved in the moving direction of the continuous conveyor to convey the objects to be painted by the continuous conveyor. In a method for controlling a painting robot, the plurality of painting robots perform painting and return the plurality of painting robots to respective origin positions on the upstream side of the conveyance direction of the objects to be painted on a continuous conveyor after the painting work is completed. is movably provided on a common traveling rail arranged substantially parallel to the moving direction of the continuous conveyor, and among the plurality of coating robots, a coating robot located on the downstream side in the direction of conveyance of the object to be coated is provided. When returning to the origin position, the painting robot located on the downstream side in the direction of conveyance of the object to be painted and the painting robot located on the upstream side in the direction of conveyance of the object to be painted do not approach each other by more than a predetermined distance. 1. A method of controlling a painting robot, characterized in that the painting robot located at is moved in the direction of an origin position.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63207090A JP2511504B2 (en) | 1988-08-19 | 1988-08-19 | Control method for painting robot |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP63207090A JP2511504B2 (en) | 1988-08-19 | 1988-08-19 | Control method for painting robot |
Publications (2)
| Publication Number | Publication Date |
|---|---|
| JPH0253585A true JPH0253585A (en) | 1990-02-22 |
| JP2511504B2 JP2511504B2 (en) | 1996-06-26 |
Family
ID=16534036
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP63207090A Expired - Fee Related JP2511504B2 (en) | 1988-08-19 | 1988-08-19 | Control method for painting robot |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JP2511504B2 (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5161936A (en) * | 1989-06-21 | 1992-11-10 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot apparatus |
| US10413929B2 (en) * | 2014-01-16 | 2019-09-17 | Dürr Systems GmbH | Protective shield device for a travel rail |
Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS605968A (en) * | 1983-06-23 | 1985-01-12 | 大成建設株式会社 | Prestress introduction of pc slab in existing structure |
| JPS6260006A (en) * | 1985-09-10 | 1987-03-16 | Fanuc Ltd | Interference checking method for robot control program |
| JPS62246490A (en) * | 1986-04-17 | 1987-10-27 | 日産自動車株式会社 | Method of restoring facility of production line |
| JPS6352991A (en) * | 1986-08-20 | 1988-03-07 | トキコ株式会社 | industrial robot |
-
1988
- 1988-08-19 JP JP63207090A patent/JP2511504B2/en not_active Expired - Fee Related
Patent Citations (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS605968A (en) * | 1983-06-23 | 1985-01-12 | 大成建設株式会社 | Prestress introduction of pc slab in existing structure |
| JPS6260006A (en) * | 1985-09-10 | 1987-03-16 | Fanuc Ltd | Interference checking method for robot control program |
| JPS62246490A (en) * | 1986-04-17 | 1987-10-27 | 日産自動車株式会社 | Method of restoring facility of production line |
| JPS6352991A (en) * | 1986-08-20 | 1988-03-07 | トキコ株式会社 | industrial robot |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US5161936A (en) * | 1989-06-21 | 1992-11-10 | Mitsubishi Denki Kabushiki Kaisha | Industrial robot apparatus |
| US10413929B2 (en) * | 2014-01-16 | 2019-09-17 | Dürr Systems GmbH | Protective shield device for a travel rail |
Also Published As
| Publication number | Publication date |
|---|---|
| JP2511504B2 (en) | 1996-06-26 |
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