EP1632318A3

Robot interference prevention control device

Abstract

A robot interference prevention control device reads in advance a teaching program of each robot, calculates a scheduled stop position for each robot when issuing a stop command after n number of interpolation periods from the current interpolation period, and checks whether or not interference would occur at the scheduled stop position of each robot. When the robot interference prevention control device judges that a robot will interfere with another robot, it outputs a stop command at the current interpolation period. Due to this, a stop command is output before n number of interpolation periods from the interpolation period where interference would occur and thereby the occurrence of interference can be prevented.

EP1632318A3, drawing sheet 1 — Sheet 1 of 1

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Projected expiry passed 31 August 2025, 1.1 years ago.

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Sheet 1

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Citations
Document	Relation	Office	Category	Cited during	Relevant claims
EP0544346A1	Cites	European Patent Office (EPO)	A	Search report	1
DE10361132A1	Cites	Germany	AP	Search report	1-2,6
EP1366867A2	Cites	European Patent Office (EPO)	X	Search report	1-6
US6166504A	Cites	United States of America	X	Search report	1-6
JPS6099591A	Cites	Japan	AD	Search report	1
FREUND E ET AL: "EIN ALGORITHMS ZUR KOLLISIONSERKUNNUNG UND -VERMEIDUNG BEI ROBOTERNMIT ZYLINDERFORMIGEM ARBEITSRAUM", ROBOTERSYSTEME, SPRINGER VERLAG. BERLIN, DE, vol. 6, no. 1, 1 March 1990 (1990-03-01), pages 1 - 10, XP000104118	Non-patent	–	–	Search report	–

9 members in 5 offices; this record represents the family

This recordMember, by publication datePriority claim

Priority claims2

Priority claims
Document	Office	Kind	Date
2004255881	Japan	–	2004-09-02
2004255881	Japan	A	2004-09-02

Members9

Family members, oldest first
Document	Office	Kind
CN1743148A	China	A	2006-03-08
EP1632318A2	European Patent Office (EPO)	A2	2006-03-08
US2006052901A1	United States of America	A1	2006-03-09
JP2006068857A	Japan	A	2006-03-16
JP3907649B2	Japan	B2	2007-04-18
CN100355540C	China	C	2007-12-19
EP1632318A3This record	European Patent Office (EPO)	A3	2009-08-12
EP1632318B1	European Patent Office (EPO)	B1	2011-01-19
DE602005025967D1	Germany	D1	2011-03-03

24 legal events, as 2 offices reported them to INPADOC

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	Event	Code	Office
2024-07-31	Lapsed in a contracting state [announced via postgrant information from national office to epo]LapsedPG25	PG25	EP
2024-03-01	Application deemed withdrawn, or ip right lapsed, due to non-payment of renewal feeWithdrawnR119	R119	DE
2022-10-31	Annual fee paid to national office [announced via postgrant information from national office to epo]GrantedPGFP	PGFP	EP
2012-02-16	No opposition filed against granted patent, or epo opposition proceedings concluded without decisionGrantedR097	R097	DE
2011-12-28	No opposition filedOpposition26N	26N	EP
2011-11-25	No opposition filed within time limitOppositionORIGINAL CODE: 0009261PLBE	PLBE	EP
2011-11-25	Information on the status of an ep patent application or granted ep patentGrantedSTATUS: NO OPPOSITION FILED WITHIN TIME LIMITSTAA	STAA	EP
2011-03-03	Dpma publication of mentioned ep patent grantGrantedR096	R096	DE
2011-03-03	Corresponds to:REF	REF	EP
2011-02-23	Party data changed (patent owner data changed or rights of a patent transferred)RAP2	RAP2	EP
2011-01-19	Designated contracting statesAK	AK	EP
2010-12-17	(expected) grantORIGINAL CODE: 0009210GRAA	GRAA	EP
2010-12-10	Grant fee paidORIGINAL CODE: EPIDOSNIGR3GRAS	GRAS	EP
2010-07-30	Information related to communication of intention to grant a patent modifiedORIGINAL CODE: EPIDOSCIGR1GRAC	GRAC	EP
2010-07-30	Despatch of communication of intention to grant a patentORIGINAL CODE: EPIDOSNIGR1GRAP	GRAP	EP
2010-07-07	Information provided on ipc code assigned before grantRIC1	RIC1	EP
2010-04-21	Designation fees paidAKX	AKX	EP
2010-03-03	Request for examination filed17P	17P	EP
2009-08-12	Designated contracting statesAK	AK	EP
2009-08-12	Request for extension of the european patentAX	AX	EP
2009-07-10	Search report despatchedORIGINAL CODE: 0009013PUAL	PUAL	EP
2006-03-08	Designated contracting statesAK	AK	EP
2006-03-08	Request for extension of the european patentAX	AX	EP
2006-01-20	Public reference made under article 153(3) epc to a published international application that has entered the european phaseORIGINAL CODE: 0009012PUAI	PUAI	EP

Robot interference prevention control device

Abstract

Term

Priority claims2

Members9

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Titles3

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Designated states36