Boots – shoes – and leggings
Patent
1982-08-26
1985-12-31
Smith, Jerry
Boots, shoes, and leggings
364192, 364478, 318568, 414730, 414735, 901 9, 901 33, 901 34, 901 46, 901 47, G05B 1900, B25J 900, B25J 1300
Patent
active
045625514
DESCRIPTION:
BRIEF SUMMARY
CROSS REFERENCES TO RELATED APPLICATIONS
This application is related to U.S. application Ser. No. 414,366, filed Aug. 26, 1982 which is assigned to the assignee of the present invention.
BACKGROUND OF THE INVENTION
The present invention relates to a robot control system and, more particularly, to a robot control system which makes it possible to grip a workpiece without fail even if the workpiece is somewhat offset from the correct position, and which permits easy teaching for gripping and unloading of the workpiece on a work table, as well as a smooth stopping of the hand when the latter has approached the workpiece.
BACKGROUND ART
Playback-tape industrial robots have been put into practical use and are fully exhibiting their ability, well satisfying the demand for saving labor and procedural simplification of work in view of the current rise in labor cost. Particularly, in machine factories in which many machine tools are installed, a remarkable effect has been achieved by employing the playback type industrial robot for simple services such as exchange of workpieces, exchange of tools and so forth for each of the machine tools. Under these circumstances, the demand for the playback type industrial robot is increasing year by year.
In the actual use of the playback type industrial robot, instructions for the services to be performed by the robot are applied beforehand to the robot through a teaching box and the content of the instructions (referred to as "robot command data" hereinafter) is stored in a memory incorporated in the controller. A series of robot command data is read each time the service demand is raised by the machine to make the robot repeatedly serve the machine.
The robot command data is composed of the information concerning the point to be served, operation speed, and a service code which commands control of the hand at the service point, exchange of signals between the machine and the control system and so forth. The above-mentioned teaching generally includes the following steps: namely, (1) setting a memory address where the robot data is to be stored, (2) positioning by a jog feed (manual feed), (3) setting of point position information and speed command and (4) setting of robot service code. The instruction for a series of robot services are made by repeating the sequence including the above-mentioned steps (1) to (4). Therefore, the robot performs correctly and successively various tasks such as exchange of workpieces, removal of metal scraps, exchange of tools, control of the hand and so forth, after completion of positioning at a predetermined speed, in accordance with the robot command data each time the service demand is issued, unless any impediment exists in the mechanical portion.
If a workpiece is positioned at a slight offset from the correct position, the hand cannot grip the workpiece securely even if it is moved correctly to the commanded position as instructed. In a case where a multiplicity of unmachined workpieces are stacked on the work table, the position of gripping varies depending on the size, dimensions, etc. of the workpiece, so that it is necessary to take the trouble of renewing the position command each time a workpiece is gripped. When the machined workpieces are stacked, the position at which the hand releases the workpiece varies depending on the desired location of the workpiece, so that it becomes necessary to take the trouble of renewing the position command for releasing the workpiece each time the release takes place.
SUMMARY OF THE INVENTION
Accordingly, it is an object of the invention to provide a robot control system which can securely grip a workpiece even if the workpiece is somewhat misaligned from the correct position and which permits easy teaching of the gripping and unloading of workpieces stacked on a work table.
It is another object of the invention to provide a robot control system which can automatically decelerate the hand to smoothly stop the same when it has approached a workpiece.
More specifically, according to the in
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Supplementary European Search Report, 8-15-83 by Examiner Ressenaar at The Hague.
Inaba Hajimu
Nihei Ryo
Sakakibara Shinsuke
Fanuc Limited
MacDonald Allen
Smith Jerry
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