Material or article handling – Vertically swinging load support – Grab
Patent
1987-01-29
1989-03-21
Paperner, Leslie J.
Material or article handling
Vertically swinging load support
Grab
901 3, 901 50, B25J 900, B25J 1900
Patent
active
048138444
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
The present invention relates to an apparatus for setting an industrial robot at a standard position. More particularly, the present invention relates to an apparatus for setting an articulated robot at a predetermined posture on the basis of a fixing base of the robot.
BACKGROUND ART
For control of the motion of an industrial robot, there is ordinarily adopted a method in which the arranged industrial robot is manually set at a predetermined standard posture and an aimed position for the motion is calculated by using positions of respective moving elements as reference values. This operation of setting the posture of the robot, that is, the operation of setting the robot at the standard position, is necessary when it is desired to change the set position of the robot or when maintenance of the robot or an exchange of tools is carried out.
Japanese Unexamined Patent Publication No. 60-20878 discloses an apparatus for determining the standard position of an articulated industrial robot. However, this apparatus is defective in that, since the rotation axis of a wrist assembly of the robot is utilized as the object of the measurement, a casing of the wrist must be dismounted for the determination and the operation is troublesome.
DISCLOSURE OF THE INVENTION
As a means for eliminating this defect, the present invention provides an apparatus for setting an industrial robot, which comprises a block to be measured, which is attached to a top end portion of a wrist of the industrial robot and has three planes, orthogonal to one another, to be measured, block-positioning means for positioning the block relative to the top end portion of the wrist so that the three planes to be measured of the block are set at predetermined positions relative to the top end portion of the wrist, a supporting member for the measurement which is attached to a fixing base of the industrial robot and has three frames orthogonal to one another, supporting member-positioning means for positioning the supporting member relative to the fixing base so that the frames take predetermined positions relative to three-axis orthogonal coordinates predetermined on the basis of the fixing base, and a plurality of dial gauges attached to predetermined positions of the frames to measure the planes to be measured of the block and to display predetermined values when the planes to be measured of the block are set at predetermined positions relative to the frames.
According to the above-mentioned apparatus, by applying the top ends of the dial gauges to the planes to be measured of the block to be measured, and adjusting the posture of the robot so that measured values displayed by the dial gauges are equal to predetermined values, the robot can be set at a predetermined posture relative to three-axis orthogonal coordinates predetermined on the basis of the fixing base. Since a casing of the wrist of the robot need not be dismounted when performing this operation, the operation of positioning the robot can be simply performed.
The foregoing and other objects and characteristics of the present invention will become apparent from the following description made with reference to the accompanying drawings.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a side view, partially in section, of an embodiment of the apparatus for positioning a six-axis articulated robot according to the present invention;
FIG. 2 is a perspective view showing the positioning apparatus shown in FIG. 1;
FIG. 3 is an enlarged view of the main part of the positioning apparatus shown in FIG. 2, which illustrates the method of setting dial gauges in the positioning apparatus shown in FIG. 2;
FIG. 4 is a view showing the section taken along the line IV--IV in FIG. 3;
FIGS. 5 through 7 are sectional views showing the steps of the operation of the positioning apparatus shown in FIGS. 1 and 2; and,
FIG. 8 is a perspective view illustrating another embodiment of the positioning apparatus according to the present invention.
BEST MODE FOR CARRYING OUT THE INVENTION
FIG
REFERENCES:
patent: 3336676 (1967-08-01), Aldeborgh
patent: 3496758 (1970-02-01), Sunnen
patent: 4372721 (1983-02-01), Harjar et al.
patent: 4406069 (1983-09-01), Clement
patent: 4481592 (1984-11-01), Jacobs et al.
patent: 4668157 (1987-05-01), Kato et al.
patent: 4702665 (1987-10-01), Nakashima et al.
"Methods for Checking the Operating Accuracy of Industrial Robots", Machines & Tooling, vol. 49, No. 8, pp. 8-11.
Mizuno Hitoshi
Nihei Ryo
Torii Nobutoshi
Fanuc Ltd.
Paperner Leslie J.
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