Method and apparatus for indexing moving portion of robot to ori

Details Method and apparatus for indexing moving portion of robot to ori Method and apparatus for indexing moving portion of robot to ori

1992-02-26

1992-09-22

Ip, Paul

Electricity: motive power systems

Positional servo systems

Program- or pattern-controlled systems

318561, 31856810, 901 40, 901 15, G05B 1300

Patent

active

051500230

ABSTRACT:
Herein disclosed are a method and an apparatus for indexing a moving portion of a robot to a mechanical origin. First and second reference holes are formed respectively in the moving portion and a holding portion supporting the moving portion relatively movably. A plug gauge used has a foot to be fitted in the first reference hole and a probe attached to the foot and sized to be inserted into the second reference hole. The plug gauge is fitted in the first reference hole, and the moving portion is then moved in a first direction relative to the holding portion by operating a drive unit. This relative movement of the moving portion is stopped when the probe of the plug gauge comes into contact with the inner wall of the second reference hole. Then, the drive unit is operated to move the moving portion relatively in a second direction opposed to the first direction, and this relative movement of the moving portion is stopped when the probe of the plug gauge comes again into contact with the inner wall of the second reference hole. Thus, the central position of the moving stroke of the moving portion in the second direction is determined as the mechanical origin on the basis of the output of a position detector.

REFERENCES:
patent: 3808696 (1974-05-01), Possati
patent: 4332066 (1982-06-01), Hailey et al.
patent: 4404505 (1983-09-01), Swanson et al.
patent: 4469993 (1984-09-01), Swanson et al.
patent: 4561816 (1985-12-01), Dingess
patent: 4987676 (1991-01-01), Amorosi
patent: 5074741 (1991-12-01), Johansson

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