Electricity: motive power systems – Positional servo systems – Program- or pattern-controlled systems
Patent
1984-01-25
1986-07-15
Shoop, Jr., William M.
Electricity: motive power systems
Positional servo systems
Program- or pattern-controlled systems
318640, 318569, 364193, 364474, G05B 1918
Patent
active
046008691
DESCRIPTION:
BRIEF SUMMARY
FIELD OF THE INVENTION
The present invention relates generally to a method for inputting the co-ordinates of working positions as part of the programming operation for a robot which is applicable to automated manufacturing lines, such as in automotive vehicle manufacture, vehicle parts manufacture and so forth, and a device adapted for inputting the coordinates. More particularly, the invention relates to a method and a device for automatically inputting the coordinates of working positions by scanning working volumes by means of a sensor.
Recently, assembly robots have become available for practical use. In such assembly robots, it is considered very important to efficiently perform the required assembly operations, e.g., fastening, parts fitting, etc. and to reduce or eliminate mis-operation.
For example, in the case of fastening operations, an automatic screw-tightening tool with automatic screw supply is held by a mechanical hand directly or indirectly secured to one of a movable section of the robot. The robot is designed to accurately position the working end of the automatic screw-tightening tool above a hole formed in a workpiece, and then to move the automatic screw-tightening tool downwardly to perform the screw-tightening operation.
In order to perform the foregoing tightening operation efficiently, it is necessary to ensure not only accurate repeatability of the operation, but also accurate positioning of the workpiece in order to align the hole receiving the screw with the pre-programmed working position of the robot.
Therefore, in practice, the robot is programmed by means of a remote control teaching box, for example, which accurately positions the automatic screw-tighting tool over each hole in the workpiece in order to obtain position data for the robot.
However, it is very difficult to perform this programming with strict accuracy. Even if such strictly accurate programming is possible, it may take a long time and require very high programming skill.
The invention is intended, in consideration of the foregoing drawbacks, to provide a co-ordinate inputting device which can easily and accurately program robot operation.
SUMMARY OF THE INVENTION
According to the present invention, there is provided a method for automatically inputting the co-ordinates of a number of working positions by scanning the working volumes of the robot with a sensor, calculating the co-ordinates of each working position with respect to the robot co-ordinate axes whenever the sensor detects a working position, and sequentially storing the obtained co-ordinates in a memory.
In addition, a working position co-ordinates inputting device for robots comprises a detector means coupled to the working end of the robot for automatically scanning an area including the working position. The instantaneous position of the robot is memorized whenever the detecting means detects a working position.
It should be noted that, in this specification, the "working end" of the robot refers the end of the sensor in the case where the sensor is secured to a wrist section at the end of the movable section of the robot. "Working end" refers to the end of a mechanical hand when such is secured to the wrist section or the end of a tool, such as automatic screw tightening tool, in cases where the latter is held by the wrist section or mechanical hand.
BRIEF DESCRIPTION OF THE DRAWINGS
FIG. 1 is a perspective view of a horizontal multi-axis-type robot during teaching according to the present invention;
FIG. 2 is an enlarged perspective view of part of a glove box lid shown in FIG. 1;
FIG. 3 is a cross-section taken along line III--III of FIG. 2;
FIG. 4 is an enlarged elevation in partial section schematically showing the sensor of FIG. 1;
FIG. 5 is a circuit diagram of an example of a detector circuit;
FIG. 6 is a block diagram of a circuit for controlling the horizontal multi-axis-type robot of FIG. 1, which circuit includes the preferred embodiment of teaching device according to the present invention;
FIG. 7 is a timing chart of the cir
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Sekine Yoshitada
Yokota Fumiki
Keane Patrick C.
Nissan Motor Company Limited
Shoop Jr. William M.
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