Measuring and testing – Instrument proving or calibrating – Displacement – motion – distance – or position
Patent
1996-05-10
1998-02-03
Noland, Thomas P.
Measuring and testing
Instrument proving or calibrating
Displacement, motion, distance, or position
33502, G01B 5004, B25J 1900, B25J 922
Patent
active
057146748
DESCRIPTION:
BRIEF SUMMARY
TECHNICAL FIELD
This invention relates to a reference position determination method for an industrial robot.
BACKGROUND ART
Hitherto, reference position determination in an industrial robot was carried out as shown in FIG. 4. Namely, a fixed side jig 35 provided with a plurality of dial gauges (indicators) 32, 33 and 34 is attached to a fixed base 81 of the industrial robot to allow a movable side jig 87 attached to a wrist front end portion 36 of the industrial robot to be in contact with the dial gauges 32, 33 and 34 of the jig 35 to thereby carry out determination of a reference position (e.g., Japanese Patent Publication No. 46716/1992).
However, in accordance with the prior art, since determination of a reference position is carried out in the state where the movable side jig 37 is attached to the wrist front end portion 36 of the industrial robot, there was the problem that the tool must be detached from the wrist front end portion 36.
In addition, since the tool must be removed (detached), there was the problem that it was required to carry out positioning between the wrist front end portion 36 of the industrial robot and the tool front end portion (working point) for a second time.
DISCLOSURE OF THE INVENTION
With the above in view, an object of this invention is to provide a method of carrying out determination of a reference position of an industrial robot while maintaining the state where the tool is attached to the wrist front end portion.
To solve the above-described problems, a reference position determination method for an industrial robot of this invention is such that, in an industrial robot comprising a fixed base, a first arm rotatably attached to the fixed base, a second arm rotatably attached to the front end portion of the first arm, and a wrist portion provided with a wrist base and a movable flange, attached to the front end portion of the second arm, determination of a reference position of the wrist portion with respect to the second arm is carried out individually or independently between the wrist portion and the second arm, and determinations of reference positions of the first and second arms with respect to the fixed base are carried out by a positioning jig attached to the fixed base.
Moreover, positioning grooves caused to be in correspondence with each other when the movable flange is located at a reference position with respect to the wrist base are respectively formed at the wrist base and the movable flange of the wrist portion; positioning grooves caused to be in correspondence with each other when the wrist base is located at reference position with respect to the second arm are respectively formed at the second arm and the wrist base; reference planes in X, Y and Z directions are formed on the surfaces in the X, Y and Z directions of the wrist base; a positioning jig is attached to the fixed base to form reference planes in the X, Y and Z directions corresponding to the reference planes in the X, Y and Z directions of the wrist base on the surfaces in the X, Y and Z directions of the positioning jig; positions of the respective positioning grooves of the wrist base and the movable flange are caused to be in correspondence with each other to carry out positioning of the movable base with respect to the wrist base; and the reference planes In the X, Y and Z directions of the wrist base are caused to be respectively tightly in contact with the reference planes in the X, Y and Z directions of the positioning jig to carry out determinations of reference positions of the first arm and the second arm with respect to the fixed base.
Since the above-described means are used in the industrial robot to carry out determination of reference position of the movable flangle with respect to the wrist base of the wrist portion individually or independently, to carry out determination of reference position of the wrist base with respect to the second arm individually or independently, and to carry out determinations of reference positions of only the first arm and the second ar
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Nakako Toru
Tsukuda Kouji
Kabushiki Kaisha Yaskawa Denki
Noland Thomas P.
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