JPH03113786U - - Google Patents
Info
- Publication number
- JPH03113786U JPH03113786U JP2125390U JP2125390U JPH03113786U JP H03113786 U JPH03113786 U JP H03113786U JP 2125390 U JP2125390 U JP 2125390U JP 2125390 U JP2125390 U JP 2125390U JP H03113786 U JPH03113786 U JP H03113786U
- Authority
- JP
- Japan
- Prior art keywords
- movement
- measuring
- amount
- axis
- similar
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 238000001514 detection method Methods 0.000 claims description 4
- 230000036544 posture Effects 0.000 claims 2
- 238000010586 diagram Methods 0.000 description 3
Landscapes
- Numerical Control (AREA)
Description
第１図はこの考案に係る工業用ロボツトの基準
位置決め装置を適用した６軸関節形ロボツトを示
す概略斜視図、第２図は同基準位置決め装置の構
成を示す図、第３ａ図、第３ｂ図および第３ｃ図
はそれぞれ同位置決め装置の動作例の説明図、第
４図は従来の工業用ロボツトの基準位置決め装置
を示す構成図である。
１……固定ベース、１３……位置決め用治具、
１４〜１８……基準検出面、２０……移動量を測
定する手段、２１……相似姿勢に変える手段、ｄ
，Ｄ……移動量。
Fig. 1 is a schematic perspective view showing a six-axis articulated robot to which the reference positioning device for industrial robots according to the invention is applied, Fig. 2 is a diagram showing the configuration of the reference positioning device, Figs. 3a and 3b. 3c and 3c are explanatory diagrams of an example of the operation of the same positioning device, respectively, and FIG. 4 is a configuration diagram showing a conventional reference positioning device for an industrial robot. 1...Fixed base, 13...Positioning jig,
14-18... Reference detection surface, 20... Means for measuring the amount of movement, 21... Means for changing to a similar posture, d
,D...Movement amount.
Claims (1)
ツトの各軸に対応して位置自由度を決めるための
複数の基準検出面を有し、上記ロボツトの固定ベ
ースに取り付けられた位置決め用治具と、各軸ご
とに初期姿勢から上記基準検出面まで変位した際
の移動量を測定する手段と、上記移動量測定後の
初期姿勢から同一平面内で１８０°旋回した相似
姿勢に設定させる手段と、上記相似姿勢より基準
軸廻りに１８０°旋回した位置から上記基準検出
面まで変位した際の移動量を測定する手段とを備
え、上記両移動量の差から基準位置を設定するよ
うに構成したことを特徴とする工業用ロボツトの
基準位置決め装置。 A positioning jig that has a plurality of reference detection surfaces for determining the degree of freedom of position corresponding to each axis of an industrial robot capable of similar postures of right arm system and left arm system, and is attached to the fixed base of the robot. , means for measuring the amount of movement when displaced from the initial attitude to the reference detection surface for each axis, and means for setting a similar attitude by turning 180 degrees within the same plane from the initial attitude after measuring the amount of movement. , means for measuring the amount of movement when displaced from a position rotated by 180° around the reference axis from the similar posture to the reference detection surface, and configured to set the reference position from the difference between the two amounts of movement. A reference positioning device for an industrial robot, which is characterized by:
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2125390U JPH03113786U (en) | 1990-03-02 | 1990-03-02 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2125390U JPH03113786U (en) | 1990-03-02 | 1990-03-02 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH03113786U true JPH03113786U (en) | 1991-11-21 |
Family
ID=31524304
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP2125390U Pending JPH03113786U (en) | 1990-03-02 | 1990-03-02 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH03113786U (en) |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9545093B2 (en) | 2013-11-26 | 2017-01-17 | Shuichi Yamasaki | Animal trap |
-
1990
- 1990-03-02 JP JP2125390U patent/JPH03113786U/ja active Pending
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US9545093B2 (en) | 2013-11-26 | 2017-01-17 | Shuichi Yamasaki | Animal trap |
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