JPS61117696U - - Google Patents
Info
- Publication number
- JPS61117696U JPS61117696U JP19535985U JP19535985U JPS61117696U JP S61117696 U JPS61117696 U JP S61117696U JP 19535985 U JP19535985 U JP 19535985U JP 19535985 U JP19535985 U JP 19535985U JP S61117696 U JPS61117696 U JP S61117696U
- Authority
- JP
- Japan
- Prior art keywords
- length measuring
- construction
- arm
- output
- measuring devices
- 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
- 238000010276 construction Methods 0.000 claims description 14
- 238000005259 measurement Methods 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
Description
第１図はこの考案にかかる工業用ロボツトの腕
の先端における施工器具の角度制御装置の一実施
例の斜視図、第２図、第３図は作用の説明図、第
４図のブロツク線図、第５図は他の実施例の斜視
図を各々示す。
Ａ……工業用ロボツト、Ｂ……器具取付盤、Ｅ
……被施工物、Ｆ……コンピユーター装置、１…
…水平腕、２……水平棚部、３，７……ウオーム
、４，８……ウオームホイール、５……水平回転
盤、９……軸部、１０……腕、１１……器具取付
盤Ｂの盤面、１２１，１２２，１２３……測長器
、ａ，ｂ，ｃ……測長器配置箇所、ｅ……施工面
、Ｍ１，Ｍ２……パルスモーター、Ｏ１−Ｏ１…
…水平回転板５の鉛直方向の回転中心軸、Ｏ２−
Ｏ２……軸部９の回転中心軸、Ｏ３―Ｏ３……腕
１０の中心軸、ｐ……鉛直面、ｑ……盤面１１と
平行する面、Ｓ１，Ｓ２，Ｓ３……施工面ｅと箇
所ａ，ｂ，ｃとの間の長さ。
Fig. 1 is a perspective view of an embodiment of the angle control device for the construction tool at the tip of the arm of an industrial robot according to this invention, Figs. 2 and 3 are explanatory diagrams of the operation, and Fig. 4 is a block diagram. , FIG. 5 shows perspective views of other embodiments. A...Industrial robot, B...Equipment mounting board, E
...Workpiece, F...Computer equipment, 1...
...Horizontal arm, 2...Horizontal shelf, 3,7...Worm, 4,8...Worm wheel, 5...Horizontal rotary plate, 9...Shaft, 10...Arm, 11...Instrument mounting board Board surface of B, 12 1 , 12 2 , 12 3 ... Length measuring device, a, b, c ... Length measuring device placement location, e ... Construction surface, M 1 , M 2 ... Pulse motor, O 1 - O 1 ...
...The vertical rotation center axis of the horizontal rotating plate 5, O 2 −
O 2 ...Rotation center axis of shaft portion 9, O 3 - O 3 ... Central axis of arm 10, p... Vertical plane, q... Surface parallel to board surface 11, S 1 , S 2 , S 3 ... ...Length between construction surface e and points a, b, and c.
補正 昭６１．１．１７
実用新案登録請求の範囲を次のように補正する
。Amendment January 17, 1981 The scope of claims for utility model registration is amended as follows.
【実用新案登録請求の範囲】
(1) 工業用ロボツトの腕の先端に設けた施工器
具並びに被施工物の施工面との長さを測定する複
数個の測長器と、前記施工器具の前記施工面に対
する相対角度を可変にする駆動装置と、前記測長
器から出力された測定値に基づき前記駆動装置に
駆動指令を出力するコンピユーターとを具備し、
前記コンピユーターは、前記複数個の測長器の各
々についての設定値を設定する設定部と、前記各
測長器から出力される各測定値と前記設定部にて
設定された各設定値とを比較し演算する演算部と
、この演算部における前記設定値と前記測定値と
の差が皆等しくなるように前記駆動装置に駆動指
令を出力する出力部と、を有することを特徴とす
る工業用ロボツトの腕の先端における施工器具の
角度制御装置。
(2) 測長器は、施工器具を取付ける器具取付盤
の中心軸に直交する同一平面内に少なくとも３個
設けたことを特徴とする実用新案登録請求の範囲
第１項記載の工業用ロボツトの腕の先端における
施工器具の角度制御装置。[Claims for Utility Model Registration] (1) A construction tool installed at the end of the arm of an industrial robot, a plurality of length measuring instruments for measuring the length of the construction surface of the workpiece, and comprising a drive device that makes the relative angle to the construction surface variable; and a computer that outputs a drive command to the drive device based on the measurement value output from the length measuring device;
The computer includes a setting unit that sets setting values for each of the plurality of length measuring devices, and a setting unit that sets each measurement value output from each of the length measuring devices and each setting value set by the setting unit. Industrial use characterized by having a calculation unit that performs comparison and calculation, and an output unit that outputs a drive command to the drive device so that the differences between the set value and the measured value in the calculation unit are all equal. An angle control device for construction tools at the tip of the robot's arm. (2) The industrial robot according to claim 1 of the utility model registration claim, characterized in that at least three length measuring instruments are provided in the same plane orthogonal to the central axis of the instrument mounting board on which the construction instruments are attached. Angle control device for construction tools at the tip of the arm.
Claims (1)
具並びに被施工物の施工面との長さを測定する複
数個の測長器と、前記施工器具の前記施工面に対
する相対角度を可変にする駆動装置と、前記測長
器から出力された測定値に基づき前記駆動装置に
駆動指令を出力するコンピユーターとを具備し、
前記コンピユーターは、前記複数個の測長器の各
々についての設定値を設定する設定部と、前記各
測長器から出力される出力値と前記設定部にて設
定された各設定値とを比較し演算する演算部と、
この演算部における前記設定値と前記測定値との
差が等しくなるように前記駆動装置に駆動指令を
出力する出力部と、を有することを特徴とする工
業用ロボツトの腕の先端における施工器具の角度
制御装置。 (2) 測長器は、施工器具を取付ける器具取付盤
の中心軸に直交する同一平面内に少なくとも３個
設けたことを特徴とする実用新案登録請求の範囲
第１項記載の工業用ロボツトの腕の先端における
施工器具の角度制御装置。[Claims for Utility Model Registration] (1) A construction tool installed at the end of the arm of an industrial robot, a plurality of length measuring instruments for measuring the length of the construction surface of the workpiece, and comprising a drive device that makes the relative angle to the construction surface variable; and a computer that outputs a drive command to the drive device based on the measurement value output from the length measuring device;
The computer includes a setting unit that sets setting values for each of the plurality of length measuring devices, and compares an output value output from each of the length measuring devices with each setting value set by the setting unit. an arithmetic unit that performs calculations;
and an output section that outputs a drive command to the drive device so that the difference between the set value and the measured value in the calculation section is equal. Angle control device. (2) The industrial robot according to claim 1 of the utility model registration claim, characterized in that at least three length measuring devices are provided in the same plane perpendicular to the central axis of the device mounting board on which the construction tools are attached. Angle control device for construction tools at the tip of the arm.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19535985U JPS61117696U (en) | 1985-12-19 | 1985-12-19 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP19535985U JPS61117696U (en) | 1985-12-19 | 1985-12-19 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPS61117696U true JPS61117696U (en) | 1986-07-24 |
Family
ID=30752882
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP19535985U Pending JPS61117696U (en) | 1985-12-19 | 1985-12-19 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPS61117696U (en) |
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018134732A (en) * | 2015-07-22 | 2018-08-30 | シーエムアール サージカル リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ | Robot arm |
| JP2018144193A (en) * | 2017-03-08 | 2018-09-20 | 本田技研工業株式会社 | Position and attitude adjustment method |
| US11559882B2 (en) | 2015-07-22 | 2023-01-24 | Cmr Surgical Limited | Torque sensor |
Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5518376A (en) * | 1978-07-27 | 1980-02-08 | Hitachi Ltd | Automatic working machine and its operation control method |
-
1985
- 1985-12-19 JP JP19535985U patent/JPS61117696U/ja active Pending
Patent Citations (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPS5518376A (en) * | 1978-07-27 | 1980-02-08 | Hitachi Ltd | Automatic working machine and its operation control method |
Cited By (4)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2018134732A (en) * | 2015-07-22 | 2018-08-30 | シーエムアール サージカル リミテッドＣｍｒ Ｓｕｒｇｉｃａｌ Ｌｉｍｉｔｅｄ | Robot arm |
| JP2021169152A (en) * | 2015-07-22 | 2021-10-28 | シーエムアール サージカル リミテッドCmr Surgical Limited | Robot arm |
| US11559882B2 (en) | 2015-07-22 | 2023-01-24 | Cmr Surgical Limited | Torque sensor |
| JP2018144193A (en) * | 2017-03-08 | 2018-09-20 | 本田技研工業株式会社 | Position and attitude adjustment method |
Similar Documents
| Publication | Publication Date | Title |
|---|---|---|
| US6366831B1 (en) | Coordinate measurement machine with articulated arm and software interface | |
| CA1048811A (en) | Six degree of freedom force transducer for a manipulator system | |
| US6151789A (en) | Adjustable handgrip for a coordinate measurement machine | |
| EP0882209B1 (en) | Device for determining the dimensions of three-dimensional objects | |
| JPH07108479A (en) | Method of programming computor controlled multi-shaft device | |
| JPH0527125B2 (en) | ||
| CN106064379A (en) | A kind of robot calculates the method for actual brachium automatically | |
| JPS61279478A (en) | Reference positioning device for industrial robot | |
| WO1985000548A1 (en) | Method of and apparatus for determining reference position of industrial robot | |
| JPS61117696U (en) | ||
| US6487454B1 (en) | Programmable-shape array | |
| JPS60127985A (en) | Regulator for position of origin of industrial robot | |
| JPS62297082A (en) | Mounting structure of reference positioning device for industrial robot | |
| JP2552743B2 (en) | Robot controller | |
| JPH01246091A (en) | Initial setting for arm length of swing type machine | |
| JPH075957Y2 (en) | Worktable tilt angle indexing device | |
| JP2860801B2 (en) | Link mechanism for three-dimensional free-form surface control | |
| JP2599933B2 (en) | Moving direction indicating device for probe of 3D measuring robot | |
| JPH0641823Y2 (en) | Jig arm origin adjustment jig | |
| JPH0743606Y2 (en) | Equipment for measuring internal gears | |
| JPS62166980A (en) | Method of measuring quantity of backlash in industrial robot | |
| JPH0352614U (en) | ||
| SU1557453A1 (en) | Method of monitoring goniometers in the mode of measuring pyramidal shape | |
| JPH044170Y2 (en) | ||
| CN114800462A (en) | Stage arm motion position detection device |