公开(公告)号：EP0864400A1

公开(公告)日：1998-09-16

申请号：EP97935782.9

申请日：1997-08-13

申请人： FANUC LTD

发明人： WATANABE, Atsushi ,  KATO, Tetsuaki ,  SHIRAHATA, Toru Room 8-308 Fanuc Manshonharimomi ,  NAGAYAMA, Atsuo Room 12-508 Fanuc Manshonharimomi

IPC分类号： B25J9/18

CPC分类号： B25J9/1656 ,  G05B2219/35263 ,  G05B2219/40127 ,  G05B2219/45238 ,  G05B2219/50104

摘要： A stitch machining method by an industrial robot capable of performing a teaching operation easily and the stitch machining accurately. Instead of teaching switchover points p1, P2,... for application and non-application of sealant in sealing as shown in FIG. 5a, a distance n1 of a machining section (where sealant is applied) and a distance n2 of a non-machining section are set to a robot controller as shown in FIG. 5b. The robot controller monitors a travel distance and switches from machining to non-machining and vice versa each time the robot travels the distance n1 and the distance n2, respectively, to thereby effect the stitch machining. As shown in FIGS. 5c and 5g, it is possible to ensure that a start and an end points of each block are positioned in the machining sections n1. Further, as shown in FIG. 5d, the stitch machining can be performed continuously for a plurality of blocks. As shown in FIG. 5f, the stitch machining can be performed in each block with a set number of cycles of machining and non-machining.

公开(公告)号：EP0864400B1

公开(公告)日：2008-10-08

申请号：EP97935782.9

申请日：1997-08-13

申请人： FANUC LTD

发明人： WATANABE, Atsushi ,  KATO, Tetsuaki ,  SHIRAHATA, Toru Room 8-308 Fanuc Manshonharimomi ,  NAGAYAMA, Atsuo Room 12-508 Fanuc Manshonharimomi

IPC分类号： B25J9/18 ,  B25J9/16

CPC分类号： B25J9/1656 ,  G05B2219/35263 ,  G05B2219/40127 ,  G05B2219/45238 ,  G05B2219/50104

摘要： A stitch processing method using an industrial robot which is simple in teaching and capable of performing an accurate stitch processing. Processing (application of sealing agent) block distances (n1) and non-processing block distances (n2) are set on a robot control device as shown in Fig. 5b without teaching switching points (P1, P2,...), between blocks of sealing agent application and blocks of non-application in a sealing processing or the like as shown in Fig. 5a. The robot control device monitors moving distances and permits stitch processing by switching between non-processing and processing for every movement of the distance (n1) or the distance (n2). As shown in Figs. 5c and 5g, a starting point and a terminal point in one block belong to the processing block distance (n1). It is also possible to perform stitch processing continuously over a plurality of blocks as shown in Fig. 5d. It is also possible to perform stitch processing including a set number of processings and non-processings in one block as shown in Fig. 5f.

摘要翻译： 能够容易地进行示教操作的工业机器人的线圈加工方法，并且能够精确地进行线圈加工。 代替如图1所示的用于施加和不施加密封剂的密封剂的切换点p1，P2，...。 如图5a所示，将加工部（施加密封剂的位置）的距离n1和非加工部的距离n2设定为机器人控制器。 5B。 机器人控制器每次机器人分别行进距离n1和距离n2时，监视行驶距离并从加工切换到非加工，反之亦然，从而进行线圈加工。 如图所示 如图5c和5g所示，可以确保每个块的开始点和终点位于加工部分n1中。 此外，如图1所示。 如图5d所示，针对多个块可以连续地进行线圈加工。 如图1所示。 如图5f所示，可以在每个块中进行加工和非加工的循环次数的线圈加工。