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公开(公告)号：EP0111003A1
公开(公告)日：1984-06-20
申请号：EP83901631.8
申请日：1983-05-27
发明人： SEKINE, Yoshitada , YOKOTA, Fumiki
CPC分类号： G05B19/42 , G05B19/4207 , G05B2219/37405 , G05B2219/39468 , G05B2219/40087 , G05B2219/50252
摘要： A method and a device for inputting the coordinates of a robot acts so that the coordinates are input accurately by scanning the working area of the robot and inputting, as coordinates of the working position, positional data when a sensor has detected the working position. A movement data calculator (138) receives target position data from a pre-teaching data area (146), operates a pulse register (130) and drive circuits (152), (154), (156), and makes the sensor positional data in a position register (130) coincide with the target positional data. It then receives positional vector data from a plane scanning data area (148) and a vertical scanning data area (150) and scans the sensor over the working area. When a detector (526) detects the fact that the sensor has reached the working position, a pulse distributor (11) stops the operation, and the sensor positional data stored in the register (130) is fed to a calculator writer (132) which calculates the positional coordinates of the robot, and writes them into a teaching data storage area (136) in a memory (134).
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2.发明公开
公开(公告)号：EP0109447A1
公开(公告)日：1984-05-30
申请号：EP83901630.0
申请日：1983-05-27
发明人： SEKINE, Yoshitada , YOKOTA, Fumiki
CPC分类号： G05B19/232 , G05B2219/36417 , G05B2219/36503 , G05B2219/42213
摘要： A method and a device for automatically adjusting the working position of a robot automatically corrects for discrepancies in the position of each workpiece according to signals from a position detector provided at the working end of the robot. The working end of the robot is positioned by a servo system which consists of a pulse distributor (20), a deviation counter (21 a a drive unit (22), and a speed detector (23) on the basis of target position data from a memory (19) and present position data from a present position register (25). After the positioning, discrepancies in the position of the working end of the robot with respect to the workpiece are detected by a detector (26), and a selective reader (30) is operated by a discriminator (27) and a controller (29). The reader (30) outputs correction data RST1-RST12 corresponding to the discrepancies the positions to a movement data calculator (17), this is used to correct the discrepancies in the positions.
摘要翻译： 一种用于自动调节机器人的工作位置的方法和设备自动校正在每个工件gemäß的位置从在机器人的工作端，提供一种位置检测器的信号差异。 机器人的工作端是由besteht目标位置数据的基础上的脉冲分配器（20），偏差计数器（21），驱动单元（22），和一个速度检测器（23）的一个伺服系统定位 从存储器（19）和当前位置数据从当前位置寄存器（25）。 定位之后，在相对于工件的机器人的工作端的位置的差异是由一个检测器（26），和一个选择性读取器（30）检测到的由鉴别器（27）和控制器（29）操作的 ， 读取器（30）输出校正数据RST1 RST12对应于所述差异的位置到一个移动数据计算器（17），这是用于校正的位置的差异。
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