摘要:
An articulated industrial robot provided with a reference position setting means which includes two positioning contact parts 22 and 24, and the reference position setting means is provided for each joint 16 of a robot unit 10 in such a manner that the positioning contact parts 22 and 24 are brought into contact with each other so as to perform determination of a geometrical reference position for each joint drive source after the replacement of a defective drive motor or a defective reduction gear of the joint drive source. The determined geometrical reference position regarding each of the joint axes are stored in the robot controller to thereby achieve a single-axis mastering,and thus the reference position setting means simplifies single-axis mastering with respect to each joint axis of the robot unit without being subject to any spatial restrictions.
摘要:
A small-locus machining apparatus is attached to the distal end of a wrist of a robot but operable independently of a robot body. First and second drives of the apparatus are mounted on a base in such a manner that respective output spindles are parallel with each other. First and second rotational arms are coupled to the output spindles through decelerators, which are directly connected to the drives, allowing rotation in a plane orthogonal to the output spindles. These rotational arms and links interconnecting the rotational arms constitute a link mechanism having, for example, five joints. A tool is attached to this link mechanism, and the rotational amounts of the first and second arms are detected to determine the coordinate position of the tool.
摘要:
A laser robot having a height sensing device (13) arranged at a position very close to a laser-beam projecting machining head (9) so that the axis of the height-sensing device (13) is parallel to the longitudinal axis of the machining head (9), the three-dimensional distance data representing the positional relationship between the laser projecting nozzle (9a) of the machining head (9) and the measuring end (13a) of the height-sensing device (13) being stored in advance in the robot controller (10), the longitudinal distance between the height-sensing device (13) and a starting point of laser-beam machining being automatically measured from directly above the starting point, and a longitudinal distance between the laser beam projecting nozzle (9a) of the machining head (9) and the machining starting point being corrected on the basis of the three-dimensional distance data and the longitudinal distance measured by the height sensing device (13) to thereby accurately locate the machining head at a position corresponding to the starting point for the laser machining operation.
摘要:
A gear mechanism comprises a housing, an input gear of helical gear supported by the housing for rotation in first and second rotational directions and adapted to be connected to a rotational power source, an output gear of a helical gear supported by the housing for rotation, a first gear train for transmitting the rotational power from the input gear to the output gear when the input gear rotates in the first rotational direction, a second gear train for transmitting the rotational power from the input gear to the output gear when the input gear rotates in the second rotational direction.
摘要:
In carrying out precision laser-beam machining by using a laser-beam machining head driven by an additional motion-axis means 8 of a laser robot unit 1, a CPU accommodated in a robot controller 10 calculates time A+B necessary for a laser beam projecting nozzle to travel a distance between a position corresponding to a position of origin OR of a machining locus and a position corresponding to a starting point E on the machining locus at a quick-feed speed, and time C necessary for the laser beam projecting nozzle to travel the same distance in a laser-beam machining mode not including quick-feed operation, compares the times A+B and C, and provides feed motors MA and MB accommodated in the additional motion-axis means 8 with an automatic quick-feed command, when the time A+B is shorter than the time C to thereby enhance an efficiency of the laser machining operation.
摘要:
A robot control apparatus in which a load exerted on a driving system of a robot is detected to make it easy to judge a time for preventive maintenance or overhaul, and life of the robot driving system. A driving torque Ta outputted to the driving system is found by subtracting a torque which is spent in a motor itself for accelerating or decelerating a rotor from an output torque T of a motor M for driving each axis of the robot. Further, an average torque of the driving torque Ta and an average speed of an output shaft of the motor M are found and displayed. An average torque of an output torque of a speed reducer and an average speed of an output shaft of the speed reducer are obtained, and, based on these values, the life of the speed reducer is determined. Then a ratio of the determined life to a rated life is obtained and displayed. An actual load exerted on the driving system is monitored, so that the time for the preventive maintenance or overhaul, and life of the driving system is easily judged. Also, the life of the speed reducer is easily predicted.
摘要:
A positioning device for positioning a robot unit (30) of a multi-articulated type industrial robot at an origin reference position having a polygonal male jig (52) attached to an extremity of the robot unit (30), and a polygonal female jig (58) suitable for being mated with the polygonal male jig (52), and the flat surfaces of the polygonal male jig (52) are brought into contact with the flat surfaces of the polygonal female jig (58) to position the robot unit (30) at the origin reference position. When mating the male jig (52) and the female jig (58) with each other in close surface-to-surface contact, the male jig (52) is pressed by pressing means (64) to bring the predetermined flat surfaces of the polygonal male jig (52) into close contact with the predetermined flat surfaces of the female jig (58).
摘要:
A beam axis adjusting method of a laser robot including the steps of splitting a visible laser beam traveling along a laser beam pathway within the robot unit of the laser robot into a first laser beam traveling further along the laser beam pathway and a second laser beam traveling outside the robot unit, receiving the second laser beam by a target plate made of a semitransparent plate and mounted on the robot unit to form a light spot Sp on the front surface of the target plate, adjusting a relevant reflecting mirror unit disposed in the robot unit for the adjustment of the beam axis of the laser robot, and visually observing the light spot Sp from behind the back surface of the target plate while the relevant joint of the robot unit is in motion.
摘要:
An electric industrial robot comprises a movable robot assembly (10) forming therein an airtight chamber, and an electric drive unit for driving the robot assembly. The electric drive unit comprises a plurality of motors (36-41). The respective casings (36a-41a) of the motors are disposed within the airtight chamber (30) of the robot assembly. Electric cables (57-62) connected to the motors, respectively, are led through the airtight chamber into a fixed pipe (67) connected to the robot assembly. The interior of the motors and the interior of the airtight chamber are kept at a pressure higher than an atmospheric pressure outside the robot assembly.
摘要:
The two-axes wrist assembly of the chain-drive system for an industrial robot has a base wrist unit (12) disposed on one side of the robot arm (11). A hollow shaft (13) is fixed at one end thereof to the base wrist unit and is supported at the same end on one side wall of the free end of the robot arm so as to be rotatable about a first axis (.beta.) intersecting the longitudinal axis of the robot arm at right angles. The other end of the hollow shaft is positioned opposite to the inner surface of the other side wall of the free end of the robot arm. A fore wrist unit (16) is supported on the base wrist so as to be rotatable about a second axis (.alpha.) intersecting the first axis at right angles. A through shaft (17) is provided rotatably within and coaxially with the hollow shaft. The fore wrist unit is interlocked with the hollow shaft by a pair of bevel gears (18, 19). A first sprocket (22) is provided on the other end of the hollow shaft coaxially with the same within the free end of the robot arm. A second sprocket (23) is disposed provided on and coaxially with the through shaft adjacent to the first sprocket within the free end of the robot arm. The first and second sprockets engage first an second chains (26, 27) for power transmission, respectively.