摘要:
A numerical control system suited for application to a machine tool having an axis of rotation, such as a robot which employs a cylindrical coordinate system. For example, when the arm (3) of an industrial robot is rotated to transport a wrist (2), which is attached to the end of the arm (3), from a starting point (P.sub.1) to an end point (P.sub.2), the straight line (L.sub.n) interconnecting the starting point (P.sub.1) and the end point (P.sub.2) is divided into a plurality of intervals {Q.sub.i, Q.sub.(i+1), . . . }, positional data for each axis at each of the division points is generated, and linear interpolation for each of the intervals is performed by using the positional data for each axis to move the wrist (2) approximately along the straight line.
摘要:
The hand of a robot is moved from an instant position P.sub.1 to a first command position P.sub.2 to grip one of the workpiece W.sub.1,W.sub.2,W.sub.3 placed at the first command position and conveys the same to a second command position P.sub.3. A sensor is contacted by the workpiece when the hand takes an intermediate position Px on its way from the instant position P.sub.1 to the first command position P.sub.2, the robot control system stops the hand without delay or after travel of the hand over a predetermined distance and, after the travel of the hand over a predetermined deceleration distance, stops the hand. The hand is then moved from the stopping position to the second command position P.sub.3 neglecting the remaining stroke or movement between the stopping position and the first command position.
摘要:
A method and apparatus for controlling the acceleration of the frequency at the beginning of a pulse train and the frequency at the end of the pulse train, so that a movable element with little rigidity, such as a robot arm, can be started and stopped smoothly without vibration. The method includes storing frequency function in a memory, which frequency function represents an acceleration characteristic or a deceleration characteristic, reading the frequency function out of the memory at a predetermined interval, computing a frequency at the present time, and generating a number of pulses, corresponding to the product of the computed frequency and the predetermined time interval, during the predetermined time interval.
摘要:
A robot control system for teaching and operating a robot 13 on the basis of a rectangular coordinate system, the robot having an arm which operates on the basis of a cylindrical coordinate system. Provided are a teaching device 101 for providing instructions in the rectangular coordinate system in order to teach the operations performed by the robot 13, a rectangular-to-cylindrical conversion device 104 or 202 for converting the instructions in the rectangular coordinate system from the teaching device 101 into command data in the cylindrical coordinate system, and a data memory 108 for storing the acquired command data in the cylindrical coordinate system.
摘要:
An industrial robot having a trunk mounted for vertical and rotational movement on a stationary base is provided with two arm members extensible from the said trunk having a robot wrist mechanism attached to their ends. The extending and contracting movements of the arm members, rotational movement of the wrist and swinging movement of the wrist are controlled, respectively, by three electric servo motors mounted in a mounting compartment positioned on the side of the trunk opposite to the extensible arms.
摘要:
An apparatus for feeding workpieces to a workpiece gripping position of a hand of an industrial robot, especially a workpiece feeder used for a limited axis robot, comprising a conveyor which is mounted on a table and has a plurality of pallets, the workpieces placed on the pallets moved intermittently to a predetermined area of the robot, characterized in that the table has a window, that each of the pallets comprises a lower plate having a central opening and an upper plate mounted on the lower plate, and that there is provided a lifting means movable vertically through the window in the table and the central opening in the lower plate, causing the upper plate to move and to lift the workpiece placed on the upper plate up to a workpiece gripping position of a hand of the robot.
摘要:
A robot control method and apparatus of the type in which robot operations are taught in advance and the robot is subsequently actuated in accordance with the robot instruction data so taught. Areas in which the robot is forbidden to enter are established and the resulting information is stored in a memory. During the teaching of the robot operations the robot instruction data is created by moving the robot without regard to the forbidden areas. Thereafter, the robot instruction data so created is modified using the forbidden area information, the robot being controlled on the basis of the data so modified.
摘要:
A numerical control method and apparatus for controlling the movement of a movable member by setting entry forbidden areas which the movable member is forbidden to enter. Entry forbidden information relating to the boundaries of the entry forbidden areas is created and stored in memory, the current position of the movable member is monitored, the entry forbidden information is used to determine whether the current position of the movable member has entered a forbidden area, and the movement of the movable member is halted when the current position thereof has entered an entry forbidden area.
摘要:
An industrial robot, mountable on a machine tool for carrying a workpiece to a spindle of the machine tool, and having an arm, one end of which is equipped with a wrist having a gripping device for gripping a workpiece. The robot further includes a main body having first and second rods with perpendicular spanning plates movably mounted on the machine tool rotatably connected to the second rod, first driving means provided on the main body for moving the arm axially of the spindle on the machine tool, and second driving means for allowing movement axially of the spindle for rotating the arm in a plane perpendicular to the axis of the spindle, with the other end of the arm serving as the center of rotation about the first rod.
摘要:
A wrist mechanism for an industrial robot having a robot casing, robot arms capable of extending from and contracting to the robot casing, a robot hand for gripping a workpiece, and a wrist arranged between the robot arms and the robot hand, comprises: two reduction gears with a high reduction ratio connected respectively to each of two high speed rotational driving motors, the two reduction gears cooperating with one another for generating two individual reduced rotational outputs, and; two transmitting mechanisms, connectable to the hand, for transmitting respectively the two reduced rotational outputs to the hand, thereby causing respectively rotational motion and swinging motion of the hand.