公开(公告)号：US4105937A

公开(公告)日：1978-08-08

申请号：US689125

申请日：1976-05-24

申请人： Goro Tuda ,  Katsuhiko Shimizu ,  Tudoi Murakami ,  Syouzi Nasu

发明人： Goro Tuda ,  Katsuhiko Shimizu ,  Tudoi Murakami ,  Syouzi Nasu

IPC分类号： G05B19/423 ,  G05B19/24

CPC分类号： G05B19/423 ,  G05B2219/36471 ,  G05B2219/36477 ,  Y10S700/90

摘要： In a teach-in operation, the working procedure is memorized in an industrial robot in advance of the actual working operation, and the teaching is accomplished by manually guiding the tracing tip of the robot arm along a desired path. The teach-in method comprises the step of attaching, to the end of the arm, the tracing tip having at least a displacement pulse oscillator, which consists of a projector and a phototransistor, and a roller provided with gaps such as holes or slits, the projector and phototransistor being arranged in concentric positions with respect to the respective gaps of the roller so as to form an optical axis between the two optical elements. The tracing tip is then moved along a desired path, so that the location signal of the tracing tip may be obtained by the displacement pulse oscillator, whenever the roller is rotated a certain distance, as a result of the movement of the tracing tip, and such a location signal is memorized in a memory. The tracing tip is then exchanged for a working tip at the end of the arm and the location signal is played back such that the working tip is automatically traced along the predetermined desired path by the memorized location signal, whereby the velocity of the working tip is freely determined independently of the teaching velocity of the tracing tip.Also disclosed is an apparatus for practicing the foregoing teach-in method.

摘要翻译： 在教导操作中，在实际工作操作之前将工作程序存储在工业机器人中，并且通过沿期望的路径手动引导机器人手臂的跟踪尖端来实现教学。 示教方法包括将具有至少一个由投影仪和光电晶体管组成的至少一个位移脉冲振荡器的跟踪尖端连接到臂的末端的步骤，以及设置有诸如孔或狭缝的间隙的辊， 投影仪和光电晶体管相对于辊的相应间隙布置在同心位置，以便在两个光学元件之间形成光轴。 跟踪尖端然后沿着期望的路径移动，使得随着跟踪尖端的移动，只要辊子旋转一定距离，跟踪尖端的位置信号可以由位移脉冲振荡器获得，以及 这样的位置信号被存储在存储器中。 然后在臂的末端更换跟踪尖端用于工作尖端，并且重放位置信号，使得工作尖端沿着预定的所需路径由存储的位置信号自动跟踪，由此工作尖端的速度为 独立于跟踪尖端的教学速度自由确定。