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公开(公告)号:US5548193A
公开(公告)日:1996-08-20
申请号:US355775
申请日:1994-12-14
申请人: Kee S. Lee , Won G. Kim , Yeong J. Park
发明人: Kee S. Lee , Won G. Kim , Yeong J. Park
CPC分类号: B25J9/1692 , G05B2219/37103 , G05B2219/40552 , G05B2219/50025 , G05B2219/50042
摘要: An arm position control device for use in an industrial robot which comprises: a support body; a rotary arm rotatably mounted on the support body for rotation towed one of clockwise and counterclockwise deviation zones from a home position within a permissible angular extent; a home position sensor fixedly attached to the support body to identify home position of the rotary arm; a limit sensor fixedly secured to the support body with a predetermined angular spacing from the home position sensor to detect movement of the rotary arm beyond the permissible angular extent; a sensor actuator rotatable with the rotary arm as a unit for keeping the home position sensor interrupted when the rotary arm lies in the clockwise deviation zone, for making the home position sensor released when the rotary arm lies in the counterclockwise deviation zone and for bringing the limit sensor into a released condition as the rotary arm is out of the permissible angular extent; and an arm actuator operatively coupled to the rotary arm for causing it to rotate counterclockwise when the home position sensor remains interrupted for causing the rotary arm to rotate clockwise when the home position sensor is kept released and for having the rotary arm move into the permissible angular extent when the limit sensor is in a disabled condition.
摘要翻译: 一种用于工业机器人的臂位置控制装置,包括:支撑体; 可旋转地安装在所述支撑体上的旋转臂,用于在允许的角度范围内从原始位置拖动顺时针和逆时针偏离区域中的一个; 固定地附接到支撑体的原位传感器,以识别旋转臂的原位; 限位传感器以与原位传感器预定的角度间隔固定地固定到支撑体,以检测旋转臂的移动超过允许的角度范围; 当旋转臂位于顺时针偏离区域时,用旋转臂作为单元可转动的传感器致动器,用于保持原位传感器中断,以便当旋转臂位于逆时针偏离区域时使原位传感器释放,并使 当旋转臂超出允许的角度范围时,将传感器限制在释放状态; 以及可操作地联接到旋转臂的臂致动器,用于当原位传感器保持中断时使其逆时针旋转,以便当原位传感器保持释放并使旋转臂移动到允许角度时使旋转臂顺时针旋转 当限位传感器处于禁用状态时的程度。