公开(公告)号：US5761390A

公开(公告)日：1998-06-02

申请号：US987158

申请日：1992-12-08

申请人： Eri Koshishiba ,  Koichi Sugimoto ,  Atsuko Hara ,  Masao Miki

发明人： Eri Koshishiba ,  Koichi Sugimoto ,  Atsuko Hara ,  Masao Miki

IPC分类号： B25J9/16 ,  B25J9/18 ,  G05B19/402 ,  G05B19/42 ,  G06F15/46

CPC分类号： B25J9/1679 ,  G05B19/402

摘要： A robot for removing an unnecessary portion on a workpiece, comprises a tool for removing the unnecessary portion, a tool positioning apparatus which contains a reference coordinate system, carries the tool attached thereon, and is movable to change a position and a posture of the tool in the reference coordinate system, a jig on which the workpiece is securely fixed to maintain a desired position and a desired posture of the workpiece with respect to the reference coordinate system of the tool positioning apparatus, and an arithmetic unit for calculating a movement path and a posture of the tool moved by the tool positioning apparatus on the basis of a position of the unnecessary portion on a desired shape of the workpiece, in which the arithmetic unit corrects the movement path and the posture of the tool not in accordance with the position of the unnecessary portion on the desired shape of the workpiece, but in accordance with a shape of at least one of the workpiece, the tool and the jig.

摘要翻译： 一种用于去除工件上的不必要部分的机器人，包括用于去除不需要部分的工具，包含参考坐标系的工具定位装置，其承载附接在其上的工具，并且可移动以改变工具的位置和姿势 在参考坐标系中，夹具被牢固地固定在其上，以保持工件相对于刀具定位装置的基准坐标系的期望位置和期望姿势;以及运算单元，用于计算运动路径和 基于所述工件的期望形状的不需要部分的位置，由所述工具定位装置移动所述工具的姿势，所述工具的运动单元根据所述位置校正所述工具的移动路径和姿势 在工件的期望形状上的不需要的部分，但是根据工件，工具和t中的至少一个的形状 他夹具