Industrial robot arm reference position determining method and industrial robot
AssigneeKabushiki Kaisha Kobe Seiko Sho
InventorsHiroshi NAKAGIRI, Sungjae Yoon, Tatsuji Minato, Makoto Kondo
Life of this patent
Estimating the term…
Abstract
A light emitter 320 is so mounted to a mounting portion 170 provided at a predetermined position of the tool mounting rotation arm 160 that a light beam LB is emitted toward a swing arm 150, the light beam LB is caused to be emitted from the light emitter 320, and the swing arm 150 and the tool mounting rotation arm 160 are so positioned that the light beam LB from the light emitter 320 is irradiated to an allowable range of a light receiving portion 410 for receiving the light beam LB from the light emitter 320.
Claims8
A method for determining a reference position of an arm of an industrial robot to position a swing arm and a tool mounting rotation arm mounted to the swing arm via a rotation axis, comprising the steps of:
- mounting a light emitter to a mounting portion provided at a predetermined position of the tool mounting rotation arm such that a light beam is emitted toward the swing arm;
- causing the light beam to be emitted from the light emitter;
- providing a light receiving portion for receiving the light beam from the light emitter at a predetermined position of the swing arm facing the mounting portion;
- setting a predetermined allowable range on the light receiving portion;
- and
- positioning the swing arm and the tool mounting rotation arm such that the light beam from the light emitter is irradiated to the set allowable range.
An industrial robot, comprising:
- a swing arm;
- a tool mounting rotation arm mounted to the swing arm via a rotation axis,
- a mounting portion which is provided at a position of a tool mounting portion of the tool mounting rotation arm and to which a light emitter is so mounted that a light beam from the light emitter is emitted toward the swing arm;
- and
- a light receiving portion provided at a predetermined position of the swing arm facing the mounting portion of the tool mounting rotation arm and adapted to receive the light beam from the light emitter;
- wherein the swing arm and the tool mounting rotation arm are respectively positioned at reference positions when the light beam from the light emitter mounted to the mounting portion is irradiated to an allowable range of the light receiving portion set beforehand.
Dependencies are inferred from the claim text.