Method and process for automatic training of precise spatial locations to a robot

An apparatus for teaching a spatial location to a robot having an arm equipped with an end effector operating in a work space where said spatial location is defined by planar coordinates and by a vertical coordinate, said apparatus comprising:

• a) a first signal source for generating a first locating beam;
• b) a reflecting means on said end effector for reflecting said first locating beam when said end effector is at a desired planar position;
• c) a first signal intercepting means for intercepting said first locating beam after said first locating beam has been reflected by said reflecting means;
• d) a second signal source mounted on said end effector for generating a second locating beam;
• e) a vertical calibration means for reflecting said second locating beam when said end effector is at a desired vertical position;
• and
• f) a second signal intercepting means mounted on said end effector for intercepting said second locating beam after said second locating beam has been reflected.

A method for teaching a spatial location to a robot having an arm equipped with an end effector operating in a work space where said spatial location is defined by planar coordinates and by a vertical coordinate, said method comprising the following steps:

• a) generating a first locating beam using a first signal source;
• b) providing a through-hole in said end effector for passing said first locating beam when said end effector is at a desired planar position;
• c) intercepting said first locating beam after said first locating beam has passed said through-hole;
• d) generating a second locating beam using a second signal source mounted on said end effector;
• e) reflecting said second locating beam from a vertical calibration means when said end effector is at a desired vertical position;
• and
• f) intercepting said second locating beam after said second locating beam has been reflected.

A method for teaching a spatial location to a robot having an arm equipped with an end effector operating in a work space where said spatial location is defined by planar coordinates and by a vertical coordinate, said method comprising the following steps:

• a) generating a first locating beam using a first signal source;
• b) providing a reflecting means on said end effector for reflecting said first locating beam when said end effector is at a desired planar position;
• c) intercepting said first locating beam after said first locating beam has been reflected by said reflecting means;
• d) generating a second locating beam using a second signal source mounted on said end effector;
• e) reflecting said second locating beam from a vertical calibration means when said end effector is at a desired vertical position;
• and
• f) intercepting said second locating beam after said second locating beam has been reflected.