METHOD FOR TEACHING AN INDUSTRIAL ROBOT, AND A CORRESPONDINGLY EQUIPPED INDUSTRIAL ROBOT
First Claim
1. A method for teaching movement processes for an industrial robot having a stand and at least one moving jointed arm, comprising:
- fitting a measurement system to a measurement head of the jointed arm at a free end of the jointed arm;
fitting a handling appliance to an end effector at the free end of the jointed arm, the end effector being connectable to the measurement system;
operating the handling appliance to teach an intended movement process to the robot;
detecting each movement position of the handling appliance arranged at the free end of the jointed arm, via the measurement system fitted to the measurement head;
transforming each detected position to respective co-ordinate data;
transmitting the detected co-ordinate data to a monitoring and control system;
storing the transmitted co-ordinate data in the monitoring and control system;
evaluating the stored co-ordinate data in the monitoring and control system; and
storing the evaluated data as a movement program for the robot.
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Abstract
A method is provided for teaching movement processes for an industrial robot having a stand and at least one moving jointed arm. The method includes fitting a measurement system to a measurement head at a free end of the jointed arm, fitting a handling appliance to an end effector at the free end of the jointed arm, operating the handling appliance to teach the intended movement process to the robot, detecting each position of the handling appliance, via the measurement head, transforming the detected positions to co-ordinate data and transmitting the detected co-ordinate data to a monitoring and control system, storing and evaluating the co-ordinate data in the monitoring and control system to develop a movement program for the robot. A correspondingly equipped industrial robot is also provided.
30 Citations
20 Claims
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1. A method for teaching movement processes for an industrial robot having a stand and at least one moving jointed arm, comprising:
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fitting a measurement system to a measurement head of the jointed arm at a free end of the jointed arm; fitting a handling appliance to an end effector at the free end of the jointed arm, the end effector being connectable to the measurement system; operating the handling appliance to teach an intended movement process to the robot; detecting each movement position of the handling appliance arranged at the free end of the jointed arm, via the measurement system fitted to the measurement head; transforming each detected position to respective co-ordinate data; transmitting the detected co-ordinate data to a monitoring and control system; storing the transmitted co-ordinate data in the monitoring and control system; evaluating the stored co-ordinate data in the monitoring and control system; and storing the evaluated data as a movement program for the robot. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8)
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9. An industrial robot comprising:
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a stand; at least one moving jointed arm, the jointed arm having a free end comprising a detachable connection means for connecting and disconnecting an end effector to/from the free end of the jointed arm; a measurement system having a measurement head arranged at the free end of the industrial robot, the measurement system being configured to automatically determine each respective position and orientation of the end effector and transmit data representative of the determined position and orientation of the end effector to a monitoring and control unit; and a handling appliance configured to teach movement processes for the robot and for the jointed arm, and being configured to be guided manually. - View Dependent Claims (10, 11, 12, 13, 14, 15, 16, 17, 18, 19, 20)
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Specification