Method of measuring origin of moving section in robot and apparatus therefor
First Claim
1. A method of measuring the origin of movable arm elements with respect to a reference coordinate system of a robot having a robot arm including a base, a first movable arm element having a longitudinal axis and coupled to said base for rotation about an axis perpendicular to said longitudinal axis, and at least one second movable arm element coupled to said first movable arm element for rotation about an axis, said method comprising the steps of:
- forming a mounting structure at a predetermined position on said movable arm element such that said mounting structure extends in a direction perpendicular to said longitudinal axis and is mounted to said first movable arm element in a plane perpendicular to the axis of rotation of said first movable arm element;
orienting said first movable arm element such that the axis of rotation of said first movable arm element extends horizontally and defines an origin with respect to said reference coordinate system;
mounting a sensor to said mounting structure for detecting an angle of inclination of said first movable arm element about said axis of rotation of said first movable arm element and with respect to said origin; and
rotating said first movable arm element about said axis of rotation of said first movable arm element in response to a detected angle of inclination to position said first movable arm element at said origin.
1 Assignment
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Accused Products
Abstract
The position of the moving section in a robot is accurately and easily adjusted to a position of the origin by: setting a moving section being rotatably secured to a reference section through a rotary shaft in a manner that the axis of the rotary shaft is disposed horizontally; mounting an angular sensor for detecting an inclination angle of the moving section with respect to the origin, such as a level, on the moving section at a predetermined position thereof with respect to the axis of the rotary shaft; and rotating the moving section about the rotary shaft in response to a detected inclination angle. The apparatus therefor includes the angular sensor, such as a level, disposed on a mounting member and held in a position by a positioning member, and a rotating member for rotating the moving section about the rotary shaft in response to a detected inclination angle.
34 Citations
15 Claims
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1. A method of measuring the origin of movable arm elements with respect to a reference coordinate system of a robot having a robot arm including a base, a first movable arm element having a longitudinal axis and coupled to said base for rotation about an axis perpendicular to said longitudinal axis, and at least one second movable arm element coupled to said first movable arm element for rotation about an axis, said method comprising the steps of:
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forming a mounting structure at a predetermined position on said movable arm element such that said mounting structure extends in a direction perpendicular to said longitudinal axis and is mounted to said first movable arm element in a plane perpendicular to the axis of rotation of said first movable arm element; orienting said first movable arm element such that the axis of rotation of said first movable arm element extends horizontally and defines an origin with respect to said reference coordinate system; mounting a sensor to said mounting structure for detecting an angle of inclination of said first movable arm element about said axis of rotation of said first movable arm element and with respect to said origin; and rotating said first movable arm element about said axis of rotation of said first movable arm element in response to a detected angle of inclination to position said first movable arm element at said origin. - View Dependent Claims (2, 3, 4, 5)
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6. In an apparatus for measuring the origin of movable arm elements with respect to a reference coordinate system of a robot having a robot arm including a base, a first movable arm element having a longitudinal axis and coupled to said base for rotation about an axis perpendicular to said longitudinal axis, and at least one second movable arm element coupled to said first movable arm element for rotation about an axis, the improvement in said apparatus comprising:
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means for forming a mounting structure at a predetermined position on said first movable arm element such that said mounting structure extends in a direction perpendicular to said longitudinal axis and is mounted to said first movable arm element in a plane perpendicular to the axis of rotation of said first movable arm element; means for orienting said first movable arm element such that the axis of rotation of said first movable arm element extends horizontally and defines an origin with respect to said reference coordinate system; sensor means coupled to said mounting structure for detecting an angle of inclination of said first movable arm element about said axis of rotation of said first movable arm element and with respect to said origin; and means for rotating said first movable arm element about said axis of rotation of said first movable arm element in response to a detected angle of inclination to position said first movable arm element at said origin. - View Dependent Claims (7, 8, 15)
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9. In an apparatus for measuring the origin of movable arm elements with respect to a reference coordinate system of a robot having a robot arm including a base, a first movable arm element having a longitudinal axis and coupled to said base for rotation about an axis perpendicular to said longitudinal axis, and at least one second movable arm element coupled to said first movable arm element for rotation about an axis, the improvement in said apparatus comprising:
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means for forming a mounting structure at a predetermined position on said first movable arm element such that said mounting structure extends in a direction perpendicular to said longitudinal axis and is mounted to said first movable arm element in a plane perpendicular to the axis of rotation of said first movable arm element; means for orienting said first movable arm element such that the axis of rotation of said first movable arm element extends horizontally and defines an origin with respect to said reference coordinate system; sensor means mounted to said mounting structure for detecting an angle of inclination of said first movable arm element about said axis of rotation of said first movable arm element and with respect to said origin, said sensor means being formed as a level having a viewing plane perpendicular to said axis of rotation of said first movable arm element and said mounting structure is selected from a group consisting of an L-shaped bracket and a flat plate, means for positioning said mounting structure at said predetermined position on said first movable arm element; and means for rotating said first movable arm element about said axis of rotation of said first movable arm element in response to a detected angle of inclination to position said first movable arm element at said origin. - View Dependent Claims (10, 11, 12, 13, 14)
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Specification