Industrial robot and a method for positioning same

• US 4,613,803 A
• Filed: 02/14/1985
• Issued: 09/23/1986
• Est. Priority Date: 02/14/1985
• Status: Expired due to Fees

• Current Assignee: Klaus Schmidt
• Original Assignee: Klaus Schmidt
• Inventors: Hashimoto, Hideki, Matsuo, Hisashi, Hasegawa, Kiyoshi
• Primary Examiner(s): NOT, DEFINED
• Application Number:
  US06/701,621
• Time in Patent Office: 586 Days
• Field of Search: 318/568, 318/587, 364/513
• US Class Current: 701/23
• CPC Class Codes: G05B 19/4182 manipulators and conveyor only
• CPC Class Codes: Y02P 90/02 Total factory control, e.g. smart factories, flexible manufacturing systems [FMS] or integrated manufacturing systems [IMS]

Abstract

A self-traveling robot system capable of being automatically positioned with respect to a workpiece including a robot for work on a continuous object, a truck for moving the robot along the continuous object, a distance detection mechanism mounted to the robot for detecting a distance between the robot and the continuous object, a deviation detecting circuit for comparing the distance as detected by the distance detection mechanism with a predetermined value and detecting a deviation between the distance and the predetermined value, and a travel path correcting mechanism for correcting an advance direction of the truck according to the deviation. A method of positioning the self-traveling robot system with respect to the workpiece is also disclosed, which includes the steps of (a) driving a robot which has stopped at a working position and detecting distances between a swiveling table and two measuring points on the workpiece; (b) calculating a tilt angle (θ) of the swiveling table relative to the workpiece and a deflection amount (l) from the swiveling table to a reference travel path on which the robot is to be normally traveled according to data obtained regarding the distance; (c) extending outriggers to separate the truck from a floor, and then rotating the truck at a right angle to the workpiece; (d) contracting the outriggers after step (c) to bring the truck into contact with the floor, and then rotating the swiveling table to a position parallel to the workpiece; (e) moving the truck by the deflection amount (l) to register a center of the truck with the reference travel path; and (f) extending the outriggers to separate the truck from the floor, then rotating the truck to a position parallel to the workpiece, and further contracting the outriggers.

Claims

1. A self-traveling robot system, comprising:

a robot for working on a continuous object;

means for moving said robot along said continuous object;

a swiveling table mounted on said means for moving said robot and provided with vertically extending outrigger members;

arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom;

distance detection means mounted to said robot for detecting a distance between said robot and said continuous object;

means to separate said outrigger members from said members for moving said robot and which includes means for rotating said means for moving said robot at a right angle;

a deviation detecting circuit for comparing said distance as detected by said distance detection means with a predetermined value and detecting a deviation between said distance and said predetermined value; and

travel path correcting means for correcting an advance direction of said means for moving said robot according to said deviation.

2. A method of positioning a self-traveling robot system with respect to a workpiece, the robot including wheeled transport means capable of traveling on a floor, a swiveling table mounted on said transport means and provided with vertically extending outriggers, and arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom, which comprises:

(a) driving said robot to a working position and detecting distances between said swiveling table and first and second measuring points on said workpiece;

(b) calculating a tilt angle (θ

) of said swiveling table relative to said workpiece and a deflection amount (l) from said swiveling table to a reference travel path on which said robot normally travels according to data obtained regarding said distance;

(c) extending said outriggers to separate said transport means from said floor, and then rotating said transport means at a right angle to said workpiece;

(d) contracting said outriggers after said step (c) to bring said transport means into contact with said floor, and then rotating said swiveling table to a position parallel to said workpiece;

(e) moving said transport means by said deflection amount (l) to register a center of said transport means with said reference travel path; and

(f) extending said outriggers to separate said transport means from said floor, then rotating said transport means to a position parallel to said workpiece, and further contracting said outriggers.

3. A self-traveling robot system for traveling with respect to a workpiece, comprising:

wheeled transport means capable of traveling on a floor;

a swiveling table mounted on said transport means and provided with vertically extending outriggers;

arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom;

means for driving said robot to a working position and detecting distances between said swiveling table and said first and second measuring points on said workpiece;

means for calculating a tilt angle (θ

) of said swiveling table relative to said workpiece and a deflection amount (l) from said swiveling table to a reference travel path on which said robot normally travels according to data obtained regarding said distance;

means for extending said outriggers to separate said transport means from said floor and for subsequently rotating said transport means at a right angle to said workpiece;

means for contracting said outriggers after said transport means is brought into contact with said floor, and for subsequently rotating said swiveling table to a position parallel to said workpiece;

means for moving said transport means by said deflection amount (l) to register a center of said transport means with said reference travel path; and

means for extending said outriggers to separate said transport means from said floor and for subsequently rotating said transport means to a position parallel to said workpiece and for further contracting said outriggers.