Title:
【発明の名称】摩耗する工具の摩耗補正方法
Document Type and Number:
Japanese Patent JPH0763934
Kind Code:
B2
Abstract:
Burring by way of a grind stone using a robot has been rarely practiced because the correction of abrasion of the grind stone involves a problem. There has been hitherto proposed a method for correction of abrasion by making use of a force sensor or a special tool holder apparatus. However, since the apparatus is expensive and low in reliability, it has not been practical. In the present invention, a coordinate system is set to a wearing tool mounted to a wrist of a robot separately from the rectangular coordinates of the robot, and the worn amount of the tool detected by use of a sensor is subjected to parallel shifting on the coordinate system of the tool set to the tool to effect correction of abrasion, which is characterized in that a special hard is not required, and operation is simple.
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Inventors:
Katsuaki Hara
Seigo Nishikawa
Taketoshi Tasaki
Hiroshi Inoguchi
Seigo Nishikawa
Taketoshi Tasaki
Hiroshi Inoguchi
Application Number:
JP32971987A
Publication Date:
July 12, 1995
Filing Date:
December 28, 1987
Export Citation:
Assignee:
Yaskawa Electric Co., Ltd.
International Classes:
B23Q15/16; B24B47/20; B24B49/10; B24B49/18; B25J9/10; B24B49/04; G05B19/404; G05B19/41; (IPC1-7): B24B49/10; B23Q15/16; B24B47/20; B25J9/10
Domestic Patent References:
| JP61188095A | ||||
| JP3717895B1 |
Attorney, Agent or Firm:
Shuichi Hattori
Next Patent: ドレッサーと砥石のドレッシング装置