POSITION CONTROLLER OF GANTRY ROBOT

Title:

POSITION CONTROLLER OF GANTRY ROBOT

Document Type and Number:

Japanese Patent JPH0550385

Kind Code:

A

Abstract:

PURPOSE: To improve the positioning accuracy of a moving gantry robot by pulling the timing belt stretched on a guide rail.

CONSTITUTION: For example, the gantry robot 220 arranged on the top of a machine tool runs on a guide rail 200 and carries workpieces and jigs by means of the hand secured to an arm 280. A timing belt 21 is belted on the rail 200 and meshes with the driving timing pulley 250 of the gantry robot 220. The timing pulley is rotated by a specified quantity by a servo motor, and the gantry robot is moved by the rotation quantity of the timing pulley. On the rail 200, a magnetism generator 265 is provided, and the detector 260 of the gantry robot detects the location of the magnetism generator 265. At this moment, the number of pulses which are output to the servo motor is compared, correcting the error. Positioning accuracy is improved by this correction.

Inventors:

MOMOI SHOJI
TAJIMA TOMIO
YAMADA KAZUO

Application Number:

JP23368891A

Publication Date:

March 02, 1993

Filing Date:

August 22, 1991

Export Citation:

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Assignee:

YAMAZAKI MAZAK CORP

International Classes:

B25J5/00; B25J9/02; B25J9/10; B25J19/02; G05D3/12; (IPC1-7): B25J5/00; B25J9/02; B25J9/10; B25J19/02; G05D3/12

Attorney, Agent or Firm:

Yoshiaki Numagata (2 outside)

Next Patent: POSITION INSTRUCTION SYSTEM FOR MANIPULATOR WITH SEVEN DEGREES OF FREEDOM