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Title:
HANDLING METHOD AND ROBOT USED FOR THE SAME
Document Type and Number:
WIPO Patent Application WO/1996/030169
Kind Code:
A1
Abstract:
A method of handling a robot, comprising a work search step of allowing an arm to approach a stack base at high speed and then at low speed until a work is detected; a step of stopping the arm when the work is detected, storing the position of the work as the work height, and gripping the work; a step of allowing the arm at high speed to approach a deceleration starting position defined by adding a predetermined value to the stored work height when the arm again approaches the stack base, allowing the arm to approach the work to the stored work height at low speed, detecting the work, and allowing the arm to grip the work; and a step of correcting the value of the work height when the work is not detected and again allowing the arm to approach the work at low speed. Since the range in which the arm moves at low speed is reduced, the cycle time is shortened.

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Inventors:
Takahashi
Toshiyuki, Nakajima
Atsushi, Shiomichi
Yukimasa
Application Number:
PCT/JP1996/000566
Publication Date:
October 03, 1996
Filing Date:
March 08, 1996
Export Citation:
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Assignee:
Toyo
Kohan
CO., LTD.
Takahashi, Toshiyuki
Nakajima, Atsushi
Shiomichi, Yukimasa
International Classes:
B25J13/00; B21D43/22; B25J9/16; B25J9/18; (IPC1-7): B25J13/00
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