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Title:
TEACHING DEVICE OF PLANE DATA OF ROBOT
Document Type and Number:
Japanese Patent JPS60160410
Kind Code:
A
Abstract:
PURPOSE:To attain ease of operation by designating the direction and slope of a parallel plane cuttng the surface to be machined and teaching a pitch interval of cut and a representing point on the curved face from a teaching section to decrease number of teaching points. CONSTITUTION:A plane data teaching device consists of a robot main body 1, an operation control section 2 and teaching section 3 and grinder 5 provided to an arm 4 of the robot main body 1 applies grinding to the work on a positioner 6. In the teaching operation, the teaching section 3 drives the main body 1 to designate the cutting direction of the surface S to be machined. The wrist attitude of the arm 4 is taught at a boundary point Pi of a cross line between the cutting plane GAMMAi and the surface S to be machine, the arm is driven under the restricting condition that the cutting point of the grinder 5 being a working point of the wrist is placed always on the cut face GAMMAi so as to teach approximate points Ai-Qi of the cross line. At the end of machining for the entire curved face, approximate point Ai+1-Qi+1 of the cross line at the cutting of the next plane GAMMAi+1 are taught. The robot main body 1 is driven by the interpolation operation at the running.

Inventors:
MINOWA KAZUO
OKINA NAGASHIGE
ITOU MINORU
YAMAMOTO MASAYUKI
Application Number:
JP1580484A
Publication Date:
August 22, 1985
Filing Date:
January 31, 1984
Export Citation:
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Assignee:
SUMITOMO HEAVY INDUSTRIES
International Classes:
B25J9/22; G05B19/4103; G05B19/42; G05B19/425; (IPC1-7): B25J9/22; G05B19/42
Domestic Patent References:
JPS57172412A1982-10-23
JPS575109A1982-01-11
JPS5851304A1983-03-26
JPS58189707A1983-11-05



 
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