EP0264031A2
Expired / Lapsed
EP
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Locus interpolation device
Assignee: Yaskawa Electric Corp
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Filing: 1987-10-01
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Granted: —
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Expires: 2007-10-01
Abstract
Abstract A locus interpolation device characterized in that the device is attached to an end of a wrist of a movable structure such as a robot, with a tool supported by the device, and a circular or noncircular locus is interpolated by controlling the operation of the tool independently from that of the movable structure.
Inventors
- 👤 Kaoru Kimura
- 👤 Masanori Nishi
- 👤 Yoshikatsu Minami
Bibliographic Details
Application Number
—
Jurisdiction
EP
Data Source
google_patents
Last Synchronized
2026-11-04 13:06
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/19; G05B19/39; B; B25; B25J; B25J9/00; B25J9/10; B25J9/1005; B25J9/1015; G05B2219/00; G05B2219/30; G05B2219/40; G05B2219/40297; G05B2219/40353
Claims Analysis
Total Claims: 5
Claim 1
Independent Claim
46 words
A locus interpolation device characterized in that the device is attached to an end of a wrist of a movable structure for supporting tool, and a circular or noncircular locus is interpolated by controlling the operation of the tool independently from that of the movable structure.
Claim 2
Dependent Claim
46 words
A locus interpolation device characterized in that the device is attached to an end of a wrist of a movable structure for supporting tool, and a circular or noncircular locus is interpolated by controlling the operation of the tool independently from that of the movable structure.
Claim 3
Dependent Claim
91 words
The locus interpolation device according to claim 1 wherein said device comprises an operational shaft for supporting said tool and a rotating shaft for rotating said operational shaft, the center of rotation of said operational shaft is provided at a position spaced apart from the center of rotation of said rotating shaft by a predetermined distance, and said operational shaft is rotated such that the distance between said tool and said center of rotation of said rotating shaft is made equal to the radius of the circular movement of said tool.
Claim 4
Dependent Claim
74 words
The locus interpolation device according to claim 1 wherein said operational shaft and said rotating shaft are controlled by use of numerical data related to the radius of a circle or a longer or a shorter side of a noncircular configuration with respect to an origin of a coordinate system selected at said center of rotation of said rotating shaft, in a manner such that the tip of said tool follows a desired locus.
Claim 5
Dependent Claim
55 words
The locus interpolation device according to claim 2 or 3 wherein a driving system for said operational shaft and a driving system for said rotating shaft are provided concentrically, an eccentric coupling is provided in said driving system for said operational shaft, and cables for supplying energy to said tool pass through said eccentric coupling.
References Cited (Backward Citations)
No citation records indexed.
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