US4517653A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Method for controlling an industrial robot
Assignee: Hitachi Ltd
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Filing: 1982-09-23
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Granted: 1985-05-14
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Expires: 2002-09-23
Abstract
Abstract Dimensions of a plurality of works of the same specification are subtantially identical among the works. Thus, a teach work point on the work to be worked by an industrial robot and a teach reference point to specify the teach work point are taught to memory means of the industrial robot. In an automatic mode, an actual reference point on the work of the same specification is detected by a sensor and an actual work point of the work is determined based on a difference between the detected actual reference point and the teach reference point and the resulting actual work point is conveyed to the industrial robot.
Inventors
- 👤 Akira Tsuchihashi
- 👤 Kazuyoshi Teramoto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-25 16:53
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/18; G05B19/408; G05B19/4083; G05B2219/00; G05B2219/30; G05B2219/36; G05B2219/36503; Y; Y02; Y02P; Y02P90/00; Y02P90/02
Claims Analysis
Total Claims: 9
Claim 1
Independent Claim
163 words
A method for controlling an industrial robot which sequentially works a plurality of substantially identical workpieces at working points thereof measured with respect to at least one reference point thereof, comprising the steps of: teaching provisional working points and at least one provisional reference point by sensing a portion of a first one of the workpieces and storing position data of said provisional working points and said provisional reference point; determining a position of an actual reference point for another of said workpieces by sensing a portion of said other workpiece by a sensor attached to a hand of said industrial robot and determining by calculation a distance and direction from said provisional reference point to said actual reference point based on the stored data; and determining actual working points of said other workpiece based on the stored data of said provisional working points and said distance and direction to move a working hand of said industrial robot to said actual working points.
Claim 2
Independent Claim
163 words
A method for controlling an industrial robot which sequentially works a plurality of substantially identical workpieces at working points thereof measured with respect to at least one reference point thereof, comprising the steps of: teaching provisional working points and at least one provisional reference point by sensing a portion of a first one of the workpieces and storing position data of said provisional working points and said provisional reference point; determining a position of an actual reference point for another of said workpieces by sensing a portion of said other workpiece by a sensor attached to a hand of said industrial robot and determining by calculation a distance and direction from said provisional reference point to said actual reference point based on the stored data; and determining actual working points of said other workpiece based on the stored data of said provisional working points and said distance and direction to move a working hand of said industrial robot to said actual working points.
Claim 3
Dependent Claim
66 words
A method for controlling an industrial robot according to claim 1 wherein said steps of teaching at least one provisional reference point and of determining a position of an actual reference point each include detecting positions of three points on a periphery of a ring concentric to the respective reference point and determining the respective reference point by calculation based on the three detected position data.
Claim 4
Dependent Claim
22 words
A method for controlling an industrial robot according to claim 1 or 2 wherein said provisional reference point is one in number.
Claim 5
Dependent Claim
22 words
A method for controlling an industrial robot according to claim 1 or 2 wherein said provisional reference points are two in number.
Claim 6
Dependent Claim
26 words
A method for controlling an industrial robot according to claim 1 or 2 wherein said provisional reference point is a part of said provisional working points.
Claim 7
Dependent Claim
26 words
A method for controlling an industrial robot according to claim 1 wherein a route between said working points is interpolated by said object to be controlled.
Claim 8
Dependent Claim
19 words
A method for controlling an industrial robot according to claim 6 wherein said route interpolation is a linear interpolation.
Claim 9
Dependent Claim
19 words
A method for controlling an industrial robot according to claim 6 wherein said route interpolation is an arcuate interpolation.
References Cited (Backward Citations)
USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1988-05-13 | 1988-11-12 | 1989-05-14 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1992-05-13 | 1992-11-12 | 1993-05-14 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1996-05-13 | 1996-11-12 | 1997-05-14 | $7700.00 | Window Closed / Lapsed |