US4558424A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Robot control apparatus
Assignee: Nidec Instruments Corp
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Filing: 1982-09-23
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Granted: 1985-12-10
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Expires: 2002-09-23
Abstract
Abstract A robot control apparatus for controlling the movement of an arm of a robot with respect to a workpiece transported upon a pallet moving down an assembly line, wherein the position of the arm of the robot is compensated for in accordance with the position of the workpiece. A reference position memory stores a reference position of one of the pallet and workpiece. A position detector detects the position at which the pallet of workpiece is clamped along the assembly line. A difference between the outputs from the reference position memory and the position detector is used to correct a value stored in a work position memory to thus provide the output data which controls the movement of the arm of the robot.
Inventors
- 👤 Yukio Oguchi
- 👤 Kazuyoshi Yasukawa
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-23 17:40
CPC Classifications
B; B25; B25J; B25J9/00; B25J9/16; B25J9/1679; B25J9/1692; B25J9/0093; B25J9/1602; B25J9/161; G; G05; G05B; G05B19/00; G05B19/02; G05B19/418; G05B19/41815; G05B19/4182; G05B2219/00; G05B2219/30; G05B2219/36; G05B2219/36503; G05B2219/45; G05B2219/45083; G05B2219/49; G05B2219/49134; Y; Y02; Y02P; Y02P90/00; Y02P90/02
Claims Analysis
Total Claims: 8
Claim 1
Independent Claim
175 words
A robot control apparatus for moving an arm of a robot with respect to a workpiece supported on a pallet comprising: reference position memory means for storing a reference position; means for positioning said pallet with respect to a reference surface; horizontal and vertical position detecting means for detecting a position of a reference marker positioned on a predetermined one of said pallet and said workpiece, in response to an output signal generated by said positioning means; work position memory means for storing a plurality of data values representing a locus of movement of an arm of said robot; comparator means for determining a difference between an output of said position detecting means representing said position of said reference marker and said reference position as supplied by said reference position memory means and for correcting said data values upon being output from said work position memory means in accordance with said difference; and robot control means for positioning said arm of said robot in accordance with the corrected data values provided by said comparator means.
Claim 2
Dependent Claim
175 words
A robot control apparatus for moving an arm of a robot with respect to a workpiece supported on a pallet comprising: reference position memory means for storing a reference position; means for positioning said pallet with respect to a reference surface; horizontal and vertical position detecting means for detecting a position of a reference marker positioned on a predetermined one of said pallet and said workpiece, in response to an output signal generated by said positioning means; work position memory means for storing a plurality of data values representing a locus of movement of an arm of said robot; comparator means for determining a difference between an output of said position detecting means representing said position of said reference marker and said reference position as supplied by said reference position memory means and for correcting said data values upon being output from said work position memory means in accordance with said difference; and robot control means for positioning said arm of said robot in accordance with the corrected data values provided by said comparator means.
Claim 3
Dependent Claim
21 words
The robot control apparatus according to claim 1, wherein said position detecting means is attached to an arm of said robot.
Claim 4
Dependent Claim
20 words
The robot conrol apparatus according to claim 1, wherein said reference marker comprises a reference pin fixed to said pallet.
Claim 5
Dependent Claim
20 words
The robot control apparatus according to claim 1, wherein said reference marker comprises a reference pin fixed to said workpiece.
Claim 6
Dependent Claim
21 words
The robot control apparatus of any one of claims 1 or 2-4, wherein said position detecting means comprises optical sensing means.
Claim 7
Dependent Claim
21 words
The robot control apparatus of any one of claims 1 or 2-4, wherein said position detecting means comprises a television camera.
Claim 8
Dependent Claim
21 words
The robot control apparatus of any one of claims 1 or 2-4, wherein said position detecting means comprises magnetic sensing means.
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USPTO Annuity & Maintenance Windows
| Annuity Stage | Window Opens | Payment Deadline | Surcharge Period Until | Estimated Fee | Status |
|---|---|---|---|---|---|
| 3.5 Years (Year 4) | 1988-12-09 | 1989-06-10 | 1989-12-10 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1992-12-09 | 1993-06-10 | 1993-12-10 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1996-12-09 | 1997-06-10 | 1997-12-10 | $7700.00 | Window Closed / Lapsed |