US4613803A
Expired / Lapsed
US
⏱️ 0.0 years remaining
Industrial robot and a method for positioning same
Assignee: Kobe Steel Ltd
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Filing: 1985-02-14
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Granted: 1986-09-23
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Expires: 2005-02-14
Abstract
Abstract A self-traveling robot system capable of being automatically positioned with respect to a workpiece including a robot for work on a continuous object, a truck for moving the robot along the continuous object, a distance detection mechanism mounted to the robot for detecting a distance between the robot and the continuous object, a deviation detecting circuit for comparing the distance as detected by the distance detection mechanism with a predetermined value and detecting a deviation between the distance and the predetermined value, and a travel path correcting mechanism for correcting an advance direction of the truck according to the deviation. A method of positioning the self-traveling robot system with respect to the workpiece is also disclosed, which includes the steps of (a) driving a robot which has stopped at a working position and detecting distances between a swiveling table and two measuring points on the workpiece; (b) calculating a tilt angle (θ) of the swiveling table relative to the workpiece and a deflection amount (l) from the swiveling table to a reference travel path on which the robot is to be normally traveled according to data obtained regarding the distance; (c) extending outriggers to separate the truck from a floor, and then rotating the truck at a right angle to the workpiece; (d) contracting the outriggers after step (c) to bring the truck into contact with the floor, and then rotating the swiveling table to a position parallel to the workpiece; (e) moving the truck by the deflection amount (l) to register a center of the truck with the reference travel path; and (f) extending the outriggers to separate the truck from the floor, then rotating the truck to a position parallel to the workpiece, and further contracting the outriggers.
Inventors
- 👤 Kiyoshi Hasegawa
- 👤 Hisashi Matsuo
- 👤 Hideki Hashimoto
Bibliographic Details
Application Number
—
Jurisdiction
US
Data Source
google_patents
Last Synchronized
2026-10-29 11:47
CPC Classifications
G; G05; G05B; G05B19/00; G05B19/02; G05B19/418; G05B19/41815; G05B19/4182; Y; Y02; Y02P; Y02P90/00; Y02P90/02
Claims Analysis
Total Claims: 6
Claim 1
Independent Claim
155 words
A self-traveling robot system, comprising: a robot for working on a continuous object; means for moving said robot along said continuous object; a swiveling table mounted on said means for moving said robot and provided with vertically extending outrigger members; arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom; distance detection means mounted to said robot for detecting a distance between said robot and said continuous object; means to separate said outrigger members from said members for moving said robot and which includes means for rotating said means for moving said robot at a right angle; a deviation detecting circuit for comparing said distance as detected by said distance detection means with a predetermined value and detecting a deviation between said distance and said predetermined value; and travel path correcting means for correcting an advance direction of said means for moving said robot according to said deviation.
Claim 2
Dependent Claim
155 words
A self-traveling robot system, comprising: a robot for working on a continuous object; means for moving said robot along said continuous object; a swiveling table mounted on said means for moving said robot and provided with vertically extending outrigger members; arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom; distance detection means mounted to said robot for detecting a distance between said robot and said continuous object; means to separate said outrigger members from said members for moving said robot and which includes means for rotating said means for moving said robot at a right angle; a deviation detecting circuit for comparing said distance as detected by said distance detection means with a predetermined value and detecting a deviation between said distance and said predetermined value; and travel path correcting means for correcting an advance direction of said means for moving said robot according to said deviation.
Claim 3
Independent Claim
233 words
A method of positioning a self-traveling robot system with respect to a workpiece, the robot including wheeled transport means capable of traveling on a floor, a swiveling table mounted on said transport means and provided with vertically extending outriggers, and arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom, which comprises: (a) driving said robot to a working position and detecting distances between said swiveling table and first and second measuring points on said workpiece; (b) calculating a tilt angle (θ) of said swiveling table relative to said workpiece and a deflection amount (l) from said swiveling table to a reference travel path on which said robot normally travels according to data obtained regarding said distance; (c) extending said outriggers to separate said transport means from said floor, and then rotating said transport means at a right angle to said workpiece; (d) contracting said outriggers after said step (c) to bring said transport means into contact with said floor, and then rotating said swiveling table to a position parallel to said workpiece; (e) moving said transport means by said deflection amount (l) to register a center of said transport means with said reference travel path; and (f) extending said outriggers to separate said transport means from said floor, then rotating said transport means to a position parallel to said workpiece, and further contracting said outriggers.
Claim 4
Independent Claim
233 words
A method of positioning a self-traveling robot system with respect to a workpiece, the robot including wheeled transport means capable of traveling on a floor, a swiveling table mounted on said transport means and provided with vertically extending outriggers, and arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom, which comprises: (a) driving said robot to a working position and detecting distances between said swiveling table and first and second measuring points on said workpiece; (b) calculating a tilt angle (θ) of said swiveling table relative to said workpiece and a deflection amount (l) from said swiveling table to a reference travel path on which said robot normally travels according to data obtained regarding said distance; (c) extending said outriggers to separate said transport means from said floor, and then rotating said transport means at a right angle to said workpiece; (d) contracting said outriggers after said step (c) to bring said transport means into contact with said floor, and then rotating said swiveling table to a position parallel to said workpiece; (e) moving said transport means by said deflection amount (l) to register a center of said transport means with said reference travel path; and (f) extending said outriggers to separate said transport means from said floor, then rotating said transport means to a position parallel to said workpiece, and further contracting said outriggers.
Claim 5
Dependent Claim
235 words
A self-traveling robot system for traveling with respect to a workpiece, comprising: wheeled transport means capable of traveling on a floor; a swiveling table mounted on said transport means and provided with vertically extending outriggers; arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom; means for driving said robot to a working position and detecting distances between said swiveling table and said first and second measuring points on said workpiece; means for calculating a tilt angle (θ) of said swiveling table relative to said workpiece and a deflection amount (l) from said swiveling table to a reference travel path on which said robot normally travels according to data obtained regarding said distance; means for extending said outriggers to separate said transport means from said floor and for subsequently rotating said transport means at a right angle to said workpiece; means for contracting said outriggers after said transport means is brought into contact with said floor, and for subsequently rotating said swiveling table to a position parallel to said workpiece; means for moving said transport means by said deflection amount (l) to register a center of said transport means with said reference travel path; and means for extending said outriggers to separate said transport means from said floor and for subsequently rotating said transport means to a position parallel to said workpiece and for further contracting said outriggers.
Claim 6
Dependent Claim
235 words
A self-traveling robot system for traveling with respect to a workpiece, comprising: wheeled transport means capable of traveling on a floor; a swiveling table mounted on said transport means and provided with vertically extending outriggers; arm means provided on said swiveling table, said arm means having a plurality of degrees of freedom; means for driving said robot to a working position and detecting distances between said swiveling table and said first and second measuring points on said workpiece; means for calculating a tilt angle (θ) of said swiveling table relative to said workpiece and a deflection amount (l) from said swiveling table to a reference travel path on which said robot normally travels according to data obtained regarding said distance; means for extending said outriggers to separate said transport means from said floor and for subsequently rotating said transport means at a right angle to said workpiece; means for contracting said outriggers after said transport means is brought into contact with said floor, and for subsequently rotating said swiveling table to a position parallel to said workpiece; means for moving said transport means by said deflection amount (l) to register a center of said transport means with said reference travel path; and means for extending said outriggers to separate said transport means from said floor and for subsequently rotating said transport means to a position parallel to said workpiece and for further contracting said outriggers.
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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) | 1989-09-22 | 1990-03-24 | 1990-09-23 | $2000.00 | Window Closed / Lapsed |
| 7.5 Years (Year 8) | 1993-09-22 | 1994-03-24 | 1994-09-23 | $3760.00 | Window Closed / Lapsed |
| 11.5 Years (Year 12) | 1997-09-22 | 1998-03-24 | 1998-09-23 | $7700.00 | Window Closed / Lapsed |