OPENING SETTING METHOD FOR END EFFECTOR

PROBLEM TO BE SOLVED: To reduce the frequency of standby states or limiting of a moving speed of an articulated robot in correspondence to a motion of an opening and closing mechanism of an end effector, and shorten a motion cycle time of the articulated robot. SOLUTION: Sections with short moving d...

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Bibliographische Detailangaben
Hauptverfasser:	NAKAJIMA TETSUJI, SHIBATA KAORU, TANAKA HIDEKAZU, KANEKO MASAKATSU, IWAGAMI YUJI, NAKAJIMA RYO
Format:	Patent
Sprache:	eng
Schlagworte:	CHAMBERS PROVIDED WITH MANIPULATION DEVICES CLADDING OR PLATING BY SOLDERING OR WELDING CUTTING BY APPLYING HEAT LOCALLY, e.g. FLAME CUTTING HAND TOOLS MACHINE TOOLS MANIPULATORS METAL-WORKING NOT OTHERWISE PROVIDED FOR PERFORMING OPERATIONS PORTABLE POWER-DRIVEN TOOLS SOLDERING OR UNSOLDERING TRANSPORTING WELDING WORKING BY LASER BEAM
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Beschreibung
Zusammenfassung:	PROBLEM TO BE SOLVED: To reduce the frequency of standby states or limiting of a moving speed of an articulated robot in correspondence to a motion of an opening and closing mechanism of an end effector, and shorten a motion cycle time of the articulated robot. SOLUTION: Sections with short moving distances are extracted from a motion path of the articulated robot having the opening and closing mechanism (movable electrodes) in a tip (step S1). Continuous sections are integrated into one section (step S2). If there is a welding point in a section, the section is divided at the welding point and determined as a verifying section (step S3). A clearance of the opening and closing mechanism not interfering with a work is determined at each teaching attitude point within the verifying section (step S4), and one with the minimum opening is selected. After confirming that there is no interference with the work when a gun opening of the selected minimum opening is applied to other teaching attitude points (steps S5 and S6), it is applied as a gun opening in the verifying section (step S7).