Under the direction of the method for direct inform of a robot by means of its operation of and directly below the end of the straightening apparatus for an industrial robot

摘要

PURPOSE:To reduce the labor of a teacher, by attaching a detector at the wrist part of a robot to detect the direction components of the force and moment and then making the robot operate in the direction of the detector output for storage of the driving data. CONSTITUTION:The outputs of the strain gauges S1-S6 attached at the wrist part of a robot are converted into the digital signals through the A/D converters C1-C6 after amplified by the amplifiers A1-A6 and sampled by the sampling circuits B1-B6 and then taken into the arithmetic circuit 17. The circuit 17 gives an operation to the force components Fx, Fy and Fz of each shaft plus the moment components Mx, My and Mz in accordance with the attachment positions of the strain gauges and the direction of the robot's driving shaft, and then obtains and motor driving output by the computer 4 to drive the motor 3. The driving data of that time is written into the memory device which is not shown in the diagram.