The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
May. 22, 1990
Filed:
Dec. 28, 1988
Masaaki Hara, Kitakyushu, JP;
Seigo Nishikawa, Kitakyushu, JP;
Taketoshi Tazaki, Kitakyushu, JP;
Hiroshi Inokuchi, Kitakyushu, JP;
Kabushiki Kaisha Yaskawa Denki Seisakusho, Fukuoka, JP;
Abstract
Burring by way of a grind stone using a robot has been rarely practiced because the correction of abrasion of the grind stone involves a problem. There has been hitherto proposed a method for correction of abrasion by making use of a force sensor or a special tool holder apparatus. However, since the apparatus is expensive and low in reliability, it has not been practical. In the present invention, a coordinate system is set to a wearing tool mounted to a wrist of a robot separately from the rectangular coordinates of the robot, and the worn amount of the tool detected by use of a sensor is subjected to parallel shifting on the coordinate system of the tool set to the tool to effect correction of abrasion, which is characterized in that a special hard is not required, and operation is simple.