| 摘要 |
A manipulator apparatus having a manipulator arm movable in a plurality of axes is programmed to perform a desired sequence of operations over a desired path. The programming is accomplished by an operator manually moving the end of the manipulator arm over the desired path while encoders associated with each axis of the manipulator apparatus produce signals representing movement of the arm in each of the axes. The encoder signals are automatically recorded at predetermined increments of movement of the arm as command signals for controlling movement of the arm during a playback cycle. Recording of these command signals is controlled by a guide wheel which is positioned on the end of the arm during programming and is rotated by maintaining the wheel in contact with the work as the operator moves the manipulator arm over the desired path. Control pulses are generated for each predetermined increment of rotation of the guide wheel and these control pulses are employed to control recording of the encoder output signals. Weld cycle controls, weld speed controls and a manual record control are provided. The manual record control is actuated to record positions between welds wherein the end effector is moved between weld paths without the guide apparatus being in contact with the welding work surfaces. During programming, guide strips having tracks into which the guide apparatus is placed, may be positioned along the desired weld path by the operator. The recorded signals corresponding to the distances the arm is to be moved in each of said axes are utilized during a playback cycle to control drive apparatus for each axis, such as stepping motors, which are de-energized during the programming phase. During playback a welding tip or other implement is positioned in place of the guide wheel apparatus whereby the manipulator performs the desired operation over the programmed path at a predetermined, selectable speed independent of the programming speed. The recorded command signals are effective to drive pulse generation circuitry during playback to produce pulse trains that are supplied to the stepping motors so that they are moved at the required velocities to perform a weld over the programmed path. |
