WRIST POSITION DETECTING METHOD OF INDUSTRIAL ROBOT

摘要

PURPOSE:To prevent the shift of the working area of a rotary shaft despite the actuation of a bend shaft by connecting the drive shafts of the bend and rotary shafts to the main body side and the input rotary side of a potentiometer for position detection of the rotary shaft and eliminating only the correction shift amounts of both shafts to each other. CONSTITUTION:When a bend shaft drive motor 1 is actuated toward an arrow head E, a torch 4 attached at the tip of a rotary shaft tries to revolve toward an arrow head A owing to the mechanical interference between rotary shaft driving gears 2 and 3. Thus a rotary shaft driving motor 5 is actuated toward an arrow head F so as to revolve the torch 4 in the opposite direction B by an equal amount through the correction control. Under such conditions, a gear 16 is revolved toward C by the action given toward E. While a gear 18 is revolved toward D owing to an action given toward F at the time of a correction. As a result, the working amount of the bend shaft is equal to the correction amount of the rotary shaft. Thus both the main body side and the input side of a potentiometer 15 are revolved in the same direction. Then the voltage of the potentiometer 15 is never changed.