| 摘要 |
<p>PURPOSE:To secure operation necessary for respective operations, and increase cycle time by carrying out stopping position control on respective shafts with every continuous operation according to the preset content in a picking device having an orthogonal triaxial manipulator. CONSTITUTION:A picking device having an orthogonal triaxial manipulator carries an object 14 from a magazine 2 of a rack 1 by a roller conveyor 4 through a delivery bucket 3. On the other hand, a travel carriage 5 is driven through a timing belt 7 by a traveling motor 6. A raising-lowering body 9 is driven through a timing belt 11 by a raising-lowering motor 10, and a hand part 12 is installed on an arm shaft 13 capable of advancing and retreating, and the object 14 is gripped. In this case, when operation up to a delivery box from a delivery shelf is carried out continuously, a stopping positioning accuracy value is set individually in three shafts with every operation. Stopping position control on respective shafts with every operation is carried out according to the preset content.</p> |
