| 摘要 |
PROBLEM TO BE SOLVED: To improve followability of a robot with respect to a moving workpiece, while suppressing increase in the number of sensors for detecting change of a position of the workpiece.SOLUTION: A workpiece position recognition device 16 includes: a scale 20 provided on a pallet 102 on which a workpiece 100 is placed at a first predetermined position, installed at a second predetermined position so that a plate-like body extending in a conveyance direction is vertically inclined in a lateral direction with respect to the conveyance direction, and including penetrating slits extending in the lateral direction, each having a predetermined space, and repeatedly formed at predetermined intervals in the conveyance direction; a sensor 22 installed on a movement locus of the scale 20, for outputting a signal depending on the distance to the pallet 102 or the scale 20; and a unit 24 for calculating the amount of change, which calculates the amount of change of a position of the workpiece 100 on the basis of the output signal of the sensor 22. A robot controller 14 for, on the basis of stored data, outputting an instruction signal to a robot 12 so as to perform predetermined operation corrects the instruction signal on the basis of the amount of change of the position of the workpiece 100. |
