| 摘要 |
PROBLEM TO BE SOLVED: To provide a tool position detection device capable of detecting a tool position with a simple structure.SOLUTION: A tool position detection device 100 for detecting the position of a fastening tool 40 suspended from a wire 30 includes a pulley 22 having the wire 30 set thereon, a support shaft 21 for vertically supporting the pulley 22 and rotated around an axis perpendicular to the rotary shaft of the pulley 22, a detection cover 23 disposed on a side where the wire 30 of the pulley 22 is delivered, rotated around the same axis as that of the pulley 22, and following in a direction where the wire 30 is delivered from the pulley 22, and a controller 50 for calculating the position of the fastening tool 40. The controller 50 converts the position of the fastening tool 40 from a spherical coordinate system into an orthogonal coordinate system to calculate it by using the rotational angle &thetas; of the support shaft 21, the rotational angle ω of the pulley 22, and the rotational angle &phgr; of the detection cover 23. |
