| 摘要 |
<p><P>PROBLEM TO BE SOLVED: To construct a direct teaching system with one direct teaching module and a plurality of industrial robots, and to allow each industrial robot to teach with the one direct teaching module. <P>SOLUTION: In the direct teaching system, mounting parts 2 provided on arm tip parts of respective industrial robots and attitude adjustment mechanism parts are provided in the plurality of industrial robots, and the attitude adjustment mechanism part comprises: a rail 1 in the shape of an arch, having a rectangular cross section, and fixed to the mounting part 2; a slider 4 adjusting a roll angle by sliding on the rail 1 along the arch-like rail 1; a slider 3 adjusting a pitch angle by sliding on the outer circumference of the slider 4; an operating lever 7 for fixing restraining the position of the slider 3 and 4 when an attitude angle becomes a desired angle; and a claw type lock mechanism 8 provided on the slider 3 and detachably engaging with the engaged part of a connecting plate 6 of a teaching handle part, and a teaching handle part having a force sensor 10 and an attitude angle sensor 9, and a teaching information generating part are provided in the one direct teaching module. <P>COPYRIGHT: (C)2011,JPO&INPIT</p> |
