| 摘要 |
PROBLEM TO BE SOLVED: To provide a robot capable of automatically adjusting a reference attitude to an origin attitude without through a worker's hand, and capable of accurately adjusting the reference attitude to the origin attitude. SOLUTION: A conveying robot 22 is equipped with connecting members 27, 28, 29 connected so as to be angularly displaceable, and controls the displacement of the respective connecting members 27, 28, 29 based on the adjustable reference attitude. A base 23 includes a laser sensor 38. The laser sensor 38 projects a laser beam in a predetermined direction, and when the first connecting member 27 is disposed in a first detected attitude corresponding to the origin attitude, the laser sensor 38 receives reflection in which the projected laser beam is reflected by a reflector 41. A control part angularly displaces the first connecting member 27 so that the laser beam is reflected by the reflector and received by the laser sensor 38. The attitude of the first connecting member 27 when the beam is received is assumed to be the origin attitude. Similarly, the origins of the connecting members 28, 29 are also adjusted by using reflectors 42, 43. COPYRIGHT: (C)2010,JPO&INPIT |
