| 摘要 |
<P>PROBLEM TO BE SOLVED: To provide an inexpensive robot hand distortion detecting method for detecting distortion of a robot hand, and an automatic robot hand replacing system for automatically replacing with a spare robot hand when distortion of not less than a set value is detected. Ž<P>SOLUTION: In this automatic robot hand replacing system, a robot hand 13 having a material holding means for holding a material in parallel to an XY plane is detachably provided to a robot 11, and a local coordinate (x, y, z) is set to a surface of a surface plate 1. Four distance measuring sensors are provided to the robot hand, and the robot hand is positioned on the surface plate by a program for measuring distortion by a local coordinate before processing. A distance from the surface plate surface is measured by the four distance measuring sensors, so as to find a parallelism by comparing respective measurements of the distance measuring sensors and the distance from the surface plate surface at a moving position to determine the distortion of the robot hand. When the distortion is not less than a set value, the hand is automatically replaced with the spare robot hand. Ž<P>COPYRIGHT: (C)2010,JPO&INPIT Ž
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