| 摘要 |
PROBLEM TO BE SOLVED: To provide a thermal spraying system by which the distal end position of a spray tube is compensated appropriately aganst a workpiece. SOLUTION: The distal end of a robot arm 11d, to which the spray tube 13a is fitted, is provided with a pair of displacement sensors 25a, 25b. The robot 11 is driven by a robot driving controller 12; the distal end of the robot arm 11 is scanned along the surface of a workpiece so as to receive output data from the pair of displacement sensors 25a, 25b, and the optimum orbit data on the distal end of the spray tube are calculated from the positional relation between the surface shape of the workpiece and the distal end of the spray tube 13a to the surface of the workpiece based on the output data. The spray tube 13a is scanned one after another by the robot driving controller 12 based on the optimum orbit data; the angle of the spray tube 13a to the surface of the workpiece is obtained based on the data from the pair of displacement sensors 25a, 25b; also, compensation data for compensating the posture and position of the robot arm 11 are calculated, and the robot 11 is driven by the robot driving controller 12 so as to control a thermal spraying controller 14. COPYRIGHT: (C)2010,JPO&INPIT
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