| 摘要 |
PROBLEM TO BE SOLVED: To provide a handling device which performs the preparatory measurement before gripping and the final measurement after gripping without requiring a visual sensor. SOLUTION: The handling device is provided with a photoelectric sensor arranged on the end of a parallel link type robot arm. A sensing beam BM is moved so as to cross two sides of a workpiece W temporarily fixed on a mounting plane having a known Z position. The temporarily fixed position (two dimensional) of the workpiece W is obtained from the position and the posture of the robot during the crossing. The position and the posture of the robot are corrected so as to compensate the deviations from the reference temporal fixed position and posture. Then, the workpiece W is gripped and picked up. Next, a plurality of sides or corners of the gripped workpiece W are brought into contact with known abutting sides or known abutting faces, and the gripped position and the gripped posture are obtained using the position and the posture of the robot at this time. Then, the gripping position and posture of the robot are obtained by using the position and posture of the robot at that time. Then, the workpiece W is assembled on another workpiece under the condition of the position and posture of the robot for compensating the deviations from the reference gripping position and posture. COPYRIGHT: (C)2009,JPO&INPIT
|
