| 摘要 |
PURPOSE:To prevent a trouble due to a handling mistake of a member and to improve the safety of a job by having a contact between a held member and a touch sensor for detection of a position shift degree and correcting this shift degree. CONSTITUTION:An assembling robot 1 holds a desired member W out of a member stocker according to the input information given from an input device 7. The member W is set on a state measuring tool 5, and the reference surface of the member W is moved toward touch sensors 51-53 of X, Y and Z axes respectively. The value of a position detector 17 of the robot 1 is read when the detection signal of each touch sensor is supplied to a robot controller 6. This read result is compared with the reference value of the device 7 to obtain a holding error of the member W. The tilt of the member W is also obtained when necessary in addition to a parallel shift by securing a contact between the member W and >=2 sensors. Then said shift is corrected by an input positioning place, and the member W is positioned on a assembling tool board and fixed there. Then a prescribed area of the member W is welded temporarily by a welding robot, and the member W is released from a hand 16. The above-mentioned procedures are repeated with the next member W. |
