| 摘要 |
PROBLEM TO BE SOLVED: To eliminate a failure such as the breakage or damage of a touch pin, even if the processing speed of welding work and assembling work, etc. by an industrial robot is accelerated. SOLUTION: Moving speed for moving the touch pin 20 toward a body 300 by a movable arm is taken as V, and a time taken until a control device 40 calculates a contact position of the touch pin 20 when the touch pin 20 is in contact with the body 300 is taken as T. When the shaft length of a coil spring 50 when the touch pin 20 in a non-contact state with the body 300 and the minimum shaft length of the coil spring 50 when the touch pin 20 is pressed on the body 300 to elastically deform the coil spring 50 are taken as L1 and L2, respectively, a deformation amount(L1-L2) of the coil spring 50 is set to be almost equal to V×T or larger than V×T. COPYRIGHT: (C)2007,JPO&INPIT
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