| 摘要 |
PROBLEM TO BE SOLVED: To protect a sensor means used in a robot from a bad environment produced by the work of the robot. SOLUTION: A first attachment 3a is provided in the neighborhood of a hand 2, which is provided at the tip of a robot arm. A. A visual sensor body 4 is attached to the first attachment 3a to determine the position attitude of a work-piece 12 by taking a picture of the work-piece 12. Based on the detected position attitude, the work-piece 12 is held by the hand 2. The sensor body 4 is delivered to a second attachment 3b at a turnout position. The held work-piece 12 is attached to the chuck of a machine tool 8. After machining the work-piece 12, the work-piece 12 is taken out by the hand 2. When the hand 2 goes into the machining area space of the machine tool 8 in which cutting chips and cutting liquid splash and float to attach or take out the work-piece 12 to or from the machine tool 8, since the sensor body 4 is held at the retracted position, cutting chips and liquid are not attached to the sensor body 4. The sensor body 4 is thus not badly influenced. COPYRIGHT: (C)2004,JPO
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