| 摘要 |
PROBLEM TO BE SOLVED: To automatically transfer a number of zinc ingots and the like fast and surely to a given position from an ingot piling up position even in a narrow working space. SOLUTION: This robot has a position variable arm 3, a vacuum sucking board 4 attached to the arm 3 via an air cylinder, an ingot vertical direction position detecting means attached to the arm 3, an ingot horizontal direction position detecting means, and a robot controlling device 11. In this case, the robot controlling device 11 has an ingot displacement computing function for obtaining the ingot horizontal direction displacement based on a detected result obtained by the ingot horizontal direction position detecting means and, a function to adjust a position and a direction of the arm 3 based on the displacement and the vertical position obtained by the ingot displacement computing function.
|
