WORKPIECE CARRYING SYSTEM

摘要

PROBLEM TO BE SOLVED: To shorten the cycle time and correct dislocations of carried workpieces precisely. SOLUTION: Detecting elements 10 to 12 are mounted on a robot body 5 of a workpiece transfer robot R to detect the positions of two points P1 and P2 on a longitudinal side and one point P3 on a lateral side both on the midway of a workpiece 2a trajectory while it is transferred by a telescopic hand H. Based on the detection results, a robot controller 9 computes actual dislocations of the workpiece 2a from the standard position to thereby correct the dislocations of the workpiece 2a during carrying by moving the hand H correspondingly. The dislocations of the workpiece 2a are represented by the angular movement and corner travels of the workpiece 2a.