| 摘要 |
PROBLEM TO BE SOLVED: To realize high accurate positioning reducing a three-dimensional positioning error generated according to rotation of a rotary hand in an industrial robot. SOLUTION: This device is controlled by a computer 33, to be constituted by having a part clamping rotary hand 10 synthetically moved through an X/Y-axis mechanism partα,βby rotating an X/Y-axis motor 2, 5 for positioning on a two-dimensional virtual coordinate. In this case, the device comprises a photoelectric switch 15, 16 through mounted in two or more standard positions of a board 13 assigning a plurality of positioning target positions to be set on a three-dimensional virtual coordinate also to be connected to the computer 33 via in the halfway successively amplifiers 30, 31 and an interface 32, part 12 clamped in the part clamping rotary hand 10 to be detected by the photoelectric switch 15, 16 for two-dimensional in-plane orthogonal movement in parallel to the board 13 in the X/Y-axis mechanism partα,βand a rotary mechanism rotating the part clamping rotary hand 10 clamping the part 12 around a shaft for detecting a shaft center position of the part 12 by the photoelectric switch 15, 16.
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