| 摘要 |
PURPOSE:To enable grinding while running a robot stably along a specified running route by detecting a protruded part or a recessed groove part in an irregular structural material of metal existing inside a floor, and controlling a running drive means to run a robot main body in a direction along detection positions of them. CONSTITUTION:In manufacturing a railway vehicle, in the case where the surface of a painted floor material is ground by a grinder 7 running on it, contactless switches 1a-1e to detect protruded parts and recessed groove parts in an irregular structural material inside the floor surface are provided. In a control circuit, running pulses inputted from encoders 5a, 5b detecting the rotation number of right and left drive wheels 4a, 4b of a robot main body are counted by a running control device, and a specified constant is multiplied to determine a running distance. Next, the obtained running distance and on/off signals from the contactless switches 1a-1e are compared with running pattern data read from a memorizing device to determine a running pattern, and the drive wheels 4a, 4b are controlled separately. |
