INDUSTRIAL ROBOT EQUIPPED WITH MEANS FOR SETTING REFERENCE POSITION OF EACH AXIS

摘要

Geometric reference position setting means comprising two engagement portions (22, 24) is provided to each joint portion (16) of a robot body (10). A geometric reference position is set by the engagement of the two engagement portions (22, 24) before and after the exchange of a drive motor of a joint driving source and a decelerator, and position data are inputted after setting. In this way, uniaxial mastering can be easily executed and can be simplified with respect to each joint axis of an articulated robot. Moreover, the geometric reference position setting means can execute uniaxial mastering without any spatial restriction.