| 摘要 |
PURPOSE:To carry out teaching on posture and a route of a robot exactly and efficiently when a burr is removed by arranging a distance detecting part and an abnormal approach detecting part in a teaching jig body part installed in a tool holder of the robot. CONSTITUTION:A burr removal teaching jig 20 is installed on the arm tip of a robot 10. Distance detecting proximity sensors 21 and 22 to a work 40 and abnormal approach detecting proximity sensors 23 and 24 to the work 40 are arranged on the two surfaces 271 and 272 above this teaching jig 20. While looking at display of the proximity sensors 21 and 22, and while keeping a distance to the work 40 in contant range, an operator can teach burr removing posture and a route. When the robot approached the work 40 abnormally, the proximity sensors 23 and 24 stop the robot 10 immediately. Thereby, teaching on the robot posture and the route can be carried out without using a tool, and a distance between the robot and the work can be kept constant without relying on visual observation. |
