| 摘要 |
PROBLEM TO BE SOLVED: To provide an industrial robot which can automatically teach a position of a transportation object mounted on a mounting part, even when a space around the mounting part on which the transportation object is mounted is narrow.SOLUTION: In an industrial robot, a sensor 15 mounted on a hand 4 is arranged so that an optical axis L2 of a light emitting element and a light receiving element of the sensor 15 are in a direction inclined with respect to a Y direction and an X direction and also parallel with the horizontal direction. When teaching a position of a transportation object mounted on a mounting part 3 to the industrial robot, the hand 4 is moved in the Y direction, which is the moving direction of the hand 4 when transporting the transportation object with respect to the mounting part 3, and the position of the Y direction of the mounting part 3 is detected by the sensor 15, and the position of the X direction of the mounting part 3 is calculated.SELECTED DRAWING: Figure 6 |
