| 摘要 |
PURPOSE:To always hold the height as the distance between the work and the top of a working head constant by finding the difference of the height between the controlling height corrected with the correcting value and the height caluculated by a distance caluculating means, correcting the differntial part and outputting the result to the driving part. CONSTITUTION:The moving amount of the top end of a working head obtd. from the data of the top end position and the posture of the working head 2 stored in the storage device 8 teached preliminarily, the moving amount of the base end of working head corresponding to the moving amount of this top end of working head are obtd. and compared. Therefore, the state of working head 2, that is, the recessed part, the flat part and the projecting part of the work 6 is judged, the controlling height hc is corrected with the correcting value k based on this judging result, further, the difference of the height of the controlling height corrected with this correcting value k and the actual height h is obtd. and because the differential correction is operated, so even if there is the recessed part or the projecting part on the front surface of work, the height h which is the distance between the work 6 and the top end of working head can be always held constant. |
