| 摘要 |
<p>PURPOSE:To make efficient movement, when a robot holds parts and retracts, by recognizing and memorizing the parts arrangement conditions in a parts feeding mechanism, thereby controlling robot actions in the succeeding pickup. CONSTITUTION:A shuttle 20 carrying a robot 22 and an assembling jig 24 runs along a shuttle base 12, stops at positions facing multiple parts feeding mechanisms 16, 18, and the robot 22 picks up parts in a cassette 70 and in a cart 92. Here, the arranged conditions of parts in the cart 92 is recognized with a camera 26 and memorized via a connection cable 34 in a control mechanism 28. At the time of succeeding pickup action, the robot 22 is driven and controlled to pick up parts, with their positions detected, based on the parts arrangement memorized. The robot is thus operated efficiently in the production of many kinds of products in small quantities.</p> |
