| 摘要 |
PURPOSE:To position a working tool according to a working reference position by inserting a positioning pin into a working reference hole and storing the working reference position, and locking the relative positions of a hand and the working tool. CONSTITUTION:A three-dimensional position sensor is put between a robot 1 and the working tool 3 and divided roughly into three blocks A10, B20, and C30. When the working tool is positioned, lock devices A17 and C44 are released, a driving motor for a worm 42 is driven to lower and insert the positioning pin 35 into the working reference hole 5, and the X-, Y-, and Z-axial positions at the time of the storage are stored in the robot 1. The working tool 3 fitted to a slide plate 40 also moves simultaneously with said movement and the block devices A17 and C44 are locked and fixed at this point of time. The working tool is therefore positioned according to the working reference position.
|
