| 摘要 |
PURPOSE:To ensure the accurate working of a robot by moving the robot arm toward a standard object before the robot working is started and detecting an extent of shift with an ON/OFF sensor to correct the working position of the robot. CONSTITUTION:A cylindrical coordinate type robot 5 is set between the termination of a rail 2 along which a pallet truck 1 travels and a mounting stage 3 of a work 4. Then the robot 5 carries the work 4 onto the stage 3 from the truck 1. An ON/OFF switch 8 containing a photoelectric switch is attached at the end of an arm 6 of the robot 5. The ON position of the switch 8 at an accurate stop position of the truck 1 is previously set at the robot 5. Based on this set value and the actual ON/OFF position of the switch 8, the stop position shift (l) is calculated for the truck 1. Then the working position of each work 4 which is previously taught is corrected based on the shift (l). |
