| 摘要 |
PURPOSE:To enable synchronized running with a simple construction without no disturbance in synchronization due to the affection of electrical noise, by fixing a probe onto a work pallet or the like on a conveyer, and a positional detector onto a floor so that the movement of the probe is detected. CONSTITUTION:When a workpiece 1 which has been fed from a workpiece supply device 8 onto a work pallet 2 at a predetermined position on a conveyer 3, approaches the left end section 13a of a rail 13, and a probe 7 secure to the pallet 2 is opposed to a positional detector 11, a robot device 9 starts to run while a robot control device and a robot drive device are operated in association with the computation by a CPU, a RAM and a ROM in accordance with positional data, and therefore, the running speeds of the robot device 9 and work accommodation pallet are synchronized so that the robot gripes the workpiece to feed the same onto a workpiece accommodating pallet 14. If such a condition as l1<l2 is set, where l1 is the pitches of a plurality of pallets, and l2 is a positional detecting range for the detector 7, the number of detectors 7 passing through the positional detector 11 for every periodical cycle is decreased to one. With this arrangement synchronized operation may be made without being affected by noise.
|
