| 摘要 |
<p>PURPOSE:To increase a mounting accuracy of a windowpane, by directing a TV camera to an object work to grasp a shape thereof, and mounting the windowpane on the object work whilst correcting a slippage in position of the object work. CONSTITUTION:When an object work is conveyed to a windowpane mounting process, and is stopped, a robot control device 5 commands a TV camera 3 to feed a picture signal of the object work to a picture processing unit 4. The picture processing unit 4 converts the picture signal into a position slippage quantity, and feeds this data to the robot control device 5. Then, the robot control device 5 corrects the position as taught according to the position slippage quantity, and feeds a command signal to a robot 1. Thus, the robot 1 is operated to correct the position slippage in vertical, horizontal and rotational directions, and reliably position the windowpane, then mounting the same to the object work with a greatly high accuracy.</p> |
