| 摘要 |
PURPOSE:To obtain high speed information processing when copying a curved surface by an industrial robot by providing a non-contact curved surface copying sensor with a light source and sensor unit, a light receiving unit, an arithmetic processing circuit and a driving device. CONSTITUTION:A driving device 1 includes an arm mechanism or the like having five or six degress of freedom, in which three arm rods 4, 5, 6 connected together at joints 7, 8 are rotatable around their respective axes. A light source and sensor unit 2 is displacable with respect to the base 10 (object surface 3) within the range of five degrees of freedom between theta1 and theta5. Therefore, the relative direction and the distance between the light source and sensor unit 2 and the object surface 3 can be freely controlled. The sensor is provided with a light source which can diverge or converge three stop lights 15, 16, 17 on the object surface 3 to be copy controlled, a light receiving unit for receiving reflected lights at spot light points A, B, C formed on the object surface 3 through a lens system to detect their coordinate information, an arithmetic processing circuit and drive control circuit.
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