| 摘要 |
PURPOSE:To always secure a shift of a robot along a prescribed line even in case a subject or a robot arm has flexion or distortions, by shifting a sensor according to each sensing pattern and detecting and storing the coordinate value of each reference point. CONSTITUTION:A torch serving as a contact type sensor is attached to an arm 5, and target points T1 and T2 are decided at the points near the initiation and termination of a welding line 10 respectively. The coordinate values of both target points are calculated and stored in a memory means. Then a sensing pattern is stored to the memory means so that the sensor detects the reference point on the line 10 of a work 9 from each target point. The sensor is moved to both target points by means of a control means. Then the sensor is moved based on a prescribed sensing pattern. The coordinate values of both reference points P1 and P2 corresponding to the initiation and termination of the line 10 are detected with a contact with the work 9 and stored to the memory means. Then a torch set at the tip part of a robot 8 is shifted by the control means along a line connecting both reference points. Thus the line 10 is welded. |
