| 摘要 |
<p>PURPOSE:To permit the automation by incorporating works, following the base so that the position deviation of the set following point on a chassis transportation conveyor side from a set standard point on the movable base side of a robot becomes zero, thus using the present equipment, line, and robots. CONSTITUTION:When the top edge of a front body passes through the first position, a car style is judged as hardtop, and a signal SA is taken-in, and a signal SM1 is input into a controller 39, and the output of SM2 is brought into stop. When a transfer-point data PX is input into the controller 39, said controller 39 outputs the speed instruction data VD corresponding to deviation of a movable base from the present-position data PPX, and a motor 49 is revolved by the output of the deviation signal DELTAS between the speed instruction signal SV0 formed in an addition circuit 42 and the speed feedback signal SV supplied from a tachogenerator 50, and the movable base having a robot 5 loaded travels to the aimed position PX. When the movable base reaches the aimed position, the speed instruction data VD becomes zero, and brought into stop, and the robot 5 catches the window glass for hardtop, and installation is completed.</p> |
