| 摘要 |
PURPOSE:To weld or cut automatically a tab plate by inputting an output signal of a steel pipe position calculating means and an image processor to a robot control device, and moving a robot along the boundary between of a steel pipe and the tab plate based on the signal. CONSTITUTION:An image processor 48 gives position information of a tab plate 12 to a robot control device 40 by an image of a television camera 18 and a detecting signal of a lower face measuring device 60. The device 40 operates and controls robot 26 based on the position information of the tab plate 12 and the teaching contents of a teaching box 64. In this case, the position of the tab plate 12 is confirmed by a sensor 34, and inputted to the robot control device 40. Also, the robot position is fed back to the image processor 48 from the robot control device 40. Also, the image processor 48 controls a shifting device 46, the lower face measuring device 60 and a roller table 16. |
