| 摘要 |
PURPOSE:To prevent the reduction of working efficiency by applying rough working for the prescribed positions on a specific work for each working machine and eliminating the necessity of installing the supplementary equipment for marking discrimination marks, when a same work is carried-out for a plurality of works by a plurality of working machines. CONSTITUTION:The work contents are memorized beforehand into a robot R in each stage, S1-Sn, and the discrimination for robot is executed according to the procedures. In other words, the robot R takes-out a work W from a flat car suspended from a free conveyor 10 and transports the work W to the fixed torch 11a of an arc welding apparatus 11, holding the work by a robot hand (r), and the work W is positioned for the fixed torch 11a so that the rough work for a working point can be carried-out, and the rough work is carried-out for the rough-work point. Then, the work W is positioned and finely worked. After that, the work W is carried to the conveyor 10, and pass or no-good is judged, and the good articles are returned onto the flat car, and the defectives are thrown into an NG chute 12. Thus, the necessity of the supplementary equipment for discrimination can be eliminated, and marking operation can be omitted, and working efficiency can be improved. |
