| 摘要 |
<p>PURPOSE:To prevent lost motion from occurring, by performing the specified takeout operation at a time when the presence of a work is detected by a work presence detector, while making a grip handle go forward to a rear takeout position without performing the said takeout operation when the work is absent. CONSTITUTION:A car body B being transferred by a conveyor 1 is stopped at the specified position, while a panel P on a pallet 3 is attractingly gripped by a suction head 10 of a mechanical hand H attached to a robot R. Afterward, at an assembling system being automatically built in the car body B, in time of taking out the panel P on the pallet 3, first of all, the mechanical hand H is lowered to a takeout position L1. Next, whether a panel P1 is present or not is detected by a panel presence detector being set up in the hand H. And, when the panel is present there, the takeout of the panel P1 is made to take place as it is, but when there is no panel, the hand H is lowered to the next takeout position L2 for the takeout of the next panel P2.</p> |
