| 摘要 |
PURPOSE:To make it possible to prevent the deformation or breakage of an industrial robot itself or a working tool by controlling the drive speed of a robot arm by use of the control signal outputted from a detecting device which detects a relative displacement of the robot arm to the working tool. CONSTITUTION:When a drill 7 does not cut well or there is any ununiformity in the material quality of a work 8, the drive speed of the drill 7 gest slower than that of an arm 3, changing the relative position of a drilling unit 5 to a bracket 4 fixed at the tip of the arm 3. When the relative position of the bracket 4 to the drilling unit 5 is changed and a switch 13 moves to an intermediate step 12B of a cam 12, the drive speed of the arm 3 is controlled by the output signal from the switch 13 which has detected it. And when the operation is not completed in a certain period of time after the displacement occurred in the relative position of the bracket 4 and the drilling unit 5, an alarm is issued. Furthermore, when the displacment of the relative position becomes large and the switch 13 moves up to an upper step 12c of the cam, the alarm is issued and the drilling operation is stopped, preventing the damage to the drilling unit or the robot itself. |
