| 摘要 |
PURPOSE:To position the advancing direction of a carriage without laying a guide electric wire or a guide tape by detecting a deviation from an interval detected by an interval detector and constituting such that the advancing direction of the carriage is corrected according to the deviation. CONSTITUTION:The output signal of a differential transformer 6 fitted on the top of the rock wool spraying gas 5 of a robot is inputted to a microcomputer 20. It compares the interval detected by the interval detector with a reference value previously stored in a memory 21, and controls right and left drive circuits 22 and 23 so that both of said values can be equal. Namely, when an interval (d) between the carriage and a detected steel frame S is smaller than the stored reference value, the wheel nearer to the steel frame S is driven quickly than the farther wheel. Thus the carriage advances in the direction far away from the steel frame S, and accordingly the interval (d) is increased. Thus it can be maintained constant. If the relative position relationship between the robot, a rotary table and the carriage is kept constant, the carriage can move along the steel frame S at a constant interval. |
