| 摘要 |
<p>PURPOSE:To enhance percentage of automation of work by storing the position order of a part to be worked which enters a photographic visual field of an image pickup means and recognizing required parts to be worked on a basis of this stored position order. CONSTITUTION:A robot used for assembling process is provided with a mode setting means A which set an operation mode to the position correcting device of this robot, the first and the second detecting means B and C, a storage means D, and a means E which recognizes parts to be worked. The first detecting means B detects the part to be worked, which enters the visual field, by a picture signal from the image pickup means such as an image sensor or the like, and the second detecting means C detects the position order of the part to be worked on a basis of the detection result of the first detecting means at the time when the part to be worked is placed at the working start point in a prescribed working part, and this position order is stored in the storage means D in the teaching mode in accordance with the part to be worked. In the playback mode, the recognizing means E recognizes the part to be worked, which is detected by the first detecting means B, on a basis of said stored contents when the working part is placed at a working start target point of the part to be worked.</p> |
