| 摘要 |
PURPOSE:To shorten the detecting time and to attain a quick positioning action by setting the speed in three steps when the edge part of a work is detected. CONSTITUTION:For an orthogonal coordinate type robot 1, a subtable 3 to which a screw driver 2 is fixed is moved toward the axis Y by the 1st motor 4 and at the same time a main table 5 which fixes the table 3 is shifted toward the axis X by the 2nd motor 6. Both X and Y position sensors are provided to a rod 22 of a tip cylinder 21 of the table 3 via a sensor attachment plate 11. A controller 14 is provided with a programmer part 15 which delivers an operation command signal, a memory part 20, a central control part 16 and a motor driving part 17. Then the reference edge part of a work is detected and stored by those sensors. The moving speed is set in three steps by the inversion of the sensor output for the main body of the robot 1 including the table 3, etc. Then the position information is calculated. |
