| 摘要 |
PURPOSE:To ensure the easy and accurate teaching by holding a master work with a robot and pressing the working area to a slidable grindstone at prescribed intervals. CONSTITUTION:A grinder 4 containing a grindstone 5 is set to a stage plate 12 of a teaching device 10, and the grinder 4 is slid on a rail 11. A displacement detector 13 detects the sliding displacement of the grinder 4 in the direction of an arrow 17. A robot 1 holds a teaching master work 6 and presses it to the grindstone 5 for teaching. The detector 13 and an operation board 20 which moves a controller 19 of the robot 1 are connected to the controller 19. A working surface 7 is pressed to the grindstone 5 at prescribed intervals in response to the form of the surface 7. Then the pressing point of the surface 7 is corrected to perform teaching of a curved line or a straight line. |
