| 摘要 |
PURPOSE:To make automatic operation and manual correcting operation possible by providing a storage part, where teaching data is stored preliminarily, and a manual operating part which outputs correcting command data and providing an interrupting part which interrupts execution of teaching data due to a control part to permit execution of the manual operating part. CONSTITUTION:A robot budy 1 is set on the inside face of a pipe 2 as an object to be worked and is connected electrically to a remote control device 4 through a cable 3. The robot body 1 is controlled to steer forward, backward, left, and right by a running truck 6 having sheels 5. The device 4 has an operation part 10, and preliminarily set teaching data for prescribed operations of the robot body 1 is stored in a storage device 11. A microcomputer 12 performs a prescribed operation control in accordance with the signal from the operation part 10 and the signal from the storage device 11 to give a control signal to a control circuit 13, and the microcomputer 12 executes a preliminarily set manual correcting program when the signal from switches 10C-10F of the operation part 10, namely, an interrupt signal is received. Thus, automatic operation based on teaching data and correcting operation based on manual operation are performed. |
