| 摘要 |
PURPOSE:To automatically align the working axis of a tool with the center of a prepared hole installed into a working object with a robot which automatically moves a working tool from a point to another point, by providing a sensor which detects the condition of the moving position of the working tool. CONSTITUTION:When a target point setting switch is turned on, the positional information of a previously thrown-in optional point is called out and the main body of a robot is moved to this point, and then, the driver bit 7 of a screw tightening machine is positioned above the prepared hole 11 of a working object 10 positioned to a prescribed location. At this time, the output of a sensor 15 is turned off. When the sensor 15 detects the marginal part of the hole 11, the output of the sensor 15 also inverts to the off condition. Therefore, when the marginal part of the hole 11 is detected by moving the driver bit 7 in the X- and Y-directions and the positional information of the X- and Y-coordinates is corrected, the working axis of a working tool can be aligned automatically with the center of the hole installed into the working object. |
