| 摘要 |
<p>PURPOSE:To make an automatic arm avoid an obstacle when a contactless obstacle detecting sensor detects the approach of the obstacle during the movement of the arm in the direction of a wiring to prevent the damage of the arm by fitting the sensor to one end of the arm. CONSTITUTION:A tool magagine 14 is fitted to an active line robot to be exclusively used for wiring working and a backet 12 is mounted on the leading end of a working car. The automatic arm 20 consisting of plural arms 18A-18C enabled to be freely moved by plural supporting points 16A-16D is fitted to a base board 15 of the working car. A wrist 22 is fitted to the mostleading end arm 18C and a tool 24 is attachably/detachably fitted to the wrist 22. The respective arms 18A-18C are driven by actuators 26, 28. The contactless obstacle detecting sensor 32, an ultrasonic or magnetic sensor, consisting of image fibers 30, 30' is fitted to joint parts of the arms 18B, 18C. When the sensor 32 detects the approach of a low voltage power distribution line 5a, an obstacle, the actuators 26, 28 are controlled to make the arm 20 avoid from the obstacle.</p> |
