| 摘要 |
PURPOSE:To guide exactly a nozzle even if the axial center of a robot deviates and to eliminate uneven spraying by calculating the positions and loci of the robot arms corresponding to the locus of a cylindrical surface at which the nozzle is required to move by a simple teaching operation. CONSTITUTION:An outrigger is actuated by a detector for angle of inclination to direct the main swiveling shaft of a robot 1 toward the direction of the axial center in a tunnel. The positions of the two horizontal points A, B within the reference plane normal to the axial center of the tunnel, the position of the one vertical point C between the two horizontal points A and B and further the position of the one depth point D existing at the position spaced at a specified distance from any point among said three points in parallel with the axial center of the tunnel are respectively taught to the robot. The respective joint angles of robot arms A1, A2 are calculated in accordance with the data obtd. by such teaching and the nozzle 19 is so guided that the three-dimensional spray having the depth of the width F shown by arrows 38, 39 is obtd. |
