| 摘要 |
PURPOSE:To obtain an instruction point automatically by setting up photodetecting sensors on the center and right and left parts of a hand, rotating a rotary shaft so that the center is correctly oriented to an object during slight advancement and storing the angle of rotation of the position as the instruction point. CONSTITUTION:The center photodetecting sensor SO receiving light from a light emitter 31 fitted to a fixed position of a machine tool is set up on the hand 11 before starting a work abutting operation to the machine tool and the photodetecting sensors SL, SR are also set up on the left and right of the photodetecting sensors SO. A finger 13 of the hand 11 holds the work 5. The work is advanced by a prescribed slight distance, the rotary shaft 15 is rotated so that the center sensor SO receives the light at that position and the angle of rotation and the position are stored as the instruction point. The stored data are utilized for abutting works to secure accurate parallism between the machine tool 3 and the work, reducing the instruction time and labor. |
