Single shaft robot with swivel arm and screwed robot with turning arm

摘要

PROBLEM TO BE SOLVED: To provide a single axis robot with a swing arm capable of easily converting an XY coordinate of a work point into a synthesized coordinate comprising an XY coordinate and a polar coordinate.;SOLUTION: A single axis robot 1 with a swing arm comprises a control unit 9 including a coordinate conversion part 29 that uses conversion formulae: Xtn=Rt*sin(θn); and Ytn=Yyn-Rt*cos(θn) to cause an original point axis of a swing arm 4 provided with a thread tightening unit 5 in a polar coordinate to position at an XY coordinate of a single axis robot 3, and also to convert a synthesized coordinate (Yyn,θn) of a work point comprising an XY coordinate Yyn and a polar coordinate θn into an XY coordinate (Xtn,Ytn) of work axes. This configuration not only enables an easy conversion of the work point from the XY coordinate to the synthesized coordinate comprising the XY coordinate and the polar coordinate as well as an inverse conversion thereof but also enables performing a predetermined work while correcting an XY coordinate of a work point captured by a CCD camera 6 attached to the swing arm 4.;SELECTED DRAWING: Figure 1;COPYRIGHT: (C)2019,JPO&INPIT