Attitude detection die robot and attitude method of detection null

摘要

PURPOSE: To easily detect the posture of a workpiece using a simple structure, for a production line in which a robot is made to abut on the workpiece and thus move synchronously with and following the workpiece. ;CONSTITUTION: A robot 3 is provided with a traveling part 14, a working part 17 and an abutting part 18 in an integral manner, and injects brake fluid using the working part 17 into a brake fluid tank mounted in a vehicle body W, while moving synchronous with and following the vehicle body W by making the abutting part 18 abut to the vehicle body. While the robot 3 moves synchronously with and following the vehicle body, the posture of the vehicle body W is detected on the basis of the state of abutting of an abutting arm 26 on the vehicle body W, and the working part 17 is controlled in accordance with the posture of the vehicle body W for enhancement of the working accuracy of the working part 17. Therefore, the need for providing an independent sensor for detecting the posture of the vehicle body W is eliminated, and the structure of the robot 3 is simplified.;COPYRIGHT: (C)1996,JPO