POSITION CORRECTION DEVICE OF TEACHING POINT FOR AUTOMATIC TOOL EXCHANGE DEVICE AND METHOD FOR THE SAME

摘要

PROBLEM TO BE SOLVED: To make it possible to economically and simply obtain a position correction amount of a teaching position for an automatic tool exchange device by taking a deformation of a tool rack by the tool weight into account. ;SOLUTION: On a tool rack 1 for an automatic tool exchange device which has a compliance, a device for executing a position correction of a teaching point prepared in online consists of these beam axes laser displacement sensors 7a, 7b and 7c, a tool rack side guiding plate 6 equipped with a means for supporting vectors for indicating a direction of each of these beam axes so that vectors become parallel to each other and are vertical to the tool rack 1 surface, a hole for positioning on the tool rack 1 and a means 11 for fixing a load of a weight 10 the same as a mounted tool, and a robot side plate 14 supported in parallel to a tool attach and detach surface 13 on tip of a robot arm 12 and, after moving the robot arm 12 to a teaching point 17, a correction amount of a position and an attitude is obtained by rotating distance measuring to arbitrary three points of the robot side plate 14 for a slight angle on each axis.;COPYRIGHT: (C)1999,JPO