The method of looking Okeru hole in automatic measurement of three-dimensional measurement of robot teaching playback method

摘要

PURPOSE:To make it possible to find out a hole position without any hindrance even when a hole position according to teaching data is different from the actual hole position within the allowable limits, by providing a plurality of search points set on concentric circles around a measurement starting point. CONSTITUTION:A probe 3 is moved to measurement starting points P and P' and made to approach by a distance L. When the starting point is located in a hole 21 as the point P', in this case, the probe 3 gets in the hole 21 and does not generate an ON signal. When the starting point is outside the hole 21 as the point P, on the other hand, the probe touches the surface of a substance 20 to be measured and generates the ON signal according to this constitution. Accordingly, the position of the hole 21 can be discriminated on the basis of the presence or absence of generation of the ON signal. When the ON signal is present, the probe 3 is made to approach sequentially a plurality of search points S1-S24 set on concentric circles around the measurement starting point P, beginning with ones located on the circle having a smaller radius R1, and when the probe 3 generates an OFF signal in the course of this approach, the search point whereat the OFF signal is generated is decided to be a true measurement starting point. Accordingly, automatic measurement of the hole can be executed even when there is a difference in position between a measurement starting point of the probe according to teaching data and the actual hole position.