WORK RECLAMPING CONTROLLER AND WORK RECLAMPER OF ROBOT

摘要

PURPOSE: To reclamp a work of a large size at a low cost without a large-scale change. ;CONSTITUTION: The first angle of inclination of a tilting block 14 is previously so set that the posture of a robot when hands 4 of the robot are unclamped and the work WK is placed on the tilting block 14 enters within a prescribed working range A. The second angle of inclination of the tilting block device 14 is previously so set that the posture of the robot when the hands 4 of the robot are clamped again and the work on the tilting block 14 is reclamped enters within the prescribed working range A. After the angle of inclination of the tilting block 14 is positioned to the set first angle of inclination, the hands 4 of the robot are unclamped and the posture of the robot is so changed that the work WK is placed on the tilting block 14. After the angle of inclination of the tilting block 14 is positioned to the set second angle of inclination, the hands 4 of the robot are unclamped and the posture of the robot is so changed that the work WK is placed on the tilting block 14.;COPYRIGHT: (C)1995,JPO