TEACHING POINT DATA MEASURING TOOL, WORK ROBOT, AND TEACHING POINT POSITION AND ATTITUDE DATA MEASURING METHOD

摘要

PROBLEM TO BE SOLVED: To implement the simplification and semi-automation of the teaching to a working robot, to improve the safety, to eliminate the difference by a teaching person, to reduce the burden, to improve the productivity by reducing the teaching man-hour, and to cope with the small lot multi-production. ;SOLUTION: This work robot comprises a teaching point data measuring tool T which has the shape and dimensions substantially equivalent to those of a working tool, and is provided with first and second distance sensors 9A, 9B which measure the distance from a surface of a work to be worked on a part corresponding to a working point, and a tactile force sensor to detect the contact force to the surface of the work. The teaching point data measuring tool is brought into contact with the surface of the work to determine the position data of the teaching point by the output of the tactile force sensor, the error in attitude between the distance sensor and the surface to be worked is measured to determine the attitude data of the teaching point, and the height and the inclination of the surface to be worked are measured.;COPYRIGHT: (C)2001,JPO