| CPC B25J 9/0081 (2013.01) [B25J 9/042 (2013.01); B25J 9/1612 (2013.01); B25J 9/163 (2013.01); B25J 9/1692 (2013.01)] | 5 Claims |
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1. An industrial robot for transporting a transported object, comprising:
a first hand and a second on which the transported object is mounted;
an arm with a distal end side to which the first hand and the second are connected rotatably about an up-down direction as an axis direction of rotation; and
a controller that controls the industrial robot,
wherein the controller continuously and automatically executes a teaching step of allowing the industrial robot to learn a hand position that is a position in the up-down direction and a horizontal direction of the first hand when mounting, on the first hand, the transported object placed in a predetermined position on a placing section on which the transported object is mounted and when placing, in the predetermined position, the transported object mounted on the first hand, and a calibration step of, after the teaching step, correcting the hand position learned in the teaching step,
wherein as viewed in the up-down direction, when a rotation center of the first hand to the arm coincides with a rotation center of the second hand to the arm and when a rotation angle of the first hand to the arm is equal to a rotation angle of the second hand to the arm, the transported object mounted on the first hand is overlapped with the transported object mounted on the second hand in the up-down direction,
at the time of execution of the teaching step, a dummy transported object provided in a shape identical to that of the transported object or the transported object is already placed in the predetermined position, and
in response to the transported object or the dummy transported object placed in the predetermined position being a transported object for teaching,
in the teaching step, a position in the up-down direction of the transported object for teaching placed in the predetermined position is detected by a first sensor attached to the first hand and a position in the horizontal direction of the transported object for teaching placed in the predetermined position is detected by a second sensor attached to the first hand, and the controller identifies and learns the hand position based on detection results by the first sensor and the second sensor, and
in the calibration step, the second hand is moved to the hand position identified in the teaching step and the transported object for teaching placed in the predetermined position is mounted and taken out onto the second hand, thereafter, the second hand is moved again to the hand position identified in the teaching step and the transported object for teaching is placed on the placing section, and then the position in the horizontal direction of the transported object for teaching placed on the placing section is detected by the second sensor attached to the first hand, and the controller corrects, based on a detection result by the second sensor, the position in the horizontal direction of the hand position learned in the teaching step.
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