PURPOSE: To easily carry out relative positioning rapidly and accurately by making the positioning mechanism with respect to a workpiece, of a machining robot system agree with the reference position setting element of said workpiece, after temporarily setting a relative position between said robot and said workpiece.
CONSTITUTION: Mutual relation between a machine base 1 and a floating base 2 is set in a neutral position, a workpiece W is carried in front of a robot system, and the positioning of the workpiece with respect to the robot system is temporarily determined. And, then, a fluid-pressure cylinder 61 of a positioning mechanism 6 is operated and the end of a positioning pin 62 is lowered, and stopped, with the end face being faced to a reference hole Wh. And, as a compressed air is blown into between the machine base 1 and the floating base 2, the base 2 is floated, the pin 62 is further lowered, and its end is inserted into the reference hole Wh, and is forcedly moved by receiving a horizontal stress from the reference hole Wh. Thereby, the horizontal stress of the pin 62 is transmitted to the base 2, which, in turn, is moved in whole and stopped, accurately setting a relative position between the robot system and a workpiece W.
HAYASHI YASUTOSHI
OZAWA HIDETO
SAWARA TAKESHI
| JPS54128080A | 1979-10-04 |