PURPOSE: To improve the accuracy of positioning in the curving direction of a work by determining the position of a riveting point with a television camera in place of a level sensor when the inclination of the work attains a certain value with respect to the Y-axis.
CONSTITUTION: A titled control device consists of ≥3 level sensors 7a, 7b, 7c, a z-axis driver 78, an a-axis driver 46 and a Y-axis driver 64, a riveter controller 136, a television camera means 86, a displacement meter means 120, a switch means 112, an a-axis locking means 114 and a comparing means. Said camera means 86 is so placed as to photograph the riveting point part of a work 4 and the displacement meter means 120 receives the video signal from the means 86 and outputs the distance signal indicating the distance from the reference point for marking on the work 4. The switch means 112 supplies a deviation signal to the above-described driver 46 when the inclination of the means for outputting the reference signal and the deviation signal and the work 4 attains the prescribed value with respect to the Y-axis.
YASUDA YOSHIMI
ISHIGURO ICHIROU
YAMAMOTO JIYUNZOU
