PURPOSE: To provide a position calibrating device whereby mastering can be performed with no restriction to a position of setting up a robot machine body and with a tool left as mounted on a wrist point end.
CONSTITUTION: In calibration, a plurality of reference surfaces 12a to 12c are previously provided in a direction different from each other in a fixed part 12 in a machine body of an industrial robot, a position calibrating jig 30 in a fixed side can be selected and mounted on an arbitrary reference surface of a plurality of the reference surfaces, a jig mounting surface is provided separately from a tool mounting surface of a robot wrist 24, a plurality of jig mounting parts are arranged in the jig mounting surface, and a position calibrating jig 40 can be mounted by selecting arbitrary one jig mounting part. Accordingly, a mounting position of the position calibrating jig can be selected in accordance with changing a robot body arranging spot, tool kind and tool shape, so that mastering can be easily accomplished.
OTSUKA KAZUHISA
TAKIGAWA TAKASHI
