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Instruction method of robot for stocker, instruction device and record medium of robot for stocker
Instruction method of robot for stocker, instruction device and record medium of robot for stocker
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机译：堆料机机器人的指示方法，指示装置及堆料机机器人的记录介质
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摘要
PROBLEM TO BE SOLVED: To prevent the degradation of detection accuracy or falling into an undetectable state even when a mark position of each storing portion is detected by radio, without removing works in a storing portion when coordinate position of each storing portion is automatically taught. SOLUTION: In the teaching method, a positioning coordinate for each storing portion 2a is taught to a robot S for a stoker comprising a first attitude of running along a plurality of storing portions 2a of a storing shelf 2 and a second attitude of moving toward the positioning coordinate for each storing portion 2a and handling the work 3. A marking means 15 is provided for each storing portion 2a so that relation between it and the positioning coordinate is constant, a position detecting means detects a positional relation between a hand portion 11 of the first attitude and the marking means 15, the hand portion 11 of the first attitude is run and moved to the positioning coordinate for each storing portion 2a, and the position detecting means detects a mark coordinate of the marking means 15 and calculates the positioning coordinate for each storing portion 2a.
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