"Teaching" an Industrial Robot To Spray

Abstract

Teaching device, consisting of spacer rod or tube with three-pointed tip and line level, is used during pattern "teach-in" to make sure that robot manipulator holds spray gun perpendicular to surface to be sprayed and at right distance from it. For slanted surfaces angle adapter is added between spacer rod and line-level indicator. Angle is determined by slope of surface to be sprayed, thus allowing a perpendicular spray pattern against even slanted surfaces.