CN102909724B - Robot system - Google Patents
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- CN102909724B CN102909724B CN201210270254.6A CN201210270254A CN102909724B CN 102909724 B CN102909724 B CN 102909724B CN 201210270254 A CN201210270254 A CN 201210270254A CN 102909724 B CN102909724 B CN 102909724B
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Abstract
The present invention provides a robot system. The yield can be improved through assembly operation automatically performed by a robot in the case that annular members are fitted to a shaft. The robot system includes: a robot, gripping the shaft which can install an engagement member on circumferential surface, wherein the engagement member is engaged with the inner circumferential surface of the annular member, so that the shaft is enabled to rotate; a jig used for fixing the annular member; a control portion, under the state that the robot grips the shaft engaged with the annular member, and the contact between the annular member and the jig is enabled, applies a rotational force to the shaft by the robot; and a determination unit, determines whether the engagement member is mounted to the shaft according to the operation of the robot when the rotational force is applied.
Description
Technical field
The present invention relates to robot system.
Background technology
In the past, the robot system of automatically being carried out the assembling operation of parts by industrial robot (being simply denoted as below " robot ") is had.Such as, in patent document 1, disclose the technology of automatically being carried out assembling operation endless member being fitted to axle by robot.
[patent document 1] Japanese Unexamined Patent Publication 8-187687 publication
But, in the technology described in above-mentioned patent document 1, not considering endless member and the chimeric intensity of axle, therefore when assembling the parts requiring chimeric intensity, there is the problem that yield rate reduces.
Summary of the invention
Technology disclosed by the invention completes just in view of the foregoing, and object is to provide a kind of robot system that can improve yield rate when automatically carrying out by robot assembling operation endless member being fitted to axle.
Robot system disclosed by the invention has: robot, and its holding can install the axle of the engaging part engaged with the inner peripheral surface of endless member on side face, and this axle is rotated; Fixture, it is for fixing described endless member; Control part, it is having the described axle of described endless member by the holding of described robot is chimeric and under the state making this endless member and described holder contacts, is applying rotatory force by described robot to this axle; And detection unit, it, according to the action of described robot when being applied with described rotatory force, determines whether described engaging part to be installed on described axle.
According to a mode of robot system disclosed by the invention, play following effect: when automatically carrying out by robot assembling operation endless member being fitted to axle, yield rate can be improved.
Accompanying drawing explanation
Fig. 1 is the schematic diagram of the configuration of the robot system that embodiment is shown.
Fig. 2 is the schematic diagram of the outward appearance of the robot that embodiment is shown.
Fig. 3 is the block diagram of the structure of the robot system that embodiment is shown.
Fig. 4 is the figure of the action of the robot that embodiment is shown.
Fig. 5 is the figure of the action of the robot that embodiment is shown.
Fig. 6 is the flow chart that the treatment step that the control device of embodiment performs is shown.
Fig. 7 is the schematic diagram of the configuration of the robot system of the variation that embodiment is shown.
Label declaration
1,1a: robot system; 2: robot; 28: front end arms; 28a: hand-screw rotating shaft; 28b: actuator; 3: control device; 31: control part; 32: operating portion; 33: detection unit; 4: key erecting device; 5: axle; 51: key (key); 6: buckle (staying め tool); 7,7a, 7b: gear; 8: bonding agent coating unit; 9: chimeric workbench; 10,10a, 10b: fixture.
Detailed description of the invention
Below, be described in detail with reference to the embodiment of accompanying drawing to robot system disclosed by the invention.In addition, the present invention does not limit by the example in embodiment shown below.
[embodiment]
Below, the robot system of automatically being carried out being fitted to the assembling operation of axle as the gear of endless member by robot is described.In addition, the parts being fitted to axle are not limited to gear, also can be the arbitrary endless members such as rotor or pulley.
Fig. 1 is the schematic diagram of the configuration of the robot system 1 that embodiment is shown.As shown in Figure 1, robot system 1 has: robot 2, and it carries out assembling operation gear 7 being fitted to axle 5 automatically; And control device 3, it is arranged on the outside of the zone of action 100 of robot 2, the action of control machine robot system 1 entirety.
Herein, use Fig. 2 that robot 2 is described.Fig. 2 is the schematic diagram of the outward appearance of the robot 2 that embodiment is shown.As shown in Figure 2, robot 2 has: basic courses department 22, and it is arranged on and is fixed on the pedestal 21 on floor etc.; From the robots arm that basic courses department 22 extends; And be arranged on the end effector (being denoted as below " hand 29 ") of front end of robots arm.
Robots arm links these 6 arms of the 1st arm 23, the 2nd arm 24, the 3rd arm 25, the 4th arm 26, the 5th arm 27 and the 6th arm 28 from cardinal extremity (basic courses department 22) towards front and forms.These each arms are provided with actuator in inside, as shown in the four-headed arrow of Fig. 2, by each actuator, with the linking part of each arm for rotary actuation is carried out in joint.
In addition, be denoted as " front end arms 28 " at the 6th below the arm 28(as robots arm front end) inside, be provided with and make hand-screw rotating shaft 28a rotate opponent 29 to carry out the actuator 28b of rotary actuation.In addition, in the inside of hand 29, the actuator (omitting diagram) that a pair grasping claw 29a of the front end being arranged on hand 29 is driven is provided with.
Above-mentioned front end arms 28 is configured to switch the fixing control of hand and hand slip control by the control of control device 3.Herein, so-called hand is fixing to be controlled, and refers to that the rotation of following hand 29 controls: when making hand 29 rotate, no matter be applied to the external force size of hand-screw rotating shaft 28a via hand 29, all apply revolving force from actuator 28b to hand-screw rotating shaft 28a.
On the other hand, so-called hand slip control, refer to that the rotation of following hand 29 controls: when making hand 29 rotate, when the size (torque) of external force being applied to hand-screw rotating shaft 28a via hand 29 is more than predetermined threshold, control the action of hand-screw rotating shaft 28a, rotated by external force together with hand 29 to make hand-screw rotating shaft 28a.
In addition, when have selected hand slip control by control device 3, when making hand-screw rotating shaft 28a rotate, if the external force being applied to hand-screw rotating shaft 28a via hand 29 is less than threshold value, then hand 29 is rotated by the rotation of hand-screw rotating shaft 28a.
Further, robot 2, according to the control of control device 3, makes the 1st arm 23, the 2nd arm 24, the 3rd arm 25, the 4th arm 26, the 5th arm 27, the 6th arm 28, hand 29 and grasping claw 29a action, carries out holding axle 5 and the assembling operation of chimeric gear 7.In above-mentioned robot 2, hand 29 plays function as the handle part holding axle 5.
Return the explanation of Fig. 1, continue the explanation relevant to the configuration of robot system 1.As shown in Figure 1, in the inside of the zone of action 100 of robot 2, be configured with axle case 50, buckle case 60, gear case 70, certified products case 12 and defective work case 13 in precalculated position respectively.
Axle case 50 is the containers being placed with multiple axle 5, and buckle case 60 is the containers being placed with multiple buckle 6, and gear case 70 is the containers being placed with multiple gear 7.
In addition, certified products case 12 is placed through the container being judged as the parts of certified products after robot 2 is assembled, and defective work case 13 is placed through the container being judged as the parts of defective work after robot 2 is assembled.
In addition, also certified products case 12 and defective work case 13 can be substituted, but the finished product container of the finished product for placing certified products and defective work is such as set, and arrange the display unit of the whether qualified result of determination of display finished product near finished product container.In these cases, when finished product is taken out of to outside, by the result of determination whether display unit display finished product is qualified.
Further, in the inside of the zone of action 100 of robot 2, key erecting device 4, bonding agent coating unit 8, chimeric workbench 9 and fixture 10 is configured with respectively in precalculated position.Herein, key erecting device 4 is installed to the device of the installing hole of the side face being arranged at axle 5 using with the engaging part (being denoted as below " key ") engaged as the recess 71 of engaged part of the inner peripheral surface being arranged on gear 7.
In addition, bonding agent coating unit 8 is devices of the side face coating bonding agent to the axle 5 before chimeric gear 7.In addition, chimeric is to the device that gear 7 is fixed when being fitted to axle 5 with workbench 9.
In addition, fixture 10 chimericly has the utensil used when axle 5 of gear 7 when determining whether to be installed to suitably by key.In the present embodiment, use with the gear 7 of gear 7 same shape (same object) being fitted to axle 5 as fixture 10.Above-mentioned fixture 10 is fixed to the platform 11 be fixed on floor etc. by screw threads for fastening.
In addition, Fig. 5 is used to carry out describing to the using method of fixture 10 after.Thus, in the present embodiment, the gear 7 employing assembled material, as fixture 10, does not therefore need to prepare the special parts of fixture 10 in addition.
Then, use Fig. 3 that the structure of robot system 1 is described.Fig. 3 is the block diagram of the structure of the robot system 1 that embodiment is shown.As shown in Figure 3, robot system 1 comprises robot 2, key erecting device 4, bonding agent coating unit 8 and control device 3.
Control device 3 is devices of the action of unified control machine robot system 1 entirety, has control part 31, operating portion 32 and detection unit 33.Herein, operating portion 32 is to input the information such as various parameters needed for the content of robot 2 operation and operation and being carried out the entering apparatus such as keyboard or touch panel that operates by operator.
Control part 31 is following handling parts: according to the information inputted by operating portion 32, exports various instruction to robot 2, key erecting device 4 and bonding agent coating unit 8, carries out assembling operation gear 7 being fitted to axle 5.In addition, Fig. 4 is used to carry out describing to the details of assembling operation after.
In addition, control part 31 selected before by robot 2 gear 7 being fitted to axle 5 that above-mentioned hand is fixing to be controlled, after gear 7 is fitted to axle 5, select above-mentioned hand slip control.
Detection unit 33 is following handling parts: according to the information of the operating state of the expression robot 2 inputted from robot 2, and determining whether to be installed to suitably by key to be fitted together to has on the axle 5 of gear 7.In addition, the action of the robot 2 when using the installation situation of Fig. 5 to detection unit 33 decision bond after is carried out describing.In addition, Fig. 6 is used to carry out describing to the process that above-mentioned control device 3 performs after.
Then, Fig. 1, Fig. 4 and Fig. 5 action to the robot 2 gear 7 being fitted to axle 5 is used to be described.Fig. 4 and Fig. 5 is the figure of the action of the robot 2 that embodiment is shown.In addition, in figures 4 and 5, identical label is marked to the structural element identical with the structural element shown in Fig. 1 with Fig. 2.
In robot system 1, when being undertaken gear 7 to be fitted to the assembling operation of axle 5 by robot 2, the control part 31 of control device 3 selects the action of hand fixing control Lai Shi robot 2.Further, robot 2, according to the control of control device 3, first, holds buckle 6 and is placed into chimeric with on workbench 9 from the buckle case 60 shown in Fig. 1, afterwards, holds gear 7 and be placed into chimeric with on workbench 9 from gear case 70.
Then, as shown in Figure 4 (a), robot 2 from axle case 50(with reference to Fig. 1) hold and take out axle 5.Afterwards, held axle 5 is inserted into the opening portion 41(of key erecting device 4 with reference to Fig. 1 by robot 2).
Herein, the key 51 of drum is fitted to the installing hole of the side face being arranged at the axle 5 inserted by robot 2 by key erecting device 4.Thus, as shown in Figure 4 (b), at one end from fitting key 51 state that the side face of axle 5 protrudes.
Then, robot 2 makes the axle 5 being provided with key 51 move to bonding agent coating unit 8(with reference to Fig. 1) position.Herein, bonding agent coating unit 8 is to the side face coating bonding agent of axle 5.
Then, robot 2 makes the axle 5 being coated with bonding agent move to the position of chimeric workbench 9, as shown in Figure 4 (c), under the state of the position alignment of the recess 71 and key 51 that make the inner peripheral surface being arranged on gear 7, inserts axle 5 to gear 7 and buckle 6.Thus, as shown in Fig. 4 (d), gear 7 is fitted to axle 5.
Herein, such as do not exist in key erecting device 4 key 51 that will install situation or from key 51 be installed to gear 7 chimeric during internal key 51 come off from axle 51, gear 7 is fitted to the axle 5 not having fitting key 51 by robot 2.
In these cases, the gear 7 of the parts assembled is lower with the chimeric intensity of axle 5, therefore can become the defective work that axle 5 dallies relative to gear 7 when making axle 5 rotate, thus yield rate reduces.
Therefore, in robot system 1, after gear 7 being fitted to axle 5 by robot 2, use fixture 10 to determine whether to be installed to suitably on axle 5 by key 51.Specifically, after gear 7 being fitted to axle 5 in the 1st operating area 101 shown in Fig. 1, be moved in the state holding axle 5 the 2nd operating area 102 separated with the 1st operating area 101.
Then, as shown in Fig. 5 (a), robot 2 makes the periphery of the gear 7 being fitted to held axle 5 crimp with the periphery of fixture 10.Herein, as mentioned above, fixture 10 is the gears with gear 7 same shape.Therefore, by making the gear 7 being fitted to axle 5 crimp with fixture 10, the tooth of gear 7 engages with the tooth of fixture 10.
Then, the control part 31 of control device 3 is fixed control from hand and is switched to hand slip control, makes robot 2 action.As previously mentioned, above-mentioned hand slip control is that following rotation controls: when making hand 29 rotate, and when the size of external force being applied to hand-screw rotating shaft 28a via hand 29 is more than predetermined threshold, is rotated together with hand 29 to make hand-screw rotating shaft 28a by external force.
Herein, the threshold value relevant to the external force being applied to hand-screw rotating shaft 28a is set to and is applied to the high value of the external force of hand-screw rotating shaft 28a than when following from hand 29, that is: to not having the axle 5 of fitting key 51 to apply bonding agent, be fitted together to gear 7 is being fixed into the situation by hand 29 turning cylinder 5 under the state of not rotating.
In addition, control part 31 when being made robot 2 action by hand slip control, with the posture making the hand-screw rotating shaft 28a mode parallel with vertical direction control front end arms 28.Thereby, it is possible to prevent hand 29 from rotating due to the weight of axle 5.
Further, robot 2, according to the control of control device 3, applies revolving force by the actuator 28b of front end arms 28 inside to hand-screw rotating shaft 28a, applies rotatory force to the axle 5 held by hand 29.
Now, when key 51 being installed to axle 5 suitably, by fixture 10 fixed gear 7, by key 51, axle 5 is fixed relative to gear 7.Therefore, when applying rotatory force by actuator 28b to axle 5, can apply the external force of more than threshold value to hand-screw rotating shaft 28a via hand 29, therefore, as shown in Fig. 5 (b), hand-screw rotating shaft 28a and hand 29 non rotating, axle 5 does not also rotate.
Thus, in the non-rotary situation of hand-screw rotating shaft 28a, the detection unit 33 of control device 3 is judged to key 51 to be installed to axle 5 suitably, axle 5 is placed into the certified products case 12 shown in Fig. 1.
, when applying rotatory force to axle 5, in control part 31, have selected hand slip control herein, therefore opponent's rotating shaft 28a, hand 29, axle 5 and gear 7 etc. can not apply unnecessary excessive torque.
Thus, when key 51 being installed to axle 5 suitably, can prevent from applying excessive torque and making the situation that hand-screw rotating shaft 28a, hand 29, axle 5 and gear 7 etc. damage.
On the other hand, when not on axle 5 fitting key 51, gear 7 is fixed by fixture 10, but axle 5 is not owing to having fitting key 51, therefore can not be fixed to gear 7.Therefore, when applying rotatory force by actuator 28b to axle 5, can not apply the external force of more than threshold value from hand 29 to hand-screw rotating shaft 28a, therefore as shown in Fig. 5 (c), hand-screw rotating shaft 28a, hand 29 rotate together with axle 5.
Further, when the anglec of rotation of the hand-screw rotating shaft 28a rotated together with hand 29 and axle 5 reaches predetermined angular, the detection unit 33 of control device 3 is judged to be not fitting key 51 on axle 5, and axle 5 is placed into defective work case 13.
Thus, in robot system 1, after gear 7 is fitted to axle 5, the installation situation of the key 51 with visual confirmation can be difficult to by the confirming operation of robot 2, determine whether good.
Thus, in robot system 1, for the parts being judged to be defective work, temporarily can unload lower gear 7 from axle 5, again to axle 5 fitting key 51, gear 7 is installed to axle 5 again, improve yield rate thus.
In addition, after the control part 31 of control device 3 has carried out gear 7 to be fitted to by robot 2 the chimeric operation of axle 5 in the 1st operating area 101, undertaken using fixture 10 to determine whether the judgement operation of fitting key 51 by robot 2, wherein, this fixture 10 is arranged in the 2nd operating area 102 separated with the 1st operating area 101.
Thus, when making axle 5 move to the 2nd operating area 102 from the 1st operating area 101, the 1st operating area 101 becomes the state can placing ensuing gear 7 and buckle 6.Therefore, such as, when being provided with Liang Ge robot 2 in robot system 1, can carrying out the chimeric operation of gear 7 by Liang Ge robot 2 simultaneously and employ the judgement operation of fixture 10, therefore operating efficiency improves.
Then, Fig. 6 is used to be described the process that the control part 31 of control device 3 and detection unit 33 perform.Fig. 6 is the flow chart that the treatment step that the control device 3 of embodiment performs is shown.
Operating portion 32 carry out operation start operation after, control part 31 and detection unit 33 perform the process shown in Fig. 6 repeatedly.Specifically, first control part 31 starts the fixing control (step S101) of hand.
As mentioned above, above-mentioned hand fixes the rotation control that control is following hand 29: when making hand 29 rotate, no matter be applied to the external force size of hand-screw rotating shaft 28a via hand 29, all apply revolving force from actuator 28b to hand-screw rotating shaft 28a.
Then, control part 31 exports the placement instruction (step S102) of buckle 6 and gear 7 to robot 2.Thus, buckle 6 and gear 7 are placed into the precalculated position of the chimeric workbench 9 be arranged in the 1st operating area 101 by robot 2 successively.
Then, control part 31 installs instruction (step S103) to robot 2 and key erecting device 4 run-out key.Thus, robot 2 makes hand 29 move to axle case 50 and holds axle 5, axle 5 is inserted into the opening portion 41 at the upper opening of key erecting device 4.Key 51, after axle 5 is inserted into opening portion 41, is installed to axle 5 by key erecting device 4.
And then control part 31 exports bonding agent coating instruction (step S104) to robot 2 and bonding agent coating unit 8.Thus, robot 2 makes axle 5 move to the coating position of the bonding agent of bonding agent coating unit 8 and axle 5 is rotated.Bonding agent coating unit 8 is to the side face coating bonding agent of the axle 5 in rotation.
Then, control part 31 is fitted together to instruction (step S105) to robot 2 output gear.Thus, axle 5 moves on the chimeric workbench 9 that is arranged in the 1st operating area 101 by robot 2, and is inserted into gear 7 and buckle 6 and is fitted together to.
Then, control part 31 is to robot 2 output gear crimping instruction (step S106).Thus, robot 2 makes axle 5 move to the 2nd operating area 102, makes the tooth of the gear 7 being fitted to axle 5 crimp with the tooth of fixture 10 and engage.
And then control part 31 starts hand slip control (step S107).As mentioned above, above-mentioned hand slip control is the rotation control of following hand 29: when making hand 29 rotate, when the size of external force being applied to hand-screw rotating shaft 28a via hand 29 is more than predetermined threshold, control the action of hand-screw rotating shaft 28a, rotated by external force together with hand 29 to make hand-screw rotating shaft 28a.
Herein, the threshold value relevant to the external force being applied to hand-screw rotating shaft 28a is set to and is applied to the high value of the external force of hand-screw rotating shaft 28a than when following via hand 29, that is: to not having the axle 5 of fitting key 51 to apply bonding agent, be fitted together to gear 7 is being fixed into the situation by hand 29 turning cylinder 5 under the state of not rotating.
Then, control part 31 exports hand rotate instruction (step S108) to robot 2.Thus, robot 2 drives the actuator 28b of front end arms 28, applies revolving force to hand-screw rotating shaft 28a.
Then, detection unit 33 judges whether the anglec of rotation of hand-screw rotating shaft 28a reaches predetermined angular (step S109).Herein, detection unit 33, when being judged to be that the anglec of rotation of hand-screw rotating shaft 28a does not reach predetermined angular (step S109, no), is judged to be fitting key 51(certified products on axle 5) (step S110).
Then, control part 31 exports the placement instruction (step S111) of certified products case 12 to robot 2.Thus, process, by being judged to be that the axle 5 of certified products moves to certified products case 12 and places, is transferred to step S101 by robot 2.
On the other hand, detection unit 33, when being judged to be that the anglec of rotation of hand-screw rotating shaft 28a reaches predetermined angular (step S109, yes), is judged to be that fitting key 51(key is not installed defective on axle 5) (step S112).
And then control part 31 exports the placement instruction (step S113) of defective work case 13 to robot 2.Thus, process, by being judged to be that the axle 5 of defective work moves to defective work case 13 and places, is transferred to step S101 by robot 2.
In addition, in the above-described embodiments, be that a kind of situation is illustrated for the gear 7 being fitted to axle 5, but shape, multiple gears that the number of teeth is different are fitted to axle 5 by robot 2 sometimes.
Herein, as the variation of robot system 1, Fig. 7 is used to be described the robot system 1a by robot 2 shape, multiple gear that the number of teeth is different being fitted to axle 5.Fig. 7 is the schematic diagram of the configuration of the robot system 1a of the variation that embodiment is shown.In addition, in the figure 7, identical label is marked to the structural element identical with the structural element shown in Fig. 1.
As shown in Figure 7, the robot system 1a of variation is different from the robot system 1 shown in Fig. 1 in following: in gear case 70, except gear 7, also placed shape, the number of teeth gear 7a different from gear 7 and gear 7b; And be provided with the fixture 10 respectively corresponding with gear 7,7a, gear 7b, 10a, 10b.
In robot system 1a, the gear 7 with gear 7 same shape is threadably fastened to platform 11 as fixture 10, is threadably fastened to platform 11 with the gear 7a of gear 7a same shape as fixture 10a, is threadably fastened to platform 11b with the gear 7b of gear 7b same shape as fixture 10b.
Further, in robot system 1a, robot 2 differentiation is fitted to the gear 7 of axle 5, the shape of 7a and gear 7b.Then, robot 2 make to be fitted to the gear 7 of axle 5,7a, gear 7b and correspond to differentiated gear 7,7a, the fixture 10 of same shape of gear 7b, 10a, 10b crimp.
Then, robot 2, according to the rotation status of hand-screw rotating shaft 28a when applying rotatory force to hand-screw rotating shaft 28a, determines whether fitting key 51 on axle 5.
Thus, in robot system 1a, even if when shape, multiple gear 7 that the number of teeth is different, 7a, gear 7b are fitted to axle 5, also can determine whether key 51 to be installed to each axle 5 suitably.
And, in robot system 1a, use in the gear 7 of assembled material, 7a, gear 7b one as fixture 10,10a, 10b respectively, therefore do not need to prepare in addition the parts that fixture 10,10a, 10b are special.
In addition, in robot system 1a, fixture 10,10a, 10b are all disposed on the same plane, but can also arrange fixture 10,10a, 10b in vertical direction, with separating predetermined space respectively.Thereby, it is possible to reduce the installation space of fixture 10,10a, 10b.
In addition, in above-described embodiment and variation, to being previously provided with fixture 10, the situation of 10a, 10b is illustrated, but also robot system 1,1a can be configured to arrange fixture 10,10a, 10b before robot 2 starts assembling operation.In these cases, robot 2, before beginning assembling operation, takes out gear 7,7a and gear 7b, is fixed to platform 11,11a, 11b by screw etc. from gear case 70.
Thus, in robot system 1,1a, can arrange accurately engage with the gear 7 being fitted to axle 5,7a, gear 7b fixture 10,10a, 10b.Therefore, according to robot system 1,1a, can prevent operator etc. from shape and the generation being fitted to the gear 7 of axle 5, fixture 10 that 7a, gear 7b are different, this mistake of 10a, 10b are set mistakenly.
In addition, in robot system 1,1a, also can under control part 31 have selected the state that hand fixes control, the gear 7 being fitted to axle 5 be crimped with fixture 10, apply rotatory force to axle 5 and determine whether fitting key 51.In these cases, detection unit 33, when hand 29 rotates, is judged to be do not have fitting key 51, when hand 29 does not rotate, is judged to be fitting key.
In addition, above-mentioned control device 3 such as can be made up of computer.Now, control part 31 is CPU(CentralProcessing Unit: CPU).In addition, each function of control part 31 can realize by the program generated in advance being loaded into control part 31 and performing.
To those skilled in the art, further effect and variation can easily be derived.Therefore, mode widely of the present invention is not limited to represent as above and the specifically detailed representational embodiment described.Therefore, it is possible to carry out various change when not departing from the spirit or scope of the broad invention concept defined by claims and equivalent thereof.
Claims (7)
1. a robot system, is characterized in that, has:
Robot, its holding can install the axle of the engaging part engaged with the inner peripheral surface of endless member on side face, and this axle is rotated;
Fixture, it is for fixing described endless member;
Control part, it is having the described axle of described endless member by the holding of described robot is chimeric and under the state making this endless member and described holder contacts, is applying rotatory force by described robot to this axle; And
Detection unit, it, according to the action of described robot when being applied with described rotatory force, determines whether described engaging part to be installed on described axle.
2. robot system according to claim 1, is characterized in that,
Described robot has handle part, and this handle part rotates described axle by holding described axle and carrying out rotation,
Described detection unit, when the described handle part being applied with rotatory force to described axle has carried out rotating, is judged to described engaging part not to be installed on described axle.
3. robot system according to claim 2, is characterized in that,
Described control part is when making described handle part rotate, when the external force being applied to this handle part is less than threshold value, described handle part is rotated, when described external force is more than described threshold value, the rotation carrying out described handle part controls, and is rotated by described external force to make described handle part.
4. the robot system according to Claims 2 or 3, is characterized in that,
The rotating shaft of described handle part is retained as parallel with vertical direction.
5. the robot system according to any one in claims 1 to 3, is characterized in that,
After described control part has carried out described endless member to be fitted to by described robot the chimeric operation of described axle in the 1st operating area, the described fixture being undertaken arranging in use the 2nd operating area by described robot determines whether to install the judgement operation of described engaging part, wherein, described 2nd operating area and described 1st operating area separate.
6. the robot system according to any one in claims 1 to 3, is characterized in that,
The shape of described endless member is provided with multiple described fixture,
The fixture that the described endless member contact shape that described control part makes to be fitted to described axle is corresponding with this endless member.
7. the robot system according to any one in claims 1 to 3, is characterized in that,
When described endless member is gear, described fixture is the gear with this endless member same shape.
Applications Claiming Priority (2)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP2011168722A JP5360155B2 (en) | 2011-08-01 | 2011-08-01 | Robot system |
| JP2011-168722 | 2011-08-01 |
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| Publication Number | Publication Date |
|---|---|
| CN102909724A CN102909724A (en) | 2013-02-06 |
| CN102909724B true CN102909724B (en) | 2015-05-06 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201210270254.6A Expired - Fee Related CN102909724B (en) | 2011-08-01 | 2012-07-31 | Robot system |
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| JP (1) | JP5360155B2 (en) |
| CN (1) | CN102909724B (en) |
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| WO2015075778A1 (en) * | 2013-11-19 | 2015-05-28 | 株式会社安川電機 | Robot system |
| JP6361172B2 (en) * | 2014-03-06 | 2018-07-25 | セイコーエプソン株式会社 | Robot, robot system, and control device |
| CN108994573A (en) * | 2018-06-29 | 2018-12-14 | 常州星宇车灯股份有限公司 | A kind of stationary spring of high-mount brake lamp, nozzle and lampshade automatic crimping system |
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| JP5071089B2 (en) * | 2007-12-17 | 2012-11-14 | 株式会社デンソーウェーブ | robot |
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2011
- 2011-08-01 JP JP2011168722A patent/JP5360155B2/en active Active
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2012
- 2012-07-31 CN CN201210270254.6A patent/CN102909724B/en not_active Expired - Fee Related
Patent Citations (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US6141863A (en) * | 1996-10-24 | 2000-11-07 | Fanuc Ltd. | Force-controlled robot system with visual sensor for performing fitting operation |
| CN101913076A (en) * | 2010-06-23 | 2010-12-15 | 中国科学院自动化研究所 | Industrial robot-based assembly method and device of piston, piston pin and connecting rod |
| CN102114558A (en) * | 2010-12-08 | 2011-07-06 | 杭州英纳福自动化工程有限公司 | Automatic loading gear alignment method and device for articulated robot-based gear cutting machine |
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| JP2013031892A (en) | 2013-02-14 |
| JP5360155B2 (en) | 2013-12-04 |
| CN102909724A (en) | 2013-02-06 |
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