JP2017100196A5 - - Google Patents

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Publication number
JP2017100196A5
JP2017100196A5 JP2015232826A JP2015232826A JP2017100196A5 JP 2017100196 A5 JP2017100196 A5 JP 2017100196A5 JP 2015232826 A JP2015232826 A JP 2015232826A JP 2015232826 A JP2015232826 A JP 2015232826A JP 2017100196 A5 JP2017100196 A5 JP 2017100196A5
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JP
Japan
Prior art keywords
robot
pressing
pin
hand
axial direction
Prior art date
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Application number
JP2015232826A
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Japanese (ja)
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JP6693100B2 (en
JP2017100196A (en
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Publication date
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Priority to JP2015232826A priority Critical patent/JP6693100B2/en
Priority claimed from JP2015232826A external-priority patent/JP6693100B2/en
Priority to US15/362,264 priority patent/US10220515B2/en
Publication of JP2017100196A publication Critical patent/JP2017100196A/en
Publication of JP2017100196A5 publication Critical patent/JP2017100196A5/ja
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Publication of JP6693100B2 publication Critical patent/JP6693100B2/en
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Claims (11)

第１の穴部と第１の篏合部とを有する物体と、第２の穴部と第２の篏合部とを有するバネと、をピンを用いて嵌合させるロボットであって、
ハンドと、
制御部と、を備え、
前記制御部は、
前記第１の穴部および前記第２の穴部が前記ピンに挿入された状態で、前記ハンドによって前記物体を前記ピンの軸方向に押し付け、前記第１の篏合部と前記第２の篏合部とを嵌合させる、
ロボット。 A robot that fits an object having a first hole and a first mating part and a spring having a second hole and a second mating part using a pin ,
Hand and
A control unit,
The controller is
Before Symbol state where the second bore portion first bore portion and a front SL is inserted into the pin, the pressing of the object in the axial direction of the pin by hand, the said first篏合portion second The mating part of
robot. 前記ハンドは掌を有し、
前記制御部は、
前記掌によって前記物体を前記ピンの軸方向に押し付ける、
請求項１に記載のロボット。 The hand has a palm;
The controller is
Pressing the object in the axial direction of the pin with the palm;
The robot according to claim 1. 前記第１の篏合部の側は、前記軸方向に対して直交する平面であり、
前記制御部は、
前記ハンドによって前記平面を前記軸方向に押し付ける、
請求項１または請求項２のいずれか１項に記載のロボット。 Before SL side of the first篏合section is a plane perpendicular to the axial direction,
The controller is
Pressing the plane in the axial direction with the hand ,
The robot according to any one of claims 1 and 2. 前記第１の篏合部および前記第２の篏合部が筒状であり、
前記制御部と前記ハンドによって前記物体を押し付けた場合、前記第１の篏合部または前記第２の篏合部は、弾性変形または塑性変形する、
請求項１から請求項３のいずれか１項に記載のロボット。 The first joint portion and the second joint portion are cylindrical,
If pressing the material body in the hand and the control unit, the first篏合portion or the second篏合portion is elastic deformation or plastic deformation,
The robot according to any one of claims 1 to 3. 前記ピンは、テーパー状である、
請求項１から請求項４のいずれか１項に記載のロボット。 The pin is tapered.
The robot according to any one of claims 1 to 4. 力センサーを備え、
前記制御部は、
前記力センサーによって検出された力に基づいて、前記物体または前記バネに所定の値以上の前記力がかかるまで、前記ハンドによって前記物体を押し付ける、
請求項１から請求項５のいずれか１項に記載のロボット。 With a force sensor,
The controller is
Based on the detected force by the force sensor, the object or to the force of a predetermined value or more in the spring it is applied, pressing the material body in the hand,
The robot according to any one of claims 1 to 5. ブロックが設けられた腕を有し、
前記制御部は、
前記ブロックによって前記物体または前記バネを押し付ける、
請求項１から請求項６のいずれか１項に記載のロボット。 Having an arm with a block ,
The controller is
Pressing the object or the spring by the block;
The robot according to any one of claims 1 to 6. 第１の穴部と第１の篏合部とを有する物体と、第２の穴部と第２の篏合部とを有するバネと、をピンを用いて嵌合させるロボットを制御する制御方法であって、
前記ロボットは、ハンドと、制御部と、を備え、
前記第１の穴部および前記第２の穴部がピンに挿入された状態で、前記ロボットにより、前記物体を前記ピンの軸方向に押し付け、前記第１の篏合部と前記第２の篏合部とを嵌合させる、
制御方法。 A control method for controlling a robot that uses a pin to fit an object having a first hole and a first mating portion and a spring having a second hole and a second mating portion. Because
The robot includes a hand and a control unit,
Before Symbol state where the second bore portion first bore portion and a front SL is inserted into the pin, by the robot, pressing the object in the axial direction of the pin, said first篏合portion and the second The mating part of
Control method. 前記ハンドは掌を有し、  The hand has a palm;
前記掌によって前記物体を前記ピンの軸方向に押し付ける、  Pressing the object in the axial direction of the pin with the palm;
請求項８に記載の制御方法。  The control method according to claim 8. 前記ロボットは、力センサーを備え、  The robot includes a force sensor;
前記力センサーによって検出された力に基づいて、前記物体または前記バネに所定の値以上の前記力がかかるまで、前記ハンドによって前記物体を押し付ける、  Based on the force detected by the force sensor, the object or the spring is pressed against the object by the hand until the force greater than or equal to a predetermined value is applied.
請求項８または請求項９に記載の制御方法。  The control method according to claim 8 or 9. 前記ロボットは、ブロックが設けられた腕を有し、  The robot has an arm provided with a block,
前記ブロックによって前記物体または前記バネを押し付ける、  Pressing the object or the spring by the block;
請求項８から請求項１０のいずれか１項に記載の制御方法。  The control method according to any one of claims 8 to 10.
JP2015232826A 2015-11-30 2015-11-30 Robot and control method Active JP6693100B2 (en)

Priority Applications (2)

Application Number Priority Date Filing Date Title
JP2015232826A JP6693100B2 (en) 2015-11-30 2015-11-30 Robot and control method
US15/362,264 US10220515B2 (en) 2015-11-30 2016-11-28 Robot and control method for robot

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP2015232826A JP6693100B2 (en) 2015-11-30 2015-11-30 Robot and control method

Publications (3)

Publication Number Publication Date
JP2017100196A JP2017100196A (en) 2017-06-08
JP2017100196A5 true JP2017100196A5 (en) 2018-12-06
JP6693100B2 JP6693100B2 (en) 2020-05-13

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Family Applications (1)

Application Number Title Priority Date Filing Date
JP2015232826A Active JP6693100B2 (en) 2015-11-30 2015-11-30 Robot and control method

Country Status (1)

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JP (1) JP6693100B2 (en)

Families Citing this family (1)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JP2020082242A (en) * 2018-11-20 2020-06-04 富士電機株式会社 Component assembly device

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