JPH02110489U - - Google Patents
Info
- Publication number
- JPH02110489U JPH02110489U JP1691689U JP1691689U JPH02110489U JP H02110489 U JPH02110489 U JP H02110489U JP 1691689 U JP1691689 U JP 1691689U JP 1691689 U JP1691689 U JP 1691689U JP H02110489 U JPH02110489 U JP H02110489U
- Authority
- JP
- Japan
- Prior art keywords
- workpiece
- robot
- assembly section
- axis direction
- correction amount
- Prior art date
- Legal status (The legal status is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the status listed.)
- Pending
Links
- 230000000007 visual effect Effects 0.000 claims description 3
- 238000010586 diagram Methods 0.000 description 2
Landscapes
- Automatic Assembly (AREA)
Description
第１図乃至第４図はこの考案の一実施例を示す
もので、第１図は自動組付けロボツト装置の斜視
図、第２図はコントローラのブロツク図、第３図
はロストモーシヨン補正の説明図、第４図はフロ
ーチヤート、第５図は従来の自動組付けロボツト
装置の斜視図である。
１１……ロボツト本体、１２……ロボツトアー
ム、１３……チヤツク機構、１４……ワーク、１
５……視覚センサ、１９……ワーク組付け部、２
２……ロボツトコントローラ。
Figures 1 to 4 show an embodiment of this invention. Figure 1 is a perspective view of an automatic assembly robot device, Figure 2 is a block diagram of a controller, and Figure 3 is a diagram of lost motion correction. FIG. 4 is a flowchart, and FIG. 5 is a perspective view of a conventional automatic assembly robot device. 11...Robot body, 12...Robot arm, 13...Chuck mechanism, 14...Work, 1
5...Visual sensor, 19...Work assembly section, 2
2... Robot controller.
Claims (1)
方向に移動自在なロボツトアームを備え、このロ
ボツトアームの先端部に設けたチヤツク機構によ
つてワークをチヤツキングし、ワークをワーク組
付け部に組付ける自動組付けロボツト装置におい
て、前記チヤツク機構に前記ワークをワーク組付
け部に組付ける際に、そのワークとワーク組付け
部との隙間を検出する視覚センサを設け、この視
覚センサで検出した実際の隙間データに、前記ロ
ボツト本体のロストモーシヨン補正量を加算し、
この補正量を前記ロボツト本体をコントロールす
るロボツトコントローラに入力するようにしたこ
とを特徴とする自動組付けロボツト装置。 The robot body is equipped with a robot arm that is movable at least in the X-axis direction and the Y-axis direction, and a chuck mechanism provided at the tip of the robot arm chucks the workpiece, and the workpiece is assembled into the workpiece assembly section automatically. In the mounting robot device, the chuck mechanism is provided with a visual sensor that detects a gap between the workpiece and the workpiece assembly section when the workpiece is attached to the workpiece assembly section, and the actual gap data detected by the visual sensor is provided. Add the lost motion correction amount of the robot body to
An automatic assembly robot apparatus characterized in that this correction amount is input to a robot controller that controls the robot body.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1691689U JPH02110489U (en) | 1989-02-17 | 1989-02-17 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP1691689U JPH02110489U (en) | 1989-02-17 | 1989-02-17 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH02110489U true JPH02110489U (en) | 1990-09-04 |
Family
ID=31230260
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP1691689U Pending JPH02110489U (en) | 1989-02-17 | 1989-02-17 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH02110489U (en) |
Cited By (2)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006514588A (en) * | 2002-09-13 | 2006-05-11 | ダイムラークライスラー・アクチェンゲゼルシャフト | Method and apparatus for processing moving workpieces, especially car bodies |
| JP2017170599A (en) * | 2016-03-25 | 2017-09-28 | ファナック株式会社 | Positioning device using robot |
-
1989
- 1989-02-17 JP JP1691689U patent/JPH02110489U/ja active Pending
Cited By (3)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JP2006514588A (en) * | 2002-09-13 | 2006-05-11 | ダイムラークライスラー・アクチェンゲゼルシャフト | Method and apparatus for processing moving workpieces, especially car bodies |
| JP2017170599A (en) * | 2016-03-25 | 2017-09-28 | ファナック株式会社 | Positioning device using robot |
| US10525598B2 (en) | 2016-03-25 | 2020-01-07 | Fanuc Corporation | Positioning system using robot |
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