JPH0319683U - - Google Patents
Info
- Publication number
- JPH0319683U JPH0319683U JP7835689U JP7835689U JPH0319683U JP H0319683 U JPH0319683 U JP H0319683U JP 7835689 U JP7835689 U JP 7835689U JP 7835689 U JP7835689 U JP 7835689U JP H0319683 U JPH0319683 U JP H0319683U
- Authority
- JP
- Japan
- Prior art keywords
- assembly work
- force
- robot
- axis
- assembled
- 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
- 210000000707 wrist Anatomy 0.000 claims description 2
- 238000010586 diagram Methods 0.000 description 1
Landscapes
- Automatic Assembly (AREA)
Description
第１図は本考案の実施例に係る組立ロボツトを
示す斜視図、第２図は実施例の制御部を示すブロ
ツク図、第３図は従来の組立ロボツトを示す斜視
図、第４図は従来の組立作業を示す説明図である
。
図面中、１……組立作業ロボツト、２……手首
、３……６軸力覚センサ、４……ハンド、５……
組付部品である。
Fig. 1 is a perspective view showing an assembly robot according to an embodiment of the present invention, Fig. 2 is a block diagram showing a control section of the embodiment, Fig. 3 is a perspective view showing a conventional assembly robot, and Fig. 4 is a conventional assembly robot. It is an explanatory view showing the assembly work of. In the drawings, 1...assembly robot, 2...wrist, 3...6-axis force sensor, 4...hand, 5...
It is an assembled part.
Claims (1)
れており直交３軸に平行な力と各軸回りのモーメ
ントを検出する６軸力覚センサと、 力制御によつて組付部品と被組付部品の相対的
な並進位置ズレ及び角度ズレを能動的に修正する
と同時に、位置制御によつて組付作業方向の自由
度の制御を行う位置・力ハイブリツド制御部と、 を有することを特徴とする組立作業ロボツト。[Claim for Utility Model Registration] A six-axis force that is an articulated robot that is attached between the robot's wrist and the hand and detects forces parallel to three orthogonal axes and moments around each axis. This system actively corrects the relative translational and angular deviations between the assembled and assembled parts using a sensor and force control, and at the same time controls the degree of freedom in the direction of the assembly work using position control. An assembly work robot characterized by having a position/force hybrid control unit for performing assembly work.
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7835689U JPH0319683U (en) | 1989-07-04 | 1989-07-04 |
Applications Claiming Priority (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| JP7835689U JPH0319683U (en) | 1989-07-04 | 1989-07-04 |
Publications (1)
| Publication Number | Publication Date |
|---|---|
| JPH0319683U true JPH0319683U (en) | 1991-02-26 |
Family
ID=31621560
Family Applications (1)
| Application Number | Title | Priority Date | Filing Date |
|---|---|---|---|
| JP7835689U Pending JPH0319683U (en) | 1989-07-04 | 1989-07-04 |
Country Status (1)
| Country | Link |
|---|---|
| JP (1) | JPH0319683U (en) |
Cited By (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08197342A (en) * | 1995-01-18 | 1996-08-06 | Mazda Motor Corp | Automatic assembly device |
| WO2007034539A1 (en) * | 2005-09-20 | 2007-03-29 | Toshiaki Shimada | Industrial robot |
| JP2010099784A (en) * | 2008-10-24 | 2010-05-06 | Honda Motor Co Ltd | Pin fitting method and pin pulling out method |
| JP2013180380A (en) * | 2012-03-02 | 2013-09-12 | Seiko Epson Corp | Control device, control method, and robot apparatus |
| JP2015074061A (en) * | 2013-10-10 | 2015-04-20 | セイコーエプソン株式会社 | Robot control device, robot system, robot, robot control method and robot control program |
| JP2015074063A (en) * | 2013-10-10 | 2015-04-20 | セイコーエプソン株式会社 | Robot control device, robot system, robot, robot control method, and program |
| JP2015164755A (en) * | 2014-03-03 | 2015-09-17 | キヤノン株式会社 | Robot system, robot system controlling method, program and recording medium |
-
1989
- 1989-07-04 JP JP7835689U patent/JPH0319683U/ja active Pending
Cited By (8)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| JPH08197342A (en) * | 1995-01-18 | 1996-08-06 | Mazda Motor Corp | Automatic assembly device |
| WO2007034539A1 (en) * | 2005-09-20 | 2007-03-29 | Toshiaki Shimada | Industrial robot |
| JP4754572B2 (en) * | 2005-09-20 | 2011-08-24 | 利晃 島田 | Industrial robot |
| JP2010099784A (en) * | 2008-10-24 | 2010-05-06 | Honda Motor Co Ltd | Pin fitting method and pin pulling out method |
| JP2013180380A (en) * | 2012-03-02 | 2013-09-12 | Seiko Epson Corp | Control device, control method, and robot apparatus |
| JP2015074061A (en) * | 2013-10-10 | 2015-04-20 | セイコーエプソン株式会社 | Robot control device, robot system, robot, robot control method and robot control program |
| JP2015074063A (en) * | 2013-10-10 | 2015-04-20 | セイコーエプソン株式会社 | Robot control device, robot system, robot, robot control method, and program |
| JP2015164755A (en) * | 2014-03-03 | 2015-09-17 | キヤノン株式会社 | Robot system, robot system controlling method, program and recording medium |