JPS5783327A - Automatic assembling device with sensing bench - Google Patents

Automatic assembling device with sensing bench

Info

Publication number
JPS5783327A
JPS5783327A JP15684380A JP15684380A JPS5783327A JP S5783327 A JPS5783327 A JP S5783327A JP 15684380 A JP15684380 A JP 15684380A JP 15684380 A JP15684380 A JP 15684380A JP S5783327 A JPS5783327 A JP S5783327A
Authority
JP
Japan
Prior art keywords
work
robot
force
execution
signal
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
Application number
JP15684380A
Other languages
Japanese (ja)
Inventor
Kiyoo Takeyasu
Masuo Kasai
Motoo Uno
Koji Muraoka
Yozo Ouchi
Kanji Kato
Yukiji Shimomura
Junichi Tono
Current Assignee (The listed assignees may be inaccurate. Google has not performed a legal analysis and makes no representation or warranty as to the accuracy of the list.)
Hitachi Ltd
Original Assignee
Hitachi Ltd
Priority date (The priority date 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 date listed.)
Filing date
Publication date
Application filed by Hitachi Ltd filed Critical Hitachi Ltd
Priority to JP15684380A priority Critical patent/JPS5783327A/en
Publication of JPS5783327A publication Critical patent/JPS5783327A/en
Pending legal-status Critical Current

Links

Classifications

    • B—PERFORMING OPERATIONS; TRANSPORTING
    • B23—MACHINE TOOLS; METAL-WORKING NOT OTHERWISE PROVIDED FOR
    • B23P—METAL-WORKING NOT OTHERWISE PROVIDED FOR; COMBINED OPERATIONS; UNIVERSAL MACHINE TOOLS
    • B23P19/00—Machines for simply fitting together or separating metal parts or objects, or metal and non-metal parts, whether or not involving some deformation; Tools or devices therefor so far as not provided for in other classes
    • B23P19/10—Aligning parts to be fitted together

Abstract

PURPOSE:To remove difficulty in execution of a work using a robot by detecting as a force signal a relative error of an acting position of the robot and correcting a table position by means of a sent out servo command signal. CONSTITUTION:In precision assembling work executed on a work table, difficulty in execution of a work due to a relative error of an acting position of a robot 110 is transmitted from a sensing bench 200, as a force detection signal from a force detecting system 220, to a processing device 390, which generates a servo signal on the basis of said force detection signal and corrects a table position by a positioning device 250. Algolithm, memorized in memory units 390, 400, determines the sense of force and the direction of servo system correcting movement. Accordingly, difficulty in execution of work using the robot 110 ravels out through its selective utilization.
JP15684380A 1980-11-07 1980-11-07 Automatic assembling device with sensing bench Pending JPS5783327A (en)

Priority Applications (1)

Application Number Priority Date Filing Date Title
JP15684380A JPS5783327A (en) 1980-11-07 1980-11-07 Automatic assembling device with sensing bench

Applications Claiming Priority (1)

Application Number Priority Date Filing Date Title
JP15684380A JPS5783327A (en) 1980-11-07 1980-11-07 Automatic assembling device with sensing bench

Publications (1)

Publication Number Publication Date
JPS5783327A true JPS5783327A (en) 1982-05-25

Family

ID=15636580

Family Applications (1)

Application Number Title Priority Date Filing Date
JP15684380A Pending JPS5783327A (en) 1980-11-07 1980-11-07 Automatic assembling device with sensing bench

Country Status (1)

Country Link
JP (1) JPS5783327A (en)

Cited By (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59102534A (en) * 1982-12-03 1984-06-13 Toshiba Corp Automatic assembly equipment
JPS59205259A (en) * 1983-04-21 1984-11-20 ヴアルテル・シユテイヒト Method and device for manufacturing work
JP2010214514A (en) * 2009-03-16 2010-09-30 Ihi Corp Assembling device
JP2010214512A (en) * 2009-03-16 2010-09-30 Ihi Corp Assembling device
CN101972929A (en) * 2010-10-09 2011-02-16 大连理工大学 Method for comprehensively compensating assembling force and stiffness

Cited By (7)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
JPS59102534A (en) * 1982-12-03 1984-06-13 Toshiba Corp Automatic assembly equipment
JPS6361135B2 (en) * 1982-12-03 1988-11-28
JPS59205259A (en) * 1983-04-21 1984-11-20 ヴアルテル・シユテイヒト Method and device for manufacturing work
JPH0549422B2 (en) * 1983-04-21 1993-07-26 Shuteihito Baruteru
JP2010214514A (en) * 2009-03-16 2010-09-30 Ihi Corp Assembling device
JP2010214512A (en) * 2009-03-16 2010-09-30 Ihi Corp Assembling device
CN101972929A (en) * 2010-10-09 2011-02-16 大连理工大学 Method for comprehensively compensating assembling force and stiffness

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