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Title:
力センサを搭載したロボットマニピュレータを用いたロールヘム加工装置
Document Type and Number:
Japanese Patent JP4795462
Kind Code:
B2
Abstract:
A roller hemming device capable of correcting a positional error between a robot manipulator and a workpiece, and carrying out a pre-hemming and/or hemming process with appropriate pressing force. The roller hemming device has a position detecting part adapted to detect a current position of a roller attached to a front end of the robot manipulator; a force sensor arranged between a wrist section of the robot manipulator and the roller; and a controller adapted to control the position of the roller by using an output of the position detecting part and an output of the force sensor, so that pressing force applied to a mold by the roller is a predetermined value.

Inventors:
Takayuki Sato
Yoshika
Application Number:
JP2009259110A
Publication Date:
October 19, 2011
Filing Date:
November 12, 2009
Export Citation:
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Assignee:
FANUC Corporation
International Classes:
B21D39/02; B21D19/04
Domestic Patent References:
JP2015956A
JP4164585A
JP3184786A
JP6278007A
JP6312343A
JP7195287A
JP8118277A
JP4030942A
Foreign References:
WO2008145396A1
WO2008046619A1
Attorney, Agent or Firm:
Atsushi Aoki
Jun Tsuruta
Tetsuro Shimada
Hirose Shigeki
Ryuichi Nishimura
Kazuo Maejima