Title:
AUTOMATIC METHOD WORK INSTALLING BY ASSEMBLING ROBOT
Document Type and Number:
Japanese Patent JP3287152
Kind Code:
B2
Abstract:
PURPOSE: To provide an automatic work installing method by an assembling robot, by which the quality of the installing state can be accurately and automatically inspected without using any visual device and without necessitating the accurate positioning for the installing work.
CONSTITUTION: After hands 7 are so moved that the error between inner force sense information to be applied to the hands 7 when installing work is completed by making use of the detecting value of an inner force sensor 8 and that in teaching may be within the allowable range, a work is released by opening the hands 7, the hands 7 are moved to the taught work completing point while being retreated so as not to interfere with the work, and the hands 7 are closed, so as to grip again the work. Next, after the hands 7 are once retreated in the opposite direction of the taught assembling action, it is advanced in the same direction as the assembling action, inner force information to be applied to a wrist is detected and compared with the inner force sense pattern in teaching, and the presence or absence of conformity is judged. When they are not matched to each other, the poor assembly alarm is output.
Inventors:
Mitsuhiko Uchida
Application Number:
JP32627794A
Publication Date:
May 27, 2002
Filing Date:
December 27, 1994
Export Citation:
Assignee:
Nissan Motor Co., Ltd
International Classes:
B23P19/04; B25J9/22; B25J13/08; (IPC1-7): B25J13/08; B23P19/04
Domestic Patent References:
| JP2160492A | ||||
| JP6329809A | ||||
| JP4289089A | ||||
| JP6126665A |
Attorney, Agent or Firm:
Mikio Hatta