Title:
POSITIONING DEVICE
Document Type and Number:
Japanese Patent JPH06297364
Kind Code:
A
Abstract:
PURPOSE: To permit the positioning of two members in each restrained state without requiring much labor.
CONSTITUTION: When two coolant pipes 1 and 2, each applied with restraining force due to the connection with an air conditioner, are fitted to each other by a double arm robot 5, rigidity of each is detected by applying a fine displacement on each pipe 1, 2, and the position where the pipes 1 and 2 can be arranged oppositely in the state where the output torques of two arms of the robot which hold the pipes 1 and 2 are allowed to counter is previously calculated. Accordingly, the positioning and fitting of the pipes 1 and 2 can be carried out without requiring the necessity of a large output torque on the arm on one side.
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Inventors:
HIWADA TAKESHI
Application Number:
JP8616093A
Publication Date:
October 25, 1994
Filing Date:
April 13, 1993
Export Citation:
Assignee:
DAIKIN IND LTD
International Classes:
B25J9/10; F16L1/00; (IPC1-7): B25J9/10; F16L1/00
Attorney, Agent or Firm:
Hiroshi Maeda (2 outside)