Title:
ROLLER HEMMING DEVICE USING ROBOT MANIPULATOR MOUNTED WITH FORCE SENSOR
Document Type and Number:
Japanese Patent JP2011104599
Kind Code:
A
Abstract:
To provide a roller hemming device which corrects a positional error between a robot manipulator and a workpiece and carries out excellent pre-hemming or hemming with appropriate pressing force.
The roller hemming device includes: a position detecting means for detecting a current position of a roller 12 or 34 attached to a front end of the robot manipulator 10; a force sensor 16 arranged between a wrist section 14 of the robot manipulator and the roller; and a controller 26 which uses the output of the position detecting means and the output of the force sensor to control the position of the roller so that pressing force applied to a mold 18 by the roller is a prescribed value.
Inventors:
SATO TAKAYUKI
KO GIKA
KO GIKA
Application Number:
JP2009259110A
Publication Date:
June 02, 2011
Filing Date:
November 12, 2009
Export Citation:
Assignee:
FANUC LTD
International Classes:
B21D39/02; B21D19/04
Domestic Patent References:
| JPH07195287A | 1995-08-01 | |||
| JPH08118277A | 1996-05-14 | |||
| JPH0430942A | 1992-02-03 | |||
| JPH0215956A | 1990-01-19 | |||
| JPH04164585A | 1992-06-10 | |||
| JPH03184786A | 1991-08-12 | |||
| JPH06278007A | 1994-10-04 | |||
| JPH06312343A | 1994-11-08 |
Foreign References:
| WO2008046619A1 | 2008-04-24 | |||
| WO2008145396A1 | 2008-12-04 |
Attorney, Agent or Firm:
Atsushi Aoki
Jun Tsuruta
Tetsuro Shimada
Hirose Shigeki
Ryuichi Nishimura
Kazuo Maejima
Jun Tsuruta
Tetsuro Shimada
Hirose Shigeki
Ryuichi Nishimura
Kazuo Maejima
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