Title:
METHOD FOR INSERTING SHAFT MEMBER INTO HOLE IN SEGMENT, AND CONTROL DEVICE
Document Type and Number:
WIPO Patent Application WO/2020/171201
Kind Code:
A1
Abstract:
A control device 200 which controls at least two robot arms 120, each having an end effector 122, to insert a shaft member into a hole in a segment is configured to execute: an action to cause one end effector 122b to come into contact with the segment; an action to grip the shaft member using the other end effector 122a; an action to move the shaft member toward the hole in the segment; if it is detected that the shaft member has come into contact with the segment, an action to move an end portion of the shaft member over the segment while pressing the shaft member against the segment; and, if it is detected that the end portion of the shaft member has entered the hole in the segment, an action to insert the shaft member into the hole in the segment.
Inventors:
WILSON LOCHLAINN (JP)
Application Number:
PCT/JP2020/007007
Publication Date:
August 27, 2020
Filing Date:
February 21, 2020
Export Citation:
Assignee:
SE4 INC (JP)
International Classes:
B25J9/16; B23P19/02; B23P19/04; B25J13/08
Domestic Patent References:
| WO2016168570A1 | 2016-10-20 |
Foreign References:
| JP2017226021A | 2017-12-28 | |||
| JPS61188032A | 1986-08-21 | |||
| JP2015168017A | 2015-09-28 | |||
| JP2015160255A | 2015-09-07 | |||
| JP2015085501A | 2015-05-07 |
Attorney, Agent or Firm:
KURAMOCHI Makoto (JP)
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