Title:
WORKPIECE ASSEMBLY DEVICE, METHOD FOR CONTROLLING WORKPIECE ASSEMBLY DEVICE, PROGRAM FOR CONTROLLING WORKPIECE ASSEMBLY DEVICE, AND RECORDING MEDIUM
Document Type and Number:
WIPO Patent Application WO/2018/073922
Kind Code:
A1
Abstract:
A robot 140 is provided with a control unit 160 which postulates a reference line L connecting a base end part of a first arm (an upper arm 143) and a tip end part of a second arm (a front arm 144) in a main plane set in a space in which the robot 140 is installed, and reduces an angle β formed by the first arm (the upper arm 143) with respect to the reference line L, while enlarging an intersection angle α of the first arm (the upper arm 143) and the second arm (the front arm 144) at the side facing the reference line L, to move the tip end part of the second arm (the front arm 144) in a workpiece pressing direction (direction F) set so as to extend along the reference line L, and cause a workpiece pressing part (a push-in part 153) to be pressed by the tip end part of the second arm (the front arm 144) in the workpiece pressing direction (direction F).
Inventors:
SEI YUKIO (JP)
Application Number:
PCT/JP2016/081027
Publication Date:
April 26, 2018
Filing Date:
October 19, 2016
Export Citation:
Assignee:
KANAE KOGYO CO LTD (JP)
International Classes:
B23P19/02; B25J9/06; B23P19/04; B25J13/00
Domestic Patent References:
| WO2008032591A1 | 2008-03-20 |
Foreign References:
| JP6029709B1 | 2016-11-24 | |||
| US6167607B1 | 2001-01-02 | |||
| JPH1094930A | 1998-04-14 | |||
| JP2002093881A | 2002-03-29 | |||
| JP2014008441A | 2014-01-20 | |||
| JP2013184280A | 2013-09-19 | |||
| JP2000308990A | 2000-11-07 |
Attorney, Agent or Firm:
SHIOKAWA Shuji (JP)
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