Title:
FITTING DEVICE
Document Type and Number:
Japanese Patent JP3818986
Kind Code:
B2
Abstract:
PROBLEM TO BE SOLVED: To provide a mating device having a function for solving blocking if blocking occurs during a fitting operation using a robot.
SOLUTION: The robot grasping a fitting part 4 with a hand approaches a fitted part 5 from an approach starting position, and when both parts come into contact with each other, the robot starts the fitting operation. If the blocking is detected by a force sensor or the like during the fitting operation, a blocking removing operation is performed. The force sensor, a torque sensor, and a torque estimation from a current value are used for detection of a required force for the force control. When the blocking is removed, the fitting operation is resumed or the fitting part 4 is drawn out. The blocking removing operation gives hitting powers S1, S2 using the robot, and is capable of applying hitting power along the direction obtained by projecting a line which ties the two contact points of both the parts in the blocking state onto a plane orthogonal to the insertion direction by utilizing the force sensor or the like. The size of the hitting power can be controlled by the force control.
Inventors:
Tetsuro Kato
Takayuki Sato
Takayuki Sato
Application Number:
JP2003272046A
Publication Date:
September 06, 2006
Filing Date:
July 08, 2003
Export Citation:
Assignee:
FANUC Corporation
International Classes:
B25J13/08; B23P19/02; (IPC1-7): B25J13/08; B23P19/02
Domestic Patent References:
| JP62145305A | ||||
| JP11123683A | ||||
| JP61169533U | ||||
| JP1234128A | ||||
| JP2000263351A | ||||
| JP796427A | ||||
| JP9309089A | ||||
| JP2000176868A |
Attorney, Agent or Firm:
Matsuji Takemoto
Hideo Sugiyama
Koichi Yuda
Uozumi Takahiro
Hideo Sugiyama
Koichi Yuda
Uozumi Takahiro