发明公开
EP1052072A1 Force controlling robot and fitting/drawing method using the force controlling robot
有权
力控制机器人以及使用该机器人的组装和拆卸任务的执行的方法
- 专利标题： Force controlling robot and fitting/drawing method using the force controlling robot
- 专利标题（中）： 力控制机器人以及使用该机器人的组装和拆卸任务的执行的方法
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申请号： EP99303626.8申请日： 1999-05-10
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公开(公告)号： EP1052072A1公开(公告)日： 2000-11-15
- 发明人: Sakakibara, Shinsuke , Furukawa, Yoshimasa, Room 8-309, FANUC
- 申请人： FANUC LTD.
- 申请人地址： 3580, Shibokusa Aza-Komanba, Oshinomura Minamitsuru-gun, Yamanashi 401-05 JP
- 专利权人： FANUC LTD.
- 当前专利权人： FANUC LTD.
- 当前专利权人地址： 3580, Shibokusa Aza-Komanba, Oshinomura Minamitsuru-gun, Yamanashi 401-05 JP
- 代理机构： Billington, Lawrence Emlyn
- 主分类号： B25J9/16
- IPC分类号： B25J9/16
摘要：
A force-controlling robot having a function of drawing a fitting part from a receiving part. A fitting part held by a robot hand is moved form an approach start position in a set approach direction under speed and force control. When the fitting part comes in contact with a receiving part and a reaction force thereof exceeds a set threshold value, the fitting part is moved under speed and force control with the set target speed and force and in the set inserting/fitting direction so as to perform fitting. If stoppage occurs before the fitting is completed, the fitting part is moved under speed and force control in the set drawing direction and with the set target drawing speed and drawing force, to draw the fitting part from the receiving part. As the drawing operation is automatically performed, restoration is automatically made without manual operation even if stoppage occurs in the fitting operation. Further, assembled parts can be automatically disassembled.
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