公开(公告)号：EP1052072B1

公开(公告)日：2004-07-21

申请号：EP99303626.8

申请日：1999-05-10

申请人： FANUC LTD

发明人： Sakakibara, Shinsuke ,  Furukawa, Yoshimasa, Room 8-309, FANUC

IPC分类号： B25J9/16

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  Y10T29/49764 ,  Y10T29/49822 ,  Y10T29/53039 ,  Y10T29/53057 ,  Y10T29/53061

公开(公告)号：EP1052072A1

公开(公告)日：2000-11-15

申请号：EP99303626.8

申请日：1999-05-10

申请人： FANUC LTD.

发明人： Sakakibara, Shinsuke ,  Furukawa, Yoshimasa, Room 8-309, FANUC

IPC分类号： B25J9/16

CPC分类号： B25J9/1687 ,  B25J9/1633 ,  Y10T29/49764 ,  Y10T29/49822 ,  Y10T29/53039 ,  Y10T29/53057 ,  Y10T29/53061

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.

摘要翻译： 具有绘制的嵌合部从接收部的功能的力控制的机器人。 通过机器人手持的嵌合部移动的方法的形式开始的速度和力控制下的一组接近方向的位置。 当嵌合一部分与一个接收部分和它们的反作用力超过设定的阈值相接触，所述嵌合部分是根据与所设定的目标速度和力的速度和力的控制和在该组插入/配合方向移动，以便 进行拟合。 如果完成了装配前的发生停止，则装配部件的速度和力控制下的组拉出方向，并与所设定的目标拉伸速度和拉伸力而移动，以绘制嵌合部从所述接收部。 如该图是自动执行的操作，恢复自动无需手动操作即使停止在装配操作发生制成。 此外，组装的部件可以自动地拆卸。