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JP2009202281A Power assisting device and its control method 有权
标题翻译：电力辅助装置及其控制方法
公开(公告)号：JP2009202281A
公开(公告)日：2009-09-10
申请号：JP2008046859
申请日：2008-02-27
申请人： Araki Seisakusho:Kk , Toyota Motor Corp , トヨタ自動車株式会社 , 株式会社アラキ製作所
发明人： MURAYAMA HIDEYUKI , YAMAMOTO HITOSHI , FUJINO KENICHI , AKIYAMA SHINJI , SHIBATA ATSUSHI
IPC分类号： B25J19/06 , B25J13/02 , B62D65/06 , B66F19/00
CPC分类号： G05B19/4182 , B23P2700/50 , B25J19/06 , G05B19/423 , G05B2219/36429 , G05B2219/37357 , G05B2219/40272 , Y02P90/04 , Y02P90/083 , Y10T29/53039 , Y10T29/53057
摘要： PROBLEM TO BE SOLVED: To provide a power assisting device and its control method for preventing a workpiece from coming into contact with a mate workpiece due to swing of the workpiece caused by abrupt start and abrupt stop. SOLUTION: This power assisting device is provided with an operation handle 6, a force sensor 7, a robot arm 3 for holding a window 2, an actuator 11 for driving the robot arm 3, and a conveying means 14 for conveying the robot arm 3. The conveying means 14 is moved in synchronization with a body 100 moving on an assembly line to assemble the window 2 on the body 100. When an operation condition of the body 100 is the usual condition in which moving condition continues, the power assisting device controls to move the conveying means 14 in synchronization with the body. When an operation condition of the body 100 is changed from the moving condition into a stop condition or from the stop condition into the moving condition, driving of the robot arm 3 is stopped for a predetermined period of time and is resumed after the predetermined period of time elapses. COPYRIGHT: (C)2009,JPO&INPIT
摘要翻译：要解决的问题：提供一种动力辅助装置及其控制方法，用于防止工件由于突然起动和突然停止而由于工件的摆动而与配合工件接触。解决方案：该动力辅助装置设置有操作手柄6，力传感器7，用于保持窗口2的机器人手臂3，用于驱动机器人手臂3的致动器11和用于传送机械臂3的输送装置14 机器人臂3.输送装置14与在装配线上移动的主体100同步地移动，以将窗口2组装在主体100上。当主体100的操作状态是移动状态继续的通常状态时，动力辅助装置控制以与身体同步地移动输送装置14。当主体100的操作状态从移动状态变为停止状态或从停止状态变为移动状态时，机器人手臂3的驱动停止预定时间段，并且在预定时间段之后恢复时间过去了版权所有（C）2009，JPO＆INPIT

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