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1. 发明申请

US20080312769A1 FITTING APPARATUS 有权
标题翻译：配套设备
公开(公告)号：US20080312769A1
公开(公告)日：2008-12-18
申请号：US12138995
申请日：2008-06-13
申请人： Takashi SATO , Nobuaki YAMAOKA
发明人： Takashi SATO , Nobuaki YAMAOKA
IPC分类号： B25J9/10
CPC分类号： B25J9/1633 , B25J9/1687 , G05B2219/39529 , G05B2219/40032
摘要： A fitting apparatus includes a robot arm having, at the forward end thereof, a gripper for holding a workpiece, a force detector for detecting a force and moment received by the workpiece held by the gripper, and a controller for controlling an operation of the robot arm. The controller includes a motion command generating unit for generating an operation command to fit two workpieces to each other, and an operation command correcting unit for correcting the operation command so as to correct the position of the gripper in a direction perpendicular to the fitting direction and the orientation of the gripper around an axis perpendicular to the fitting direction until the detected force and moment become less than or equal to a threshold value, based on either maximum values of the force and moment detected by the force detector while the two workpieces are in contact with each other or the force and moment detected by the force detector when the two workpieces first come into contact with each other.
摘要翻译：一种装配装置，包括：机器人臂，其前端具有用于保持工件的夹持器，用于检测由夹持器保持的工件所接收的力和力矩的力检测器，以及用于控制机器人的操作的控制器臂。控制器包括：运动指令生成单元，用于产生用于彼此配合两个工件的操作命令;以及操作指令校正单元，用于校正操作命令，以便在与安装方向垂直的方向上校正夹持器的位置，以及基于在两个工件处于该位置时由力检测器检测到的力和力矩的最大值，所述夹具围绕垂直于装配方向的轴线的取向直到检测到的力和力矩变得小于或等于阈值当两个工件首先接触时，彼此接触或者由力检测器检测到的力和力矩。

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