PROBLEM TO BE SOLVED: To make a robot perform work of engagement between a first engagement part provided in a workpiece and a second engagement part provided in a retaining body, and make the robot check whether or not the first and second engagement parts are engaged with each other.SOLUTION: A robot performs proper operations according to positional control. Thus, work for inserting a hook 36 as a second engagement part through a latching hole 32 as a first engagement part is executed. Subsequently, the robot has its control shifted to servo float control, and receives a command to uplift the hook 36 relative to the latching hole 32. The amount of ascent of the hook 36 is contrasted with a maximum ascendable amount D1 (threshold) of the hook 36.SELECTED DRAWING: Figure 4

    【課題】ワークに設けられた第1係合部と、保持体に設けられた第2係合部との係合作業をロボットで行い、且つ第1係合部と第2係合部が互いに係合しているか否かを前記ロボットで確認する。【解決手段】ロボットが位置制御に従って適宜の動作を行うことにより、第1係合部としての掛止孔32に、第2係合部としてのフック36を通す作業が行われる。その後、ロボットはサーボフロート制御に切り替えられ、フック36を掛止孔32に対して相対的に上昇させる指令を受ける。フック36の上昇量は、該フック36の最大上昇可能量D1(閾値)と対比される。【選択図】図4


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    Title :

    METHOD FOR CHECKING ENGAGEMENT BY ROBOT


    Additional title:

    ロボットによる係合確認方法


    Contributors:

    Publication date :

    2018-01-18


    Type of media :

    Patent


    Type of material :

    Electronic Resource


    Language :

    Japanese


    Classification :

    IPC:    B25J Manipulatoren , MANIPULATORS / B66C Krane , CRANES



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