METHOD AND APPARATUS FOR PERFORMING A SEARCH AND FEEL ASSEMBLY FUNCTION

摘要

A system and method for implementing a search and feel function on a robot for installing parts on a workpiece. An air switch feature is provided on a gripper of the robot to determine the presence and proper placement of a part in a desired receptor location on the workpiece. The air switch feature is used to detect whether or not a particular part, such as a bolt or other part being inserted by the robot, has been properly gripped by the gripper, and whether the part has been properly placed in the desired position.

主权项

1. A device for installing a part on a workpiece, comprising:
a source of pressurized air; a robot including a gripper for gripping the part and for aligning the part with a desired receptor on the workpiece, wherein said gripper is provided with a surface having an orifice connected to the source of pressurized air, said orifice being arranged on said gripper such that said orifice is at least partially obstructed by a portion of the part when the part is positioned in a particular manner in the gripper; a sensor adapted for detecting a pressure of air provided to the orifice; and a controller connected to said sensor, said controller being adapted to detect when said orifice is at least partially obstructed by monitoring the pressure detected by said sensor for determining when said part is properly aligned with said receptor.