| 摘要 |
PROBLEM TO BE SOLVED: To provide a technology for fitting a work having a flexible part into an insert hole by a robot. SOLUTION: The work 10 is lowered in the direction of an arrow mark (9) by the robot 36. Since a bent part 67 exists, a tip 58 of the work interferes with an opening 22 of the insert hole 21 as shown in (b). In this case, it is discriminated that the work 10 is bent from a load detected by a load measuring mechanism 42 and an unbalanced load is calculated. In accordance therewith, the work 10 is moved as shown by an arrow mark (10) to insert a part of the work into the insert hole 22. As shown in (c), the robot 36 is slightly moved to correct the bent part 67 and make the work straight. As shown in (d), the robot 36 is moved to return the work 10 to an axis 57 of the insert hole, moves the work as shown by an arrow mark (12) and inserts the work 10 into the insert hole 21. Thus, the work having the flexible part can be properly inserted into the insert hole by the robot irrespective of the attitude of the work. COPYRIGHT: (C)2010,JPO&INPIT
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