| 摘要 |
PROBLEM TO BE SOLVED: To provide a gear system assembling method for reducing assembling cost. SOLUTION: A transmission 10 furnished with a transmission main body 11 and a transmission case 12 is assembled by a double arm robot 30 having a force sensor 49 according to this assembling method of the transmission. That is, the transmission case 12 is held by the double arm robot 30, this held transmission case 12 is arranged on the transmission main body 11, thereafter, the transmission case 12 is made to get close to the transmission main body 11 by monitoring force working on hands 42A, 42B by the force sensor 49 of the double arm robot 30, the transmission case 12 is made to further get close to the transmission main body 11 and mounted on the transmission main body 11 when the transmission case 12 gets closer up to a prescribed height h1 without a detection value of the force sensor 49 exceeding a prescribed value, the transmission case 12 is separated from the transmission main body 11 when the detection value of the force sensor 49 exceeds the prescribed value before the transmission case 12 gets closer up to the prescribed height h1, and then the above is repeated. COPYRIGHT: (C)2008,JPO&INPIT
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