| 摘要 |
PURPOSE:To put together automatically metal sheet parts which involves comparative low positional accuracy, by detecting, using a force sensor, the inclination of thread produced by misalignment with rspect to the thread and the threaded hole and by, upon correction of their relative positions, carrying out fastening of the screw. CONSTITUTION:An automatic screw driving tool 2 is installed at the outer face of rotary table 6 of the coupling device 3. At the inner face of this table 6, a leg 7 projects into the housing 4, and a force sensor 11 is supported at the inside circumferential surface of this housing 4 with the aid of a table 12. This force sensor 14 is fixed to a window 15 of the housing 4, and the two sensors 11, 14 are in contact with the leg 7 and an arm 16 so as to receive normally approx. half the force in the sensible range, where it is so arranged that the direction of the inclination of automatic screw driving tool 2 can be known from increase or decrease of the force. When the force applied to the sensors 11, 14 has changed, the output of a strain gauge is fed into a micro-computer to actuate the robot 1. |
