Engagement confirmation method performed by robot

Patent metadata

Field	Value
Publication number	US-10351393-B2
Application number	US-201715645003-A
Country	US
Kind code	B2
Filing date	Jul 10, 2017
Priority date	Jul 13, 2016
Publication date	Jul 16, 2019
Grant date	Jul 16, 2019

Abstract

A robot performs an appropriate operation in accordance with a position control, whereby an operation is carried out to pass a hook as a second engagement member through a hooking hole as a first engagement member. Thereafter, the robot is switched to a servo float control, and receives a command to raise the hook relatively with respect to the hooking hole. An amount of rising of the hook is compared with a maximum allowable amount of rising (threshold value) of the hook.

First claim

What is claimed is:

1. An engagement confirmation method performed by a robot, in which a second engagement member disposed on a retaining body configured to retain a workpiece is relatively brought closer to a first engagement member disposed on the workpiece, and thereafter, it is confirmed by an operation of the robot whether or not the first engagement member and the second engagement member are engaged with each other, comprising the steps of:
operating the robot in accordance with a position control, and relatively bringing the first engagement member closer to the second engagement member; and
switching the robot to a servo float control, and issuing a command to raise the second engagement member relatively with respect to the first engagement member;
wherein the first engagement member and the second engagement member are determined to be engaged with each other when a relative amount of rising of the second engagement member until the second engagement member is stopped is equal to or lies within a predetermined threshold value, whereas the first engagement member and the second engagement member are determined not to be engaged when the relative amount of rising of the second engagement member exceeds the threshold value.

2. The engagement confirmation method performed by the robot according to claim 1 , wherein when the robot is operated in accordance with the servo float control, a distal end hand unit of the robot is set to be capable of rising, only if a load that acts on the distal end hand unit is greater than or equal to a total weight of the distal end hand unit and the second engagement member, and is less than or equal to a rated load of the robot.

3. The engagement confirmation method performed by the robot according to claim 1 , wherein the first engagement member is a through hole and the second engagement member is a hook, and the robot performs an operation to raise the hook relatively with respect to the through hole.

4. The engagement confirmation method performed by the robot according to claim 3 , wherein the hook includes a bent portion that is passed through the through hole, and a detachment preventive metal member configured to prevent detachment of the bent portion from the through hole.

5. The engagement confirmation method performed by the robot according to claim 1 , wherein a warning is issued when it is determined that the first engagement member and the second engagement member are not engaged.

Assignees

• Honda Motor Co Ltd

Inventors

• Iura Takeshi

Classifications

• G05B2219/41123

  Correction inertia of servo · CPC title

• G05B2219/41168

  Compensate position error by shifting projected image electronically · CPC title

• B25J13/085

  Force or torque sensors (B25J13/082, B25J13/084 take precedence) · CPC title

• B66C1/66

  for engaging holes, recesses, or abutments on articles specially provided for facilitating handling thereof · CPC title

• B66C1/663 Primary

  for containers (fastening of containers on vehicles B60P7/13, B60P7/132) · CPC title