Robot system and coupling method
AssigneeSeiko Epson Corporation
InventorJunya Ueda
Life of this patent
Estimating the term…
Abstract
A robot system that performs work of coupling a flexible cable to a connector provided on a board, includes a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided, a control unit that controls the robot to perform a conveyance action to grip the cable using the gripping unit and convey the cable onto the board, and an insertion action to insert the cable into the connector by force control based on a detection result in the force detection unit, an insertion speed entry part in which an insertion speed of the cable into the connector at the insertion action is entered, and a determination unit that can determine force control information necessary for the force control in the insertion action according to the insertion speed.
Claims13
A robot system that performs work of coupling a flexible cable to a connector provided on a board, comprising:
- a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided;
- a control unit that controls the robot to perform a conveyance action to grip the cable using the gripping unit and convey the cable onto the board, and an insertion action to insert the cable into the connector by force control based on a detection result in the force detection unit;
- an insertion speed entry part in which an insertion speed of the cable into the connector at the insertion action is entered;
- a memory unit that stores a calibration curve showing a relationship between the insertion speed and force control information necessary for the force control in the insertion action;
- and
- a determination unit that determines the force control information according to the insertion speed based on the calibration curve.
A coupling method of coupling a flexible cable to a connector provided on a board, comprising:
- a preparation step of preparing a robot in which a gripping unit that grips the cable and a force detection unit that detects a force acting on the gripping unit are provided;
- a conveyance step of performing a conveyance action to grip the cable using the gripping unit and convey the cable onto the board;
- an insertion step of performing an insertion action to insert the cable into the connector using the gripping unit by force control based on a detection result in the force detection unit;
- an insertion speed entry step of entering an insertion speed of the cable into the connector at the insertion action in an insertion speed entry part;
- and
- a force control information at insertion action determination step of determining force control information by a determination unit according to the insertion speed based on a calibration curve showing a relationship between the insertion speed and the force control information necessary for the force control in the insertion action and stored in a memory unit.
Dependencies are inferred from the claim text.