Clamp installation apparatus, clamp installation system and method of installing a clamp

A method of installing a clamp in a clamp installation system which comprises:

• a robot arm pedestal having a rotary table;
• a robot arm installed on the rotary table of the robot arm pedestal and having a plurality of arms and a plurality of joints;
• and
• a robot hand installed in a forefront arm of a plurality of arms,
• wherein the robot hand comprises:
• a clamp holding section configured to hold a clamp;
• a fastening section configured to fasten an engaging section of the clamp to give the clamp force to the work;
• a measuring section configured to collect position data of a predetermined member of the clamp;
• the method of installing a claim comprising:
• driving the rotary table and the plurality of joints to move the robot hand above the clamp as a first clamp;
• lowering the robot hand to hold the first clamp by the clamp holding section;
• lifting the first clamp in a condition that the first clamp is held;
• conveying the first clamp to a first predetermined position of the work pedestal on which the work is put;
• lowering the robot hand and moving the robot hand in a horizontal plane so that an engaging section of the first clamp is engaged with a connection section of the work pedestal;
• calculating the clamp force based on the position data acquired from the measuring section in a condition that the first clamp and the work pedestal are coupled to each other;
• and
• driving the fastening section so that the calculated clamp force becomes a second predetermined value.

The method of installing the clamp further comprises:

• controlling the clamp holding section to release the first clamp when the installation of the first clamp is ended;
• driving the second traveling mechanism to move the robot arm pedestal to a position before taking-out of the first clamp;
• and
• driving the first traveling mechanism to move the robot arm to a taking-out position of a second clamp.