The patent badge is an abbreviated version of the USPTO patent document. The patent badge does contain a link to the full patent document.
The patent badge is an abbreviated version of the USPTO patent document. The patent badge covers the following: Patent number, Date patent was issued, Date patent was filed, Title of the patent, Applicant, Inventor, Assignee, Attorney firm, Primary examiner, Assistant examiner, CPCs, and Abstract. The patent badge does contain a link to the full patent document (in Adobe Acrobat format, aka pdf). To download or print any patent click here.
Patent No.:
Date of Patent:
Mar. 30, 1999
Filed:
May. 28, 1997
Kabushiki Kaisha Kobe Seiko Sho, Kobe, JP;
Abstract
According to the present invention there is provided a component assembling method capable of assembling a plurality of components in a successive manner, in which method faces of each component are contacted successively with two or more reference planes by using the known servo float function as a method for controlling each robot axis. The component assembling method uses a reference table 4 having at least two planes which are a first reference plane 5 and a second reference plane 6 different in the direction of normal line from each other, and a robot system for grasping and moving each component to a given position on the reference table 4. The method in question includes at least a first step of pushing the component as grasped by the robot system against the first reference plane 5, changing the posture of the robot system to let the component lie along the first reference plane 5, and storing or fixing the said change in posture of the robot system, and a second step, subsequent to the first step, of pushing the component as grasped by the robot system against the second reference plane 6, changing the posture of the robot system to let the component lie along the second reference plane 6, and storing or fixing the said change in posture of the robot system.