FLEXIBLE WORKPIECE ASSEMBLING METHOD

• US 20090025199A1
• Filed: 05/29/2008
• Published: 01/29/2009
• Est. Priority Date: 07/23/2007
• Status: Abandoned Application

• Current Assignee: Fanuc Ltd (Fanuc Corporation)
• Original Assignee: Fanuc Ltd (Fanuc Corporation)
• Inventors: HARIKI, Kazuo, KAJIO, Shigenori, ODA, Masaru, NIHEI, Ryo
• Application Number:
  US12/128,877
• Publication Number:
  US 20090025199A1
• Time in Patent Office: Days
• US Class Current: 29/430
• CPC Class Codes: B25J 9/1682 Dual arm manipulator; Coordination of several manipulators
• CPC Class Codes: B25J 9/1687 Assembly, peg and hole, palletising, straight line, weaving pattern movement
• CPC Class Codes: G05B 2219/39109 Dual arm, multiarm manipulation, object handled in cooperation
• CPC Class Codes: G05B 2219/39123 Manipulate, handle flexible object
• CPC Class Codes: G05B 2219/39469 Grip flexible, deformable plate, object and manipulate it
• CPC Class Codes: G05B 2219/40052 Deform, bend flexible material
• CPC Class Codes: G05B 2219/40307 Two, dual arm robot, arm used synchronously, or each separately, asynchronously
• CPC Class Codes: G05B 2219/45064 Assembly robot
• CPC Class Codes: Y10T 29/49829 Advancing work to successive stations [i.e., assembly line]

Abstract

A flexible workpiece assembling method for assembling a flexible workpiece (W) with an object by using a first robot comprising a first hand and a second robot comprising a second hand includes the steps of: gripping a first portion of the flexible workpiece by the first hand and gripping a second portion of the flexible workpiece different from the first portion by the second hand; moving the flexible workpiece to the object through a cooperating operation of the first and second robots; deforming the flexible workpiece into a shape corresponding to the nonflexible object by the first and second robots; and assembling the flexible workpiece onto the nonflexible object by the first and second robots. As a result, the flexible workpiece can be accurately assembled onto the nonflexible object without breaking or tearing. The first and second robots may comprise a pushing means for pushing the flexible workpiece into the object.

Claims

1. A flexible workpiece assembling method for assembling a flexible workpiece onto a nonflexible nonflexible object by using a first robot comprising a first hand and a second robot comprising a second hand, the method comprising the steps of:

gripping a first portion of said flexible workpiece by said first hand of said first robot and gripping a second portion of said flexible workpiece different from said first portion by said second hand of said second robot;

moving said flexible workpiece to said nonflexible object by enabling a cooperating operation of said first robot and said second robot;

deforming said flexible workpiece into a shape corresponding to said nonflexible object by changing positions and orientations of said first robot and said second robot independently of each other while the cooperating operation of said first robot and said second robot is disabled; and

assembling said flexible workpiece onto said nonflexible object by said first robot and said second robot.

2. A flexible workpiece assembling method according to claim 1, wherein the step of assembling said flexible workpiece with said object by said first robot and said second robot is performed while the cooperating operation of said first robot and said second robot is enabled.

3. A flexible workpiece assembling method according to claim 1, wherein the step of deforming said flexible workpiece into the shape corresponding to said nonflexible object is performed before the step of moving said flexible workpiece to said nonflexible object.

5. A flexible workpiece assembling method according to claim 1, wherein at least one of said first robot and said second robot comprises a visual detection means,

wherein the flexible workpiece assembling method further comprises the step of detecting said first portion and said second portion of said flexible workpiece by said visual detection means before the flexible workpiece is gripped.

6. A flexible workpiece assembling method according to claim 1, wherein at least one of said first robot and said second robot comprises a pushing means for pushing said flexible workpiece into said object.

4. A flexible workpiece assembling method for assembling an elongated flexible workpiece on a nonflexible object by a first robot comprising a first hand and a second robot comprising a second hand, the method comprising the steps of:

gripping a first portion of said elongated flexible workpiece by said first hand of said first robot and gripping a second portion of said flexible workpiece different from said first portion by said second hand of said second robot;

moving said flexible workpiece to said nonflexible object by enabling a cooperating operation of said first robot and said second robot;

assembling one end of said flexible workpiece with said object by said first robot and said second robot by disabling the cooperating operation of said first robot and said second robot; and

assembling said flexible workpiece along a surface shape of said nonflexible object by said second robot.