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1. WO2020066823 - TEACHING POSITION SETTING METHOD AND TEACHING POSITION SETTING DEVICE

Publication Number WO/2020/066823
Publication Date 02.04.2020
International Application No. PCT/JP2019/036703
International Filing Date 19.09.2019
IPC
B25J 9/22 2006.01
BPERFORMING OPERATIONS; TRANSPORTING
25HAND TOOLS; PORTABLE POWER-DRIVEN TOOLS; HANDLES FOR HAND IMPLEMENTS; WORKSHOP EQUIPMENT; MANIPULATORS
JMANIPULATORS; CHAMBERS PROVIDED WITH MANIPULATION DEVICES
9Programme-controlled manipulators
16Programme controls
22Recording or playback systems
G05B 19/42 2006.01
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
H05K 13/04 2006.01
HELECTRICITY
05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
13Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
04Mounting of components
CPC
G05B 19/42
GPHYSICS
05CONTROLLING; REGULATING
BCONTROL OR REGULATING SYSTEMS IN GENERAL; FUNCTIONAL ELEMENTS OF SUCH SYSTEMS; MONITORING OR TESTING ARRANGEMENTS FOR SUCH SYSTEMS OR ELEMENTS
19Programme-control systems
02electric
42Recording and playback systems, i.e. in which the programme is recorded from a cycle of operations, e.g. the cycle of operations being manually controlled, after which this record is played back on the same machine
H05K 13/04
HELECTRICITY
05ELECTRIC TECHNIQUES NOT OTHERWISE PROVIDED FOR
KPRINTED CIRCUITS; CASINGS OR CONSTRUCTIONAL DETAILS OF ELECTRIC APPARATUS; MANUFACTURE OF ASSEMBLAGES OF ELECTRICAL COMPONENTS
13Apparatus or processes specially adapted for manufacturing or adjusting assemblages of electric components
04Mounting of components ; , e.g. of leadless components
Applicants
  • 川崎重工業株式会社 KAWASAKI JUKOGYO KABUSHIKI KAISHA [JP]/[JP]
Inventors
  • 木村 俊満 KIMURA, Toshimitsu
Agents
  • 特許業務法人 有古特許事務所 PATENT CORPORATE BODY ARCO PATENT OFFICE
Priority Data
2018-18546928.09.2018JP
2018-18547028.09.2018JP
Publication Language Japanese (JA)
Filing Language Japanese (JA)
Designated States
Title
(EN) TEACHING POSITION SETTING METHOD AND TEACHING POSITION SETTING DEVICE
(FR) PROCÉDÉ DE RÉGLAGE DE POSITION D'APPRENTISSAGE ET DISPOSITIF DE RÉGLAGE DE POSITION D'APPRENTISSAGE
(JA) 教示位置設定方法および教示位置設定装置
Abstract
(EN)
A method comprising: a step of repeating a series of operations in which a first component is caused to be moved from a current teaching position horizontally and is caused to be lowered toward a second component, until insertion into an insertion hole is possible; a step of acquiring a position at which the first component was able to be inserted into the insertion hole as an actual initial insertion position; a step of acquiring a provisional center position on the basis of the current teaching position and the actual initial insertion position; a step of acquiring two limit positions in which the first component was inserted into the insertion hole by performing a series of operations in which the first component is caused to be moved closer to the provisional center position from a first side in a first direction passing the provisional center position and is caused to be lowered toward the second component, and by performing a similar series of operations from a second side in the same direction; and a step of acquiring a central position of the acquired limit positions as a new teaching position.
(FR)
L'invention concerne un procédé comprenant : une étape de répétition d'une série d'opérations dans lesquelles un premier composant est amené à être déplacé à partir d'une position d'apprentissage actuelle horizontalement et est amené à être abaissé en direction d'un second composant, jusqu'à ce que l'insertion dans un trou d'insertion soit possible ; une étape d'acquisition d'une position au niveau de laquelle le premier composant a pu être inséré dans le trou d'insertion en tant que position d'insertion initiale réelle ; une étape d'acquisition d'une position centrale provisoire sur la base de la position d'apprentissage actuelle et de la position d'insertion initiale réelle ; une étape d'acquisition de deux positions de limitation dans lesquelles le premier composant a été inséré dans le trou d'insertion en réalisant une série d'opérations dans lesquelles le premier composant est amené à être rapproché de la position centrale provisoire à partir d'un premier côté dans une première direction passant par la position centrale provisoire et est amené à être abaissé en direction du second composant, et en réalisant une série similaire d'opérations à partir d'un second côté dans la même direction ; et une étape d'acquisition d'une position centrale des positions de limitation acquises en tant que nouvelle position d'apprentissage.
(JA)
方法が、第1部品を現在の教示位置から水平に移動して第2部品に向けて下降させる一連の動作を挿入穴に挿入できるまで繰り返す工程と、第1部品を挿入穴に挿入できた位置を実初期挿入位置として取得する工程と、現在の教示位置と実初期挿入位置とに基づいて仮中心位置を取得する工程と、第1部品を仮中心位置を通過する第1方向第1側から仮中心位置に近づくように移動させて第2部品に向けて下降させる一連の動作および同方向第2側から同様の一連の動作を実施して第1部品が挿入穴に挿入された2つの限界位置を取得する工程と、取得された限界位置の中央位置を新たな教示位置として取得する工程と、を含む。
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