Force control robot system with vision sensor for fitting work

摘要

A force control robot system with a visual sensor capable of automatically performing reliable fitting. A force sensor (3) attached to the tip portion (2) of the robot (1) detects the force in the 6-axis direction for force control and sends it to the robot control device (5). The position and posture of the convex portion 71 of the fitting work (7) grasped by the gripping claws 41 of the robot hand (4) and the position and posture of the recess (81) of the fitting work 8 positioned by the positioning device (9) in the structure light unit Su and the robot control device (5) A three-dimensional vision sensor comprising an image processing unit detects the position of the robot to start the insertion operation. Then, the convex portion 71 is inserted into the concave portion 81 by force control. After completion of the insertion operation, it is determined whether or not the insertion work of the fitting work (7) and the fitting work (8) is appropriate.