CONTROL METHOD FOR ROBOT CONTROL SYSTEM FOR POSITIONING/ FEEDING DEVICE OF SUTURAL NEEDLE AND AUTOMATIC FEEDING DEVICE OF SUTURAL NEEDLE

摘要

PURPOSE: To automatically feed needles which are delivered to an automatic swaging device by delivering automatically the suturing needles positioned on an advancing conveyor to an engaging device and arranging a supplying device of the suturing needles for delivering to the automatic suturing needle swaging device. CONSTITUTION: Suturing needles 19 are supplied to hoppers 21a, 21b, divided individually in classifying assemblies 22a, 22b and arranged in random on translucent conveyors 25a, 25b. The translucent conveyors 25a, 25b arrange the irregularly oriented suturing needles 19 in an arrow direction, wherein the position and the direction thereof being evaluated by a visual monitoring system. Information obtained from the visual monitoring system is treated and converted into information to be utilized by robot assemblies 50a, 50b. The suturing needles are picked up from the translucent conveyors 25a, 25b by handling parts 55a, 55b of the robot and moved to an engaging ship 40 on a precise conveyor. When the suturing needles 19 oriented to a correct direction are fitted in the ship 40, a suturing thread is fixed with the suturing needle.