ROBOT AND METHOD OF OPERATING THE SAME

A robot includes: an end effector including a tubular structure and a force sensor; and a controller, the controller to: control the robot holding a terminal to insert the terminal into an insertion hole; control the robot to, after the inserting, position an outer peripheral surface of a distal end of the tubular structure horizontally and bend the tubular structure at a predetermined angle; and control the robot to, after the positioning and bending, advance the end effector through a first distance that is predetermined.

TECHNICAL FIELD

The present disclosure relates to a robot and a method of operating the robot.

BACKGROUND ART

There is known a housing-holding board of an automatic electric wire-connecting device adapted for production of many types of wire harnesses (see Patent Literature 1, for example). The housing placed on the housing-holding board disclosed in Patent Literature 1 is provided with openings (insertion holes) which communicate with grooves and are arranged in the leftward/rightward direction (in a straight line). Patent Literature 1 states that the grooves are covered by a plate-shaped dummy cover to form dummy cavities, through which an insertion robot is able to introduce terminals into the openings.

CITATION LIST

Patent Literature

SUMMARY

A robot according to the present disclosure is configured to hold a terminal and insert the terminal into a connector having insertion holes to produce a wire harness, the terminal being shaped as a pin or tube, having an outer peripheral surface provided with a projection, and having a proximal end to which a wire is connected, the insertion holes of the connector being stepped to have a smaller opening area at one end of the connector than at the other end of the connector, the robot comprising: an end effector including a tubular structure and a force sensor, the tubular structure including a slit extending in an extension direction of the tubular structure, the tubular structure is bendable relative to the extension direction; and circuitry wherein the tubular structure has an internal space into which the wire and the terminal are inserted, and has a distal end to contact the projection of the terminal, and wherein the circuitry is configured to: control the robot holding the terminal to insert the terminal into the insertion hole; control the robot to, after the inserting of the terminal, position an outer peripheral surface of the distal end of the tubular structure horizontally and bend the tubular structure at a predetermined angle; and control the robot to, after the positioning of the outer peripheral surface of the distal end and the bending of the tubular structure, advance the end effector through a first distance that is predetermined.

A method of operating a robot according to the present disclosure is for operation of a robot configured to hold a terminal and insert the terminal into a connector having insertion holes to produce a wire harness, wherein the robot includes an end effector including a tubular structure and a force sensor, the tubular structure provided with a slit extending in an extension direction of the tubular structure, the tubular structure is bendable relative to the extension direction, wherein the insertion holes of the connector are stepped to have a smaller opening area at one end of the connector than at the other end of the connector, wherein the terminal is shaped as a pin or tube, has an outer peripheral surface provided with a projection, and has a proximal end to which a wire is connected, wherein the tubular structure has an internal space into which the wire and the terminal are inserted, and has a distal end to contact the projection of the terminal, the method including: controlling the robot holding the terminal to insert the terminal into the insertion hole; controlling the robot to, after the inserting of the terminal, position an outer peripheral surface of the distal end of the tubular structure horizontally and bend the tubular structure at a predetermined angle; and controlling the robot to, after the positioning of the outer peripheral surface of the distal end and bending of the tubular structure, advance the end effector through a first distance that is predetermined.

The above and further objects, features and advantages of the present disclosure will be more apparent from the following detailed description of preferred embodiments with reference to the accompanying drawings.

DESCRIPTION OF EMBODIMENTS

Hereinafter, exemplary embodiments of the present disclosure will be described with reference to the drawings. The same or equivalent elements are denoted by the same reference signs throughout the drawings, and repeated descriptions of these elements will not be given. In the drawings, some elements may be selectively shown to illustrate the present disclosure while the other elements are omitted from the figure. The present disclosure is not limited to the embodiments described below.

A robot according to an exemplary embodiment is configured to hold a terminal and insert the terminal into a connector having insertion holes to produce a wire harness, and includes: an end effector including a tubular structure and a force sensor, the tubular structure being provided with a slit extending in an extension direction of the tubular structure, the tubular structure being bendable relative to the extension direction; and a controller. The insertion hole of the connector is stepped to have a smaller opening area at one end than at the other end. The terminal is in the form of a pin or tube, has an outer peripheral surface provided with a projection, and has a proximal end to which a wire is connected. The tubular structure has an internal space into which the wire and the terminal are inserted, and has a distal end adapted to contact the projection of the terminal. The controller is configured to: (A) cause the robot holding the terminal to insert the terminal into the insertion hole; (B) cause the robot to, after the inserting (A), position an outer peripheral surface of the distal end of the tubular structure horizontally and bend the tubular structure at a predetermined angle; and (C) cause the robot to, after the positioning and bending (B), advance the end effector through a first distance that is predetermined.

In the robot according to an exemplary embodiment, the distal end of the tubular structure may be tapered.

In the robot according to an exemplary embodiment, the insertion holes of the connector may be arranged in a direction perpendicular to the extension direction.

In the robot according to an exemplary embodiment, the insertion holes of the connector may be arranged in a peripheral direction of the connector.

In the robot according to an exemplary embodiment, the controller may be configured to, in the positioning and bending (B): (B1) cause the robot to angularly move the tubular structure in a first direction about a first point of the tubular structure through a first angle that is predetermined, the first direction being opposite to a direction in which the slit is located; and (B2) cause the robot to, after the angularly moving (B1), angularly move the tubular structure in the first direction about the distal end of the tubular structure through a second angle that is predetermined and thereby position the outer peripheral surface of the distal end of the tubular structure horizontally.

In the robot according to an exemplary embodiment, the controller may be configured to (D) cause the robot to, after the advancing (C), remove the tubular structure from the insertion hole if the force sensor detects a force smaller than a first threshold that is predetermined.

In the robot according to an exemplary embodiment, the controller may be configured to (E) cause the robot to move the end effector in the first direction after the removing (D).

In the robot according to an exemplary embodiment, the controller may be configured to, in the advancing (C): (C1) cause the robot to, upon detection of a force equal to or greater than the first threshold by the force sensor, withdraw the end effector until the force sensor detects a force smaller than the first threshold; (C2) cause the robot to, after the withdrawing (C1), move the end effector in a direction different from the direction of advancement and withdrawal of the end effector; and (C3) cause the robot to advance the end effector after the moving (C2).

Hereinafter, an example of the robot according to an exemplary embodiment will be described with reference toFIGS. 1 to 7.

Configuration of Robot

FIG. 1is a side view schematically showing the general configuration of the robot according to an exemplary embodiment. The upward/downward and forward/backward directions indicated inFIG. 1are those defined with respect to the robot.

As shown inFIG. 1, a robot100according to an exemplary embodiment is a vertical articulated robot arm including serially coupled links (first to sixth links11ato11fin this example), joints (first to sixth joints JT1to JT6in this example), a support base15supporting the links and the joints, and a controller10. The robot100according to an exemplary embodiment is configured to, under control of the controller10, insert a terminal31held by an end effector20into an insertion hole44of a connector40to produce a wire harness.

Although in an exemplary embodiment a vertical articulated robot arm is employed as the robot100, the robot100is not limited to this type of robot and may be a horizontal articulated robot. In that case, the robot100may include a mechanical interface configured to allow the end effector20to swing in the upward/downward direction.

The first joint JT1couples the support base15and the proximal end of the first link11ain a manner permitting rotational motion about an axis extending in the vertical direction. The second joint JT2couples the distal end of the first link11aand the proximal end of the second link11bin a manner permitting rotational motion about an axis extending in the horizontal direction. The third joint JT3couples the distal end of the second link11band the proximal end of the third link11cin a manner permitting rotational motion about an axis extending in the horizontal direction.

The fourth joint JT4couples the distal end of the third link11cand the proximal end of the fourth link11din a manner permitting rotational motion about an axis extending in the longitudinal direction of the fourth link11d.The fifth joint JT5couples the distal end of the fourth link11dand the proximal end of the fifth link11ein a manner permitting rotational motion about an axis perpendicular to the longitudinal direction of the fourth link11d.The sixth joint JT6couples the distal end of the fifth link11eand the proximal end of the sixth link11fin a manner permitting torsional motion.

The distal end of the sixth link11fis equipped with a mechanical interface. The end effector20adapted for the intended task is removably mounted on the mechanical interface. The configuration of the end effector20will be described later.

Each of the first to sixth joints JT1to JT6is equipped with a drive motor (not shown), which is an example of an actuator for effecting relative rotation between the two elements connected by the joint. The drive motor may be, for example, a servomotor servo-controlled by the controller10. Each of the first to sixth joints JT1to JT6is equipped with a rotational sensor (not shown) for detecting the rotational position of the drive motor and a current sensor (not shown) for detecting an electric current for control of the rotation of the drive motor. The rotational sensor may be, for example, an encoder.

The controller10includes a processor (not shown) such as a microprocessor or CPU and a memory (not shown) such as a ROM or RAM. The memory stores information such as a basic program and various fixed data. The processor retrieves software such as the basic program from the memory and executes the software to control various motions of the robot100.

The controller10may consist of a single controller10that performs centralized control or may be constituted by controllers10cooperative with one another to achieve distributed control. The controller10may be embodied, for example, by a microcomputer, an MPU, a programmable logic controller (PLC), or a logic circuit. The functionality of the elements disclosed herein including but not limited to the controller10may be implemented using circuitry or processing circuitry which includes general purpose processors, special purpose processors, integrated circuits, ASICs (“Application Specific Integrated Circuits”), conventional circuitry and/or combinations thereof which are configured or programmed to perform the disclosed functionality. Processors are considered processing circuitry or circuitry as they include transistors and other circuitry therein. In the disclosure, the circuitry, units, or means are hardware that carry out or are programmed to perform the recited functionality. The hardware may be any hardware disclosed herein or otherwise known which is programmed or configured to carry out the recited functionality. When the hardware is a processor which may be considered a type of circuitry, the circuitry, means, or units are a combination of hardware and software, the software being used to configure the hardware and/or processor.

Configuration of End Effector

The configuration of the end effector20will now be described in detail with reference toFIGS. 2A and 2B.

FIGS. 2A and 2Bare schematic views showing an example of the end effector of the robot ofFIG. 1.FIG. 2Ais a side view of the end effector, andFIG. 2Bis a bottom view of the end effector. The forward/backward and upward/downward directions indicated inFIG. 2Aare those defined with respect to the robot. The forward/backward direction indicated inFIG. 2Bis that defined with respect to the robot.

As shown inFIGS. 2A and 2B, the end effector20includes a box-shaped base21, a tubular structure22, and a force sensor23and is configured to hold the terminal31and a wire32firmly fastened (connected) to the proximal end of the terminal31. The terminal31is in the form of a pin or tube (socket), and has an outer peripheral surface provided with a flange-shaped projection31A.

The tubular structure22is provided with a slit22A formed in the underside of the tubular structure22and extending in the extension direction of the tubular structure22(forward/backward direction in this example). The terminal31and wire32are placed into and taken out of the internal space of the tubular structure22through the slit22A of the tubular structure22.

The tubular structure22is made of, for example, plastic, and bendable relative to the extension direction (seeFIG. 5). Further, the lower portion of the distal end of the tubular structure22is cut, and the upper portion of the distal end is brought into contact with the upper portion of the rear end of the projection31A of the terminal31. That is, the distal end of the tubular structure22is tapered.

The force sensor23is configured to detect a reactive force acting on the end effector20from outside or an outward force exerted by the end effector20and output the components of the detected force (force information or pressure information) to the controller10.

Configuration of Connector

The configuration of the connector40will now be described with reference toFIGS. 3A and 3B.

FIG. 3Ais a perspective view schematically showing the configuration of the connector40.FIG. 3Bis a cross-sectional view of key parts of the connector ofFIG. 3A. The forward/backward, leftward/rightward, and upward/downward directions indicated inFIG. 3Aare those defined with respect to the connector40. The forward/backward and upward/downward directions indicated inFIG. 3Bare those defined with respect to the connector40.

As shown inFIGS. 3A and 3B, the connector40includes a first structure41in the form of a hollow cylinder (a hollow circular cylinder in this example) and a second structure42in the form of a solid cylinder (a solid circular cylinder in this example). The second structure42is provided with insertion holes44extending in the forward/backward direction. The insertion holes44may, for example, be arranged in a direction (the upward/downward and/or leftward/rightward direction in this example) perpendicular to the extension direction of the tubular structure22(the forward/backward direction in this example) or arranged in the peripheral direction (the circumferential direction in this example) of the connector40.

The insertion hole44is formed to have a smaller opening area at its end facing the first structure41than at the other end facing away from the first structure41. This means that the insertion hole44is stepped. In other words, the insertion hole44is provided with a stepped portion44B. The insertion hole44is further provided with a lock mechanism44A to lock the projection31A and thereby lock the terminal31in the insertion hole44once the terminal31is properly inserted into the insertion hole44.

Operation and Benefits of the Robot

Hereinafter, the operation and benefits of the robot100according to an exemplary embodiment will be described with reference toFIGS. 1 to 7. The operation described below is carried out by the controller's10processor retrieving and executing the program stored in the memory. The operation described below is an example in which the controller10causes the robot100to position the outer peripheral surface of the distal end of the tubular structure22horizontally and bend the tubular structure22at a predetermined angle.

FIGS. 4A to 4Cshow a flowchart illustrating an example of the operation of the robot according to an exemplary embodiment.FIGS. 5 to 7are schematic views showing different states of the tubular structure of the robot operating according to the flowchart shown inFIGS. 4A to 4C.

First, it is assumed that command information representing the command to carry out the task of holding the terminal31and the wire32and inserting the terminal31into the insertion hole44of the connector40has been input by an operator through an input device.

Upon the input of the command information, the controller10causes the robot100to, as shown inFIG. 4A, hold the terminal31and wire32in the tubular structure22of the end effector20and insert the held terminal31into the insertion hole44of the connector40(step S101).

The holding of the terminal31and wire32in the tubular structure22may be accomplished with the aid of an end effector different from the end effector20shown inFIG. 2Aand other figures. That is, the robot100according to an exemplary embodiment may be equipped with a different end effector and use this end effector to cause the end effector20to hold the terminal31and wire32. A robot different from the robot100according to the present embodiment may be operated to cause the end effector20to hold the terminal31and wire32.

A robot having arms may be used. In this case, the end effector20may be mounted on one of the arms while end effectors different from the end effector20are mounted on the other arms, and the end effectors different from the end effector20may be used to cause the end effector20to hold the terminal31and wire32. The worker (operator) may carry out the task of causing the end effector20to hold the terminal31and wire32.

Next, the controller10causes the robot100to angularly move the tubular structure22in a first direction (upward direction in this example) about a first point22B of the tubular structure22through a first angle θ1(step S102; seeFIG. 5A). The first direction is opposite to the direction in which the slit22A opens.

The first point22B may be at any location in the tubular structure22as long as the tubular structure22is bent relative to the extension direction. The first point22B is predetermined as appropriate by means such as experimentation. In an exemplary embodiment, the first point22B is located on the axis of the tubular structure22(or the axis of the terminal31) and in a rear end portion of the tubular structure22. Specifically, denoting the length of the tubular structure22in the extension direction by L, the first point22B may, for example, be located at a distance of ¼ to ⅓L from the rear end of the tubular structure22in order to prevent damage to the tubular structure22.

The first angle θ1can be predetermined by means such as experimentation, and may be, for example, from 0.5 to 20° or from 5 to 12°. The controller10may cause the robot100to accomplish the movement through the first angle θ1in one stage. Alternatively, the controller10may cause the robot100to accomplish the movement through the first angle θ1in multiple stages. For example, the controller10may cause the robot100to accomplish the movement through the first angle θ1by angularly moving the tubular structure22by 0.1° increments.

In consequence of the above angular movement, the tubular structure22is bent relative to the extension direction as shown inFIG. 5B. In this state, the distal end of the tubular structure22faces upward. Thus, advancing the end effector20(tubular structure22) in this state could lead to contact of the terminal31with a vertical surface44C of the stepped portion44B of the insertion hole44of the second structure42. To avoid this contact, the controller10carries out step S103.

In step S103, the controller10causes the robot100to angularly move the tubular structure22in the first direction about the distal end surface of the tubular structure22(or the point of the distal end surface that is located on the axis of the tubular structure22) through a second angle θ2. This allows the outer peripheral surface of the distal end of the bent tubular structure22(or the axis of the terminal31) to be positioned horizontally. Thus, contact of the terminal31with the vertical surface44C of the stepped portion of the insertion hole44can be prevented. As a result of the bending of the tubular structure22, the distal end of the tubular structure22presses the projection31A of the terminal31obliquely downward.

The second angle θ2can be predetermined by means such as experimentation, and may be, for example, from 0.5 to 20° or from 5 to 12°. The controller10may cause the robot100to accomplish the movement through the second angle θ2in one stage. Alternatively, the controller10may cause the robot100to accomplish the movement through the second angle θ2in multiple stages. For example, the controller10may cause the robot100to accomplish the movement through the second angle θ2by angularly moving the tubular structure22by 0.1° increments.

Depending on the precision error of the robot100, tubular structure22, and connector40, the outer peripheral surface of the distal end of the tubular structure22(or the axis of the terminal31) could fail to be positioned horizontally, with the result that the distal end of the terminal31could contact the vertical surface44C of the stepped portion44B of the second structure42in a manner as shown inFIG. 6.

Further, depending on the precision error of the robot100, tubular structure22, and connector40, the outer peripheral surface of the distal end of the tubular structure22(or the axis of the terminal31) could fail to be directed in the horizontal direction, with the result that the distal end of the terminal31could contact the vertical surface44C of the stepped portion44B of the second structure42in a manner as shown inFIG. 7.

Next, the controller10causes the robot100to advance the end effector20through a first distance (step S104). The first distance can be predetermined by means such as experimentation, and an appropriate value of the first distance can be chosen based on the length of the insertion hole44in the extension direction and the lengths of the terminal31and tubular structure22in the extension direction. Specifically, the first distance corresponds to the distance to a location which is slightly beyond the vertical surface44C of the second structure42, and the distal end of the terminal31is brought to this location by the advancement of the end effector20.

Next, the controller10acquires force information detected by the force sensor23(step S105). Subsequently, the controller10determines whether the force information acquired in step S105is smaller than a first threshold (step S106). The first threshold can be predetermined by means such as experimentation, and is the value of the pressure generated upon contact of the distal end of the terminal31with the vertical surface44C.

Upon determining that the force information acquired in step S105is not smaller than the first threshold (No in step S106), the controller10causes the robot100to withdraw the end effector20(step S107). Subsequently, the controller10acquires force information detected by the force sensor23(step S108) and determines whether the force information acquired in step S108is smaller than the first threshold (step S109).

Upon determining that the force information acquired in step S108is not smaller than the first threshold (No in step S109), the controller10repeats steps S107to S109until the force information acquired in step S108falls below the first threshold.

Upon determining that the force information acquired in step S108is smaller than the first threshold (Yes in step S109), the controller10causes the robot100to move the end effector20in a given direction different from the direction of advancement and withdrawal of the end effector20(step S110).

The given direction includes at least one of the upward, downward, rightward, and leftward directions and may be a combination of one of the upward and downward directions and one of the leftward and rightward directions. When, as described later, step S110is repeated in response to the result of step S112, the given direction may vary between step S110performed for the first time and step S110performed for the second and subsequent times.

Next, the controller10causes the robot100to advance the end effector20(step S111). After that, the controller10returns to step S105and acquires force information detected by the force sensor23.

Upon determining that the force information acquired in step S105is smaller than the first threshold (Yes in step S106), the controller10determines whether the end effector20has been advanced through the first distance (step S112). Specifically, the controller10calculates positional information of the distal end of the end effector20from rotation information acquired from the rotational sensors mounted on the joints of the robot100, and determines, based on the positional information, whether the end effector20has been advanced through the first distance.

Upon determining that the end effector20has not been advanced through the first distance (No in step S112), the controller10repeats steps S105to S112until the end effector20is determined to have been advanced through the first distance.

Upon determining that the end effector20has been advanced through the first distance (Yes in step S112), the controller10causes the robot100to stop the advancement of the end effector20and carries out step S113.

In step S113, the controller10causes the robot100to angularly move the tubular structure22in a second direction opposite to the first direction (the second direction is the direction in which the slit22A opens, and is the downward direction in this example) about the distal end surface of the tubular structure22(or the point of the distal end surface that is located on the axis of the tubular structure22) through the second angle θ2. Thus, the end effector20is returned to the angular position in which it was placed before the angular movement in step S103.

Next, the controller10causes the robot100to angularly move the tubular structure22in the second direction about the first point of the tubular structure22through the first angle θ1(step S114). Thus, the end effector20is returned to the angular position in which it was placed before the angular movement in step S102. That is, the controller10can return the end effector20to the substantially horizontal position by carrying out steps S113and S114.

Next, the controller10causes the robot100to advance the end effector20forward through a third distance (step S115). The third distance can be predetermined by means such as experimentation, and an appropriate value of the third distance can be chosen based on the length of the insertion hole44in the extension direction and the lengths of the terminal31and tubular structure22in the extension direction. Specifically, the third distance corresponds to the distance to a location ahead of the location at which the end surface of the projection31A facing the distal end of the terminal31is brought into contact with the vertical surface44C by the advancement of the end effector20.

Next, the controller10acquires force information detected by the force sensor23(step S116). Subsequently, the controller10determines whether the force information acquired in step S116is equal to or greater than a second threshold (step S117). The second threshold can be predetermined by means such as experimentation, and is the value of the pressure generated upon contact of the end surface of the projection31A facing the distal end of the terminal31with the vertical surface44C.

If determining that the force information acquired in step S116is smaller than the second threshold (No in step S117), the controller10repeats steps S116and S117until the force information acquired in step S116becomes equal to or greater than the second threshold.

Upon determining that the force information acquired in step S116is equal to or greater than the second threshold (Yes in step S117), the controller10causes the robot100to withdraw the end effector20, in particular to remove the tubular structure22from the insertion hole44(step S118).

Next, the controller10causes the robot100to move the tubular structure22(end effector20) in the first direction (step S119), and then ends the program. Thus, the wire32held in the internal space of the tubular structure22during the program is let out of the tubular structure22through the slit22A.

In step S118, the controller10may cause the robot100to withdraw the tubular structure22while moving the tubular structure22in the first direction.

In the robot100according to an exemplary embodiment, as described above, the controller10is configured to cause the robot100to angularly move the tubular structure22in the first direction about the first point22B of the tubular structure22through the first angle θ1and subsequently cause the robot100to angularly move the tubular structure22in the first direction about the distal end surface of the tubular structure22(or the point of the distal end surface that is located on the axis of the tubular structure22) through the second angle θ2.

Thus, the tubular structure22is bent to allow its distal end to press the projection31A of the terminal31obliquely downward. As such, in the event that the distal end of the terminal31comes into contact with the vertical surface44C of the second structure42, the distal end of the tubular structure22is prevented from moving beyond the projection31A of the terminal31to let the terminal31enter the internal space of the tubular structure22.

If the terminal31enters the internal space of the tubular structure22, the terminal31engages with the inner wall surface of the tubular structure22. When the robot100is caused to withdraw the end effector20in this state, the tubular structure22is withdrawn with the terminal31residing in the internal space of the tubular structure22.

Thus, the projection31A of the terminal31cannot be moved ahead of the distal end of the tubular structure22and pushed into the lock mechanism44A of the second structure42.

To allow the projection31A of the terminal31to move ahead of the distal end of the tubular structure22, it is preferred to remove the tubular structure22from the insertion hole44and start over from the holding of the terminal31at the first point22B. Hence, the entry of the terminal31into the internal space of the tubular structure22results in an increase in the time for production of wire harnesses.

With the robot100according to an exemplary embodiment, the entry of the terminal31into the internal space of the tubular structure22can be prevented, and therefore the increase in the time for production of wire harnesses can be avoided. Additionally, the terminal31can be inserted into the connector40having the insertion holes44which are arranged in the forward/backward and leftward/rightward directions, with respect to which the terminal is difficult to accurately position, and each of which has an interior provided with a stepped portion.

Additionally, in the robot100according to an exemplary embodiment, the distal end of the tubular structure22is tapered. In other words, the distal end of the tubular structure22is partially cut. Thus, the portion of the projection31A (the lower portion of the projection31A in this example) that faces the cut portion of the tubular structure22can be brought into contact with the lock mechanism44A of the second structure42to effect the locking function.

A robot according to another exemplary embodiment is based on the robot according to the exemplary embodiment discussed above, and the controller of the robot according to this exemplary embodiment is configured to, in the withdrawing (C1), cause the robot to withdraw the end effector through a second distance smaller than the first distance.

Hereinafter, an example of the robot according to this exemplary embodiment will be described with reference toFIGS. 8A to 8C. The basic configuration of the robot according to this exemplary embodiment is the same as that of the robot according to the previous exemplary embodiment and will therefore not be described in detail.

Operation and Benefits of Robot

FIGS. 8A to 8Cshow a flowchart illustrating an example of the operation of the robot according to this exemplary embodiment.

As seen fromFIGS. 8A to 8C, the operation of the robot100according to this exemplary embodiment is essentially the same as that of the robot100according to the previous exemplary embodiment, but differs in the procedure that the controller10performs upon determining that the force information acquired in step S105is not smaller than the first threshold (No in step S106).

Specifically, upon determining that the force information acquired in step S105is not smaller than the first threshold (No in step S106), the controller10causes the robot100to withdraw the end effector20through a second distance smaller than the first distance (step S107A). The second distance can be predetermined by means such as experimentation. The second distance may be smaller than the length of the insertion hole44A of the second structure42in the extension direction or may be equal to or smaller than the distance from the front end of the second structure42to the lock mechanism44A.

Next, the controller10causes the robot100to move the end effector20in a given direction different from the direction of advancement and withdrawal of the end effector20(step S110). Subsequently, the controller10causes the robot100to advance the end effector20(step S111), and then returns to step S105.

The thus-configured robot100according to this exemplary embodiment offers the same benefits as the robot100according to the previous exemplary embodiment.

With the robot and its operating method of the present disclosure, terminals can be inserted into a connector having insertion holes which are arranged in the leftward/rightward and upward/downward directions and each of which has an interior provided with a stepped portion.

Many modifications and other embodiments of the present disclosure will be apparent to those skilled in the art from the foregoing description. Accordingly, the foregoing description is to be construed as illustrative only, and is provided for the purpose of teaching those skilled in the art the best mode for carrying out the disclosure. The details of the structure and/or function may be varied substantially without departing from the scope of the disclosure.

INDUSTRIAL APPLICABILITY

With the robot and its operating method of the present disclosure, terminals can be inserted into a connector having insertion holes which are arranged in the leftward/rightward and upward/downward directions and each of which has an interior provided with a stepped portion. The robot and method of the present disclosure are therefore useful in the robot industry.

REFERENCE SIGNS LIST

22B first point

44A lock mechanism

44C vertical surface