Assembling method and apparatus
First Claim
1. An assembling method for inserting a workpiece into an object at an insertion position using a robot, comprising the steps of:
- setting search ranges and different periods of reciprocating motions and allowable ranges within which the workpiece is insertable into the object for a plurality of search directions; and
finding the insertion position by simultaneously performing the reciprocating motions of the workpiece relative to the object in the plurality of search directions while pressing the workpiece against the object in a pressing direction using the robot such that while the workpiece is moved by the set search range in the reciprocating motion of a first period in one search direction, the workpiece is moved by an amount not greater than the set allowable range in the reciprocating motion in another search direction of a second period next shortest to the first period.
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Accused Products
Abstract
An assembling method and an apparatus for carrying out the method capable of efficiently, reliably and easily detecting an insertion and fitting position, for easy automatic assembly. In case a rod-like workpiece is inserted into a hole in an object, an insertable range is determined based an amount of clearance between the workpiece and the hole, an amount of chamfering of the hole, etc. The insertable range is defined as within a range centered at a hole center position 3cp and having a radium of r. A workpiece center position is indicated by 1cp. While the workpiece is moved once throughout a search range (XL-XU) in the X-axis direction, it is moved in the Y-axis direction by an amount equal to or less than an insertable range amount 2r. As shown by a dotted line, the workpiece center 1cp passes without fail through the insertable range during the motion throughout the search range (XL-XU, YL-YU). When the workpiece center 1cp falls within the insertable range, the workpiece that is pressed toward the object is inserted into the hole.
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Citations
16 Claims
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1. An assembling method for inserting a workpiece into an object at an insertion position using a robot, comprising the steps of:
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setting search ranges and different periods of reciprocating motions and allowable ranges within which the workpiece is insertable into the object for a plurality of search directions; and finding the insertion position by simultaneously performing the reciprocating motions of the workpiece relative to the object in the plurality of search directions while pressing the workpiece against the object in a pressing direction using the robot such that while the workpiece is moved by the set search range in the reciprocating motion of a first period in one search direction, the workpiece is moved by an amount not greater than the set allowable range in the reciprocating motion in another search direction of a second period next shortest to the first period. - View Dependent Claims (2, 3, 4, 5)
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6. An assembling apparatus for inserting a workpiece into an object at an inserting position using a robot, comprising:
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search motion defining means for defining a composite search motion of simultaneous reciprocating motions of the workpiece relatively to the object at different periods in a plurality of search directions to find the insertion position; control means for controlling a motion of the workpiece held by the robot to perform the composite search motion while pressing the workpiece against the object; and detecting means for detecting finding of the insertion position. - View Dependent Claims (7, 8, 9, 10, 11, 12, 13, 14, 15, 16)
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Specification