Manufacturing method and manufacturing device for manufacturing a joined piece
First Claim
1. A manufacturing method for manufacturing a joined piece involving operating a robot according to pre-inputted instruction data to join a first member to a second member to create the joined piece, the method comprising:
- operating the robot so as to hold the second member at a holding position and photographing the second member using a camera to obtain a first positioning image of the second member at the holding position;
comparing the first positioning image to a reference image taken by a camera of a joining position of a reference second member joined to a reference first member;
determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image based on comparison results thereof;
determining, based on the deviation amount, a correction amount by which the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; and
correcting the holding position of the second member according to the correction amount, and then subsequently joining the second member to the first member to form the joined piece;
photographing the second member after the joining of the second member to the first member to obtain a joined image of the second member, comparing the joined image obtained thereby to the reference image, and confirming weather the second member joined to the first member is within a predetermined permissible range;
correcting the instruction data for the robot to the position of the second member yielded by the correction amount for the holding position of the second member that was determined when the joining position of the first member and the second member is confirmed to be within the permissible range andin response to correcting the instruction data to within the permissible range, welding the first member and the second member together.
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Accused Products
Abstract
A manufacturing method for joining first and second members to create a joined piece using a robot with pre-inputted instruction data. The method includes operating the robot to hold the second member for joining to the first member and photographing the second member to obtain an image of the second member at the holding position; comparing the image to a reference image of a joining position of a reference second member joined to a reference first member; determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image; determining a correction amount for correcting the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; correcting the holding position of the second member according to the correction amount, and then subsequently joining the first and second members.
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Citations
14 Claims
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1. A manufacturing method for manufacturing a joined piece involving operating a robot according to pre-inputted instruction data to join a first member to a second member to create the joined piece, the method comprising:
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operating the robot so as to hold the second member at a holding position and photographing the second member using a camera to obtain a first positioning image of the second member at the holding position; comparing the first positioning image to a reference image taken by a camera of a joining position of a reference second member joined to a reference first member; determining a deviation amount by which the holding position of the second member deviates from the joining position in the reference image based on comparison results thereof; determining, based on the deviation amount, a correction amount by which the holding position of the second member is to be corrected in order to reduce the deviation amount of the holding position of the second member; and correcting the holding position of the second member according to the correction amount, and then subsequently joining the second member to the first member to form the joined piece; photographing the second member after the joining of the second member to the first member to obtain a joined image of the second member, comparing the joined image obtained thereby to the reference image, and confirming weather the second member joined to the first member is within a predetermined permissible range; correcting the instruction data for the robot to the position of the second member yielded by the correction amount for the holding position of the second member that was determined when the joining position of the first member and the second member is confirmed to be within the permissible range and in response to correcting the instruction data to within the permissible range, welding the first member and the second member together. - View Dependent Claims (2, 3, 4, 5, 6, 7, 8, 9, 10, 11, 12)
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13. A manufacturing device comprising:
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a first robot configured to hold a first member; a second robot configured to hold a second member at a predetermined position on the first member; a third robot configured to hold the second member being held by the second robot to the first member at a holding position; a camera arranged to obtain an image of the second member being held to the first member or the second member joined to the first member; and a controller programmed to compare a first positioning image taken by the camera to a reference image taken by the camera and to correct the holding position at which the second member is being held by the second robot based on comparison of the first positioning image to the reference image, the first positioning image being an image of the second member being held at the holding position by the second robot being operated according to pre-inputted instruction data, and the reference image being an image of a second reference member joined to a first reference member, the camera photographing the second member after the joining of the second member to the first member to obtain a joined image of the second member, the controller comparing the joined image obtained thereby to the reference image, and confirming whether the second member joined to the first member is within a predetermined permissible range, the controller correcting the instruction data for the robot to the position of the second member yielded by the correction amount for the holding position of the second member that was determined when the joining position of the first member and the second member is confirmed to be within the permissible range and a welding device, in response to correcting the instruction data to within the permissible range, welding the first member and the second member together. - View Dependent Claims (14)
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Specification