CN105811219A - Position aligning method - Google Patents
Position aligning method Download PDFInfo
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- CN105811219A CN105811219A CN201610027727.8A CN201610027727A CN105811219A CN 105811219 A CN105811219 A CN 105811219A CN 201610027727 A CN201610027727 A CN 201610027727A CN 105811219 A CN105811219 A CN 105811219A
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- implement
- bias
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- terminal
- robot
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- 238000000034 method Methods 0.000 title claims abstract description 65
- 238000012937 correction Methods 0.000 claims abstract description 44
- 230000009466 transformation Effects 0.000 claims abstract description 8
- 238000005259 measurement Methods 0.000 claims description 32
- 230000007246 mechanism Effects 0.000 description 42
- 238000003780 insertion Methods 0.000 description 24
- 230000037431 insertion Effects 0.000 description 24
- 238000004519 manufacturing process Methods 0.000 description 16
- 239000000203 mixture Substances 0.000 description 16
- NJPPVKZQTLUDBO-UHFFFAOYSA-N novaluron Chemical compound C1=C(Cl)C(OC(F)(F)C(OC(F)(F)F)F)=CC=C1NC(=O)NC(=O)C1=C(F)C=CC=C1F NJPPVKZQTLUDBO-UHFFFAOYSA-N 0.000 description 16
- 230000008859 change Effects 0.000 description 9
- 238000001514 detection method Methods 0.000 description 7
- 239000011159 matrix material Substances 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 230000008569 process Effects 0.000 description 5
- 230000002093 peripheral effect Effects 0.000 description 4
- 230000009471 action Effects 0.000 description 2
- 230000001131 transforming effect Effects 0.000 description 2
- 230000005540 biological transmission Effects 0.000 description 1
- 230000007423 decrease Effects 0.000 description 1
- 230000003247 decreasing effect Effects 0.000 description 1
- 238000010586 diagram Methods 0.000 description 1
- 230000000694 effects Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002372 labelling Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
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Classifications
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- H—ELECTRICITY
- H01—ELECTRIC ELEMENTS
- H01R—ELECTRICALLY-CONDUCTIVE CONNECTIONS; STRUCTURAL ASSOCIATIONS OF A PLURALITY OF MUTUALLY-INSULATED ELECTRICAL CONNECTING ELEMENTS; COUPLING DEVICES; CURRENT COLLECTORS
- H01R43/00—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors
- H01R43/20—Apparatus or processes specially adapted for manufacturing, assembling, maintaining, or repairing of line connectors or current collectors or for joining electric conductors for assembling or disassembling contact members with insulating base, case or sleeve
Abstract
The invention provides a position aligning method which reduces inherent error factors of various devices caused by dimension precision and shortens time needed by location operation in each operation. Under the condition that assembly operation of assembling a wire with terminals on a connector housing by using a plurality of independent operation devices, position errors caused by the inherent error factors of each device are reduced by correction in advance. A correcting value equivalent to the inherent error factor of a first device side and a correcting value (S20) equivalent to the inherent error factor of a second device side are substituted into a transform which performs coordinate transformation between robot coordinates and world coordinates. Since the inherent location errors of devices can be greatly reduced, time needed by position aligning is reduced, and precise position aligning is easily performed. The method comprises: measuring to determine position deviation parallel to directions of X-axis, Y-axis, and Z-axis, rotation of each rotating shaft, and correction ratio (S18).
Description
Technical field
The present invention relates to aligned in position method, this aligned in position method is used for: utilization can keep the 1st implement of the 1st device, can keep the 2nd implement of the 2nd device, at least move described 2nd implement, automatically assemble the operation of described 2nd device at described 1st device.
Background technology
Such as, it is the implement for automatically carrying out assembling operation that the automatic terminal shown in patent documentation 1 inserts machine, and this assembling operation is for inserting connector shell by the terminal with terminal wires.In this implement, clamp with supporting rod and support the Cord section with terminal wires.It addition, be provided with wire guide parts between the terminal block and supporting rod of placing terminal to limit the swing of the left and right directions of this Cord section, it is provided with electric wire pressing piece to correct the swing of above-below direction at wire clamping part.
Namely, when the automatic terminal of patent documentation 1 inserts machine, supporting rod etc. is supported with terminal wires relatively aligned in position between the connector shell being arranged in the fixing particular place in position, insert terminal at the chamber of connector shell afterwards, band terminal wires is assembled in connector shell.
Prior art literature
Patent documentation
Patent documentation 1: Japanese Unexamined Patent Publication 2001-160472 publication
Summary of the invention
The problem that the present invention is intended to solve
It is such that automatic terminal as Patent Document 1 inserts machine, when implementing the operation assembled by 2 devices, when the position of of 2 devices is fixed, use operation robot moves another of 2 devices, by the aligned in position of 2 devices, implement insertion etc. afterwards and assemble.
Such as, under the situation that the position of of 2 devices is limited to a position, the position of another device that management operation holds with robot, by utilizing the driving of described operation robot that to destination locations, another device described is moved scheduled volume such that it is able to 2 device positions are alignd.
But, in the assembling operation of actual device, from the viewpoint such as working performance, yield rate, it is necessary to be susceptible to the situation of complexity.Such as, when manufacturing automobile-used wire harness, owing to respectively the terminal with terminal wires must be inserted efficiently kind, variform many connector shells, so, many connector shells side by side and when configuring, can carried out the insertion operation with terminal wires in mutually different position.So, insert the position likely change when inserting every time of the purpose connector shell of target, every time must by connector shell and band terminal wires aligned in position.
It addition, when inserting the change in location of purpose connector shell of target, utilize the driving of operation robot to move merely band terminal wires and can not carry out aligned in position accurately.Namely, the movement of general operation robot is in the direction, top to bottom, left and right, front and rear relative to this operation robot self, in contrast, purpose connector shell owing to inserting target is arranged in certain position in three dimensions, therefore when the amount of movement etc. of computational tasks robot, it is necessary to carry out coordinate transform and in three dimensions aligned in position.
It addition, when carrying out when being assembled into the operation of connector shell with terminal wires, the operation high in order to realize degree of freedom, it is necessary to the parallel rod robot that multiple linkage parallel combinations are constituted.Such parallel rod robot the movement of device, gradient adjustment etc. in can obtain high-freedom degree, but be difficult to improve positional precision.Such as, the precision of device because constituting parallel rod robot can cause when having and produces relatively larger deviation between amount of movement in design and the amount of movement of reality.
It addition, when such as manufacture platform etc. configures many connector shells side by side, because the physical location of each connector shell and the position deviation in design can be caused when the precision of described manufacture platform etc. has.
About operation robot etc., for instance use photographing unit etc., from the purpose device of the image automatic identification mobile destination of shooting such that it is able to correction position deviation, correctly aligned in position automatically.But, when producing relatively larger position deviation, it is impossible to correctly identify image, need long probability high for aligned in position.
Such as, in order to carry out aligned in position with high accuracy, need to carry out the very limited amount of narrow regions for comprising destination locations is shot the process that the benchmark image of the image obtained and decision in advance compares, when producing big position deviation, it is impossible to what utilize image relatively carrys out correction position.Or, owing to repeat identical control in the way of the region comprising benchmark image by correction position bit by bit, the therefore time lengthening needed for aligned in position.
It addition, in actual flow chart, owing to configuring many devices, each device is repeatedly repeated identical operation, if therefore implement time-consuming aligned in position when every 1 subjob, then assemble all of device and can expend for a long time, it is impossible to effectively manufacture goods.
Such as, if able to reduce the intrinsic error factor of the various equipment caused because of dimensional accuracy etc., so for relative position during by the 2 of manufacturing object device position alignment, the error of the position in design and physical location can be reduced, the time needed for carrying out the positioning operation of every 1 subjob can be shortened, or improve positioning precision.
The present invention completes in view of the foregoing, its object is to provide a kind of aligned in position method, it is possible to the intrinsic error factor of the various equipment that minimizing causes because of dimensional accuracy etc., shortens the time needed for the positioning operation that every 1 subjob carries out.
For solving the scheme of problem
For reaching above-mentioned purpose, aligned in position method involved in the present invention is characterised by following (1)～(10).
(1) a kind of aligned in position method, it is used for: utilization can keep the 1st implement of the 1st device, can keep the 2nd implement of the 2nd device, at least move described 2nd implement, carry out automatically assembling the operation of described 2nd device at described 1st device, described aligned in position method is characterised by
Robot coordinate in the state of the world coordinates and described 2nd implement of expression that represent three-dimensional position is deposited in case, use according to representing that the described robot coordinate predetermined coordinate transform formula with the relation of described world coordinates has converted the result of the controlled quentity controlled variable for described 2nd implement, by described 1st device or described 1st implement and described 2nd device or described 2nd implement aligned in position, and
Obtain the 1st group of bias of the bias of the elements of fix of the normal condition representing described 1st implement,
Obtain the 2nd group of bias of the bias of the elements of fix of the normal condition representing described 2nd implement,
Bring the 1st corrected value being equivalent to described 1st group of bias and the 2nd corrected value being equivalent to described 2nd group of bias in described coordinate transform formula, the result of the correction of acquisition bias is as the transformation results of described coordinate transform formula.
(2) it is the aligned in position method of above-mentioned (1), it is characterised in that
As described 1st implement, utilize the outer shape with circle, described 1st device circumferentially can be configured multiple fixed stations side by side,
As described 2nd implement, utilize the parallel rod robot constituted by multiple linkage parallel combinations.
(3) it is the aligned in position method of above-mentioned (1), it is characterised in that
As described 1st device, utilize connector shell,
As described 2nd device, utilize the electric wire with terminal.
(4) it is the aligned in position method of above-mentioned (1), it is characterised in that
When the bias measuring the elements of fix of normal condition of described 2nd implement,
Will be formed with the fixture of predetermined correction datum hole and be loaded in the fixed position of described 2nd implement, based on movable position and the relative position relation of described correction datum hole of described 2nd implement, at least grasp origin position and actual amount of movement.
(5) it is the aligned in position method of above-mentioned (1), it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
Movable part at described 2nd implement loads the sensor of more than 1, uses described sensor to measure the position at the benchmark position of described 1st implement.
(6) it is the aligned in position method of above-mentioned (5), it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
While rotating the circular supporting parts driving described 1st implement, using the described sensor each position to measure on circumference, at least obtaining the out of roundness of described supporting parts.
(7) it is the aligned in position method of above-mentioned (5), it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
While rotating the circular supporting parts driving described 1st implement, using described sensor to measure each position of the thickness direction of described supporting parts, obtaining the information of the gradient of at least described supporting parts.
(8) it is the aligned in position method of above-mentioned (1), it is characterised in that
When measuring described 1st implement with the bias of the relative position of described 2nd implement,
Movable part at described 2nd implement loads the sensor of more than 1, periphery along the circular supporting parts of described 1st implement, the movable part making described 2nd implement lays respectively at the position of mutually different more than 3, each position of described 3, use described sensor to obtain positional information.
(9) it is the aligned in position method of above-mentioned (1), it is characterised in that
Described 2nd group of bias comprises the information of correction ratio, and this correction is than the ratio of the amount of movement in representation theory with the amount of movement of the reality obtained by measurement.
(10) a kind of aligned in position method, it is used for: utilization can keep the 1st implement of the 1st device, can keep the 2nd implement of the 2nd device, at least move described 2nd implement, carry out automatically assembling the operation of described 2nd device at described 1st device, described aligned in position method is characterised by
Robot coordinate in the state of the world coordinates and described 2nd implement of expression that represent three-dimensional position is deposited in case, use according to representing that the described robot coordinate predetermined coordinate transform formula with the relation of described world coordinates has converted the result of the controlled quentity controlled variable for described 2nd implement, by described 1st device or described 1st implement and described 2nd device or described 2nd implement aligned in position, and
Will be equivalent to the 1st corrected value of the 1st group of bias and be equivalent to the 2nd corrected value of the 2nd group of bias, as the constant obtained by prior measurement and be applied to described coordinate transform formula, carry out correction position deviation, wherein, described 1st group of bias represents the bias of the elements of fix of the normal condition of described 1st implement, and described 2nd group of bias represents the bias of the elements of fix of the normal condition of described 2nd implement.
The aligned in position method of the composition according to above-mentioned (1), calculating according to described coordinate transform formula, by various controlled quentity controlled variables from described robot coordinate transform to described world coordinates time, the 2nd group of bias that the 1st group of bias that intrinsic characteristic (dimensional accuracy etc.) owing to correcting described 1st implement respectively causes, the intrinsic characteristic of described 2nd implement cause, so, the site error of original state when being alignd with described 2nd device position by described 1st device is greatly decreased.Therefore, positional precision during from this original state by described 1st device and described 2nd device more closely aligned in position improves, and the time needed for this aligned in position also is able to shorten.
The aligned in position method of the composition according to above-mentioned (2), utilizes the fixed station of the outer shape with circle such that it is able to prepares multiple described 1st devices in advance, and these is assembled successively to described 2nd device.It addition, utilize described parallel rod robot, thus the degree of freedom of the mobile route etc. during mobile described 2 device improves, it is possible to respectively described 2nd device is carried out aligned in position relative to described 1st device being arranged in various position.It addition, the positioning precision of described parallel rod robot is low, but when calculating described coordinate transform formula, owing to utilizing described 2nd corrected value to carry out correction position, it is possible to suppress the decline of positioning precision.
The aligned in position method of the composition according to above-mentioned (3), described 1st implement and described 2nd implement can be used, by described connector shell and the described electric wire aligned in position with terminal, the terminal of the described electric wire with terminal is inserted the chamber of described connector shell.Therefore, it is possible to utilize in manufacturing the processes such as automobile-used wire harness.
The aligned in position method of the composition according to above-mentioned (4), uses described correction datum hole, it is possible to the movable part level of described 2nd implement is really aligned in origin position, or grasps the actual amount of movement at described movable position.
The aligned in position method of the composition according to above-mentioned (5), it is possible to use described sensor, correctly grasps the movable part actual position relationship relative to the benchmark position of described 1st implement of described 2nd implement.
The aligned in position method of the composition according to above-mentioned (6), it is possible to grasp the out of roundness of described supporting parts, thereby, it is possible to predict the position deviation of the radial direction of the described supporting parts relevant to the position being configured with described 1st device.
The aligned in position method of the composition according to above-mentioned (7), owing to will appreciate that the gradient of described supporting parts, therefore, it is possible to predict the position deviation of the thickness direction of the described supporting parts relevant to the position being configured with described 1st device.
The aligned in position method of the composition according to above-mentioned (8), due at each position acquisition positional information of described 3, so, when no matter which position described 1st device be present in, when moving the movable part of described 2nd implement and by described 2nd device position alignment, the position deviation that the intrinsic characteristic that can both grasp described 2nd implement causes and produces.
The aligned in position method of the composition according to above-mentioned (9), when having deviation between amount of movement in theory and the actual amount of movement obtained by measurement, it is possible to the information based on described correction ratio is corrected eliminating so that the deviation of amount of movement.
The aligned in position method of the composition according to above-mentioned (10), owing to using the constant determined in advance by the correct application of described 1st corrected value and described 2nd corrected value in described coordinate transform formula, therefore, in actual manufacturing process when described 1st device assembles described 2 device, can being positioned at correct position moment, this correct position eliminates the intrinsic error factor of the intrinsic error factor of described 1st implement, described 2nd implement under original state.Owing to the error of the position of this original state is very little, it is possible to perform from this position to the movement (correction of position) of more exact position in the short time.So, owing to positioning precision improves, it is possible to reduce and produce to insert failed frequency in the assembling operation of device, shorten the time needed for each assembling operation further such that it is able to improve the production efficiency of goods.
The effect of invention
Aligned in position method according to the present invention, the intrinsic error factor of the various equipment that minimizing causes because of dimensional accuracy etc., it is possible to shorten the required time of the positioning operation carried out when every 1 subjob.
Above, the present invention is understood in brief.And then, by referring to accompanying drawing the mode (being denoted as " embodiment " below) reading over invention for implementing following description, make the details of the present invention make clear further.
Accompanying drawing explanation
Fig. 1 is the flow chart of the concrete steps of the timing illustrating the aligned in position method for implementing the present invention.
Fig. 2 indicates that the vectogram of the form of the vector coordinate transform of the front and back moved in parallel between 2 three-dimensional coordinate systems.
Fig. 3 indicates that the schematic diagram of the content of coordinate transform formula.
The axonometric chart of the robot being mounted with fixture when Fig. 4 is to illustrate the initial adjustment carrying out robot coordinate system.
The robot being mounted with fixture and sensor when Fig. 5 is to illustrate the measurement being fixed platform and the axonometric chart of fixed station.
Fig. 6 (A) and Fig. 6 (B) is the axonometric chart illustrating robot and the fixed station being mounted with fixture and sensor, Fig. 6 (A) illustrates the state of the circumferential position of the radial direction of measurement housing base, and Fig. 6 (B) illustrates the state of the position of the thickness direction of measurement housing base.
Fig. 7 illustrates the terminal of robot to insert the head circumferential registration along housing base at the axonometric chart of the state of multiple positions.
Fig. 8 is the axonometric chart of the terminal inserting apparatus including 2 articulation mechanisms arranged side by side.
Fig. 9 is the axonometric chart illustrating terminal inserting apparatus.
Figure 10 (A) and Figure 10 (B) is figure, the Figure 10 (A) of the fixed station illustrating terminal inserting apparatus is the plane graph of fixed station, and Figure 10 (B) is side view.
Figure 11 is the side view of the articulation mechanism arranged side by side illustrating terminal inserting apparatus.
Figure 12 is the axonometric chart of the electric wire carrying implement illustrating terminal inserting apparatus.
The explanation of accompanying drawing labelling
10: fixed station
11: housing receiving portion
12: track component
13: housing base
14: motor part
20: articulation mechanism side by side
21: pedestal
22a, 22b, 22c: the 1st motor
23a, 23b, 23c: arm
24a, 24b, 24c: connecting rod
25: terminal inserts head
25c: wire clamping part
25f: the 2 motor
30: electric wire carrying implement
31: carrying track
32: moving body
33: transport clamping element
34: framework
35: air chuck main body
40: terminal measurement sensor
41: sensor station
51,52: fixture
53,54: contact digital sensor
80: connector shell
81: chamber
90: electric wire
91: terminal
Detailed description of the invention
Referring to each figure, the specific embodiment of the present invention is described.It addition, for ease of the aligned in position method understanding the present invention, the concrete manufacture equipment of initial explanation energy application site alignment schemes and terminal inserting apparatus, the method next illustrating to use this terminal inserting apparatus to carry out aligned in position.
[summary of terminal inserting apparatus]
Fig. 8 is the axonometric chart of the terminal inserting apparatus illustrating embodiments of the present invention.The terminal inserting apparatus of embodiments of the present invention comprise fixed station 10, joint arranged side by side (parallel rod) mechanism 20 and constitute.The terminal inserting apparatus of embodiments of the present invention also includes electric wire carrying implement 30, terminal measurement sensor 40.Below, fixed station 10, articulation mechanism arranged side by side 20, electric wire carrying implement 30 and terminal measurement sensor 40 are described in detail.
As shown in Figure 8,2 articulation mechanism 20A, 20B arranged side by side insert the terminal into the different connector shell 80 being arranged in fixed station 10 respectively.It addition, when this composition, electric wire carrying implement 30 includes 2 moving bodys 32A, 32B, moving body 32A holds one end of electric wire 90, and moving body 32B holds the other end of electric wire 90.And, the electric wire 90 of the state that one end and the other end are held by 2 moving bodys 32A, 32B is carried to precalculated position.So, electric wire carrying implement 30 carries electric wire with a circuit line unit.It addition, the measurement sensor of terminal measurement sensor 40 is arranged on 2 sensor station 41.1 measurement sensor 47A is with the terminal of the end that is positioned at the articulation mechanism 20A arranged side by side electric wire held for measurement object, and another measurement sensor 47B is with the terminal of the end that is positioned at the articulation mechanism 20B arranged side by side electric wire held for measurement object.Utilizing this composition, of 2 articulation mechanism 20A, 20B arranged side by side holds one end of electric wire 90, and another holds the other end of electric wire 90, and the different connector shell for connecting each end performs terminal insertion process.
In the terminal inserting apparatus of the embodiments of the present invention illustrated afterwards, in order to carry out more deep understanding, what illustrate is the form utilizing 1 articulation mechanism 20 arranged side by side to insert the terminal into connector shell, even if being utilize 2 articulation mechanism 20A, 20B arranged side by side to insert the form of terminal, owing to 2 articulation mechanism 20A, 20B arranged side by side are independent drivings, therefore terminal insertion process is also identical.
[composition of terminal inserting apparatus]
[details of fixed station 10]
Figure 10 (A) and Figure 10 (B) is figure, Figure 10 (A) of the fixed station of the terminal inserting apparatus illustrating embodiments of the present invention plane graph illustrating fixed station, and Figure 10 (B) illustrates side view.As shown in Fig. 9 and Figure 10 (A), Figure 10 (B), fixed station 10 is the parts for being positioned by connector shell 80, is arranged on the tabular surface of housing supporting station (not shown).Fixed station 10 includes: keep the housing receiving portion 11 of connector shell 80；It is fixed with the circular track component 12 of housing receiving portion 11；In the way of axle center is consistent with track component 12, this track component 12 is fixed on the housing base 13 of the disc-shape of upper surface 13a；The motor part 14 of lower surface 13b that be set with rotating shaft 14a in the way of consistent with the axle center of housing base 13, that be arranged on housing base 13.
Housing receiving portion 11 has the recess being formed with the inner surface substantially uniform with the shape of the lateral surface of connector shell 80.By being contained in the recess of housing receiving portion 11, thus connector shell 80 is positioned relative to housing receiving portion 11.Housing receiving portion 11 is fixed on track component 12 via the supporting station 11a of support housing receiving portion 11.It is fixed on a part of supporting station 11a for track component 12 along the radial direction of track component 12, extends in the outside of track component 12.Housing receiving portion 11 is fixed on the outside part extended at track component 12 of supporting station 11a.It addition, be fixed with multiple housing receiving portion 11 at track component 12, but these multiple housing receiving portions 11 are arranged in circular track component 12 at predetermined intervals.Therefore, it is fixed on the connector shell 80 of multiple housing receiving portion 11 and is configured that when being sequentially connected the position of adjacent connector shell 80, the set of its line segment being connected is integrally formed circular.It addition, shown in Figure 10 (A) and Figure 10 (B), connector shell 80 is maintained at housing receiving portion 11 so that the front surface of this connector shell 80 that the opening of chamber 81 exposes is positioned at the outside of track component 12.Now, the bearing of trend of chamber 81 of the connector shell of housing receiving portion 11 it is maintained at along the radial arrangement of track component 12.
Track component 12 is the flat circle ring part that the inside of circular flat board is run through, by embedding a part for housing base 13 therein, thus being fixed on this housing base 13.Track component 12 is 2 semicircular flat boards and sets at grade.Preferably, the track component 12 when housing receiving portion 11 maintains connector shell 80 is fixed on housing base 13, implements the terminal insertion to each connector shell 80.
Housing base 13 is 3 disc 13c, 13d, 13e stackings in the way of axle center is consistent that diameter is different, and these discs 13c, 13d, 13e are the parts formed as one.The diameter of disc 13c is substantially uniform with the internal diameter of track component 12.Its track component 12 is embedded, thus track component 12 is fixed relative to disc 13c by disc 13c.It addition, the diameter of disc 13d is substantially uniform with the external diameter of track component 12.The lower surface relative to the disc 13c track component 12 fixed is supported, thus track component 12 is held stably relative to housing base 13 by the upper surface 13a of disc 13d.It addition, disc 13e is provided with motor part 14 at lower surface 13b.The axle center of disc 13e is consistent with the axle center of the rotating shaft 14a of motor part 14, and housing base 13 rotates along with the rotation of motor part 14.As a result of which it is, be fixed on the track component 12 rotation also with motor part 14 of the disc 13c of housing base 13, rotate centered by rotating shaft 14a.Therefore, rotating in a circumferential direction of the annulus that multiple connector shells 80 of each housing receiving portion 11 are also formed it is fixed at these housings.
Motor part 14 is supported by this tabular surface, and rotating shaft is vertical with the tabular surface of housing supporting station (not shown).Supported by the tabular surface of housing supporting station by motor part 14, thus fixed station 10 is arranged on housing supporting station.In motor part 14, the revolving force of motor is transferred to housing base 13 via various gears, and housing base 13 rotates.Motor part 14 accepts the control signal from predetermined control device (not shown), controls the rotation of motor.
In the terminal inserting apparatus of embodiments of the present invention, multiple connector shells 80 are arranged in fixed station 10 with circular.Therefore, the terminal inserting apparatus of embodiments of the present invention is such not necessarily like conventional terminal inserting apparatus, guarantee the space significantly pulled open at width for multiple connector shells being configured to string, as long as guaranteeing that width can receive the space of fixed station 10 degree.Therefore, the structure of above-mentioned fixed station 10 contributes to the miniaturization of terminal inserting apparatus.
[details of articulation mechanism 20 arranged side by side]
Figure 11 is the side view of the articulation mechanism arranged side by side of the terminal inserting apparatus illustrating embodiments of the present invention.Articulation mechanism 20 arranged side by side be move for inserting the terminal into connector shell 80 terminal insert 25 robot driving mechanism, be installed in articulation mechanism supporting station (not shown) arranged side by side.Articulation mechanism 20 arranged side by side as shown in figure 11, including: be arranged on the pedestal 21 of articulation mechanism supporting station arranged side by side；It is arranged on 3 the 1st motors 22a, 22b, 22c on pedestal 21；3 arms 23a, 23b, 23c that respective one end is connected with the rotating shaft of the 1st motor 22a, 22b, 22c and drives；3 connecting rods 24a, 24b, 24c that respective one end is connected with the other end of arm 23a, 23b, 23c via universal joint, transmission gear；Via the terminal insertion 25 that the other end of universal joint and 3 connecting rods 24a, 24b, 24c connects.Articulation mechanism 20 arranged side by side is by controlling the rotation amount of 3 the 1st motors 22a, 22b, 22c, and make angle of inclination and connecting rod 24a, 24b, 24c angle change relative to arm 23a, 23b, 23c of arm 23a, 23b, 23c such that it is able to make terminal insertion 25 go forward side by side in 3 directions along XYZ.Articulation mechanism 20 arranged side by side accepts to come the control signal of self-control device, controls the rotation of the 1st motor 22a, 22b, 22c.
Further, terminal insertion 25 has: the hands pedestal 25a connected via the other end of universal joint and 3 connecting rods 24a, 24b, 24c；The electric wire being rotatably installed on hands pedestal 25a at rotating direction holds main body 25b；Hold a part for the electric wire comprising the terminal being connected with end, be located at the wire clamping part 25c that electric wire holds the end of main body 25b；It is arranged on hands pedestal 25a, electric wire is held main body 25b relative to hands pedestal 25a the 2nd motor 25f rotated at pitch orientation (direction around X-axis of Figure 11), yawing moment (direction around Z axis of Figure 11)；It is arranged on hands pedestal 25a, electric wire is held main body 25b relative to hands pedestal 25a the 3rd motor 25d rotated at rotating direction (direction around Y-axis of Figure 11)；Detection acts on the pressure transducer 25g of the external force of wire clamping part 25c.It addition, in the present embodiment, the composition being provided with the 2nd motor 25f and the 3 motor 25d at hands pedestal 25a is adopted but it also may adopt and the 2nd motor 25f and the 3 motor 25d is located at the composition on pedestal 21.In this case, via telescopic shaft and universal joint, the 2nd motor 25f and the 3 motor 25d is arranged on the structure of hands pedestal 25a by adopting, thus terminal to insert 25 rotatable at pitch orientation, yawing moment, rotating direction.Additionally, have employed, with 1 the 2nd motor 25f, electric wire held the main body 25b composition rotated in pitch orientation and yawing moment, it may also be constitute as follows: will be equivalent to the motor of the 2nd motor 25f and install 2 at hands pedestal 25a, one motor is rotated by it and makes electric wire holding main body 25b rotatable in pitch orientation, and it is rotatable at yawing moment that another motor makes electric wire hold main body 25b by its rotation.
Electric wire holds main body 25b and has the cylinder sending into air to wire clamping part 25c, and wire clamping part 25c clamping element when holding main body 25b feeding air from electric wire is closed, and when not sending into air, clamping element is opened.Articulation mechanism 20 arranged side by side accepts to come the control signal of self-control device, controls electric wire and holds the main body 25b opportunity to wire clamping part 25c feeding air.
It addition, hold main body 25b for electric wire, by controlling the rotation amount of the 2nd motor 25f and driving, thus the posture that electric wire holds main body 25b rotates at pitch orientation, yawing moment.Additionally, electric wire holds main body 25b and has the driving axle 25e that the rotating shaft with the 3rd motor 25d links, by controlling the rotation amount of the 3rd motor 25d and making driving axle 25e rotate relative to hands pedestal 25a such that it is able to make the posture that electric wire holds main body 25b rotate at rotating direction.As a result of which it is, the posture by the electric wire of wire clamping part 25c also rotates at pitch orientation, yawing moment and rotating direction.Articulation mechanism 20 arranged side by side accepts to come the control signal of self-control device, controls the rotation of the 2nd motor 25f and the 3 motor 25d.
It addition, wire clamping part 25c includes front side chuck 25c1 and rear side chuck 25c2.In embodiments of the present invention, each chuck 25c1,25c2 are respectively when closing the crust of electric wire when being partially sandwiched between clamping element, thus wire clamping part 25c holds electric wire.So, when wire clamping part 25c can not also hold terminal 91, the terminal clamping element being used for holding terminal 91 is not located at electric wire holding main body 25b.Hereby it is achieved that electric wire holds the lightweight of main body 25b, and then realize the lightweight of terminal insertion 25.As a result of which it is, be capable of the shortening of the raising of speed of action of articulation mechanism 20 arranged side by side, circulation time, it is possible to realize the raising of the working performance of articulation mechanism 20 arranged side by side.
[details of electric wire carrying implement 30]
Figure 12 is the axonometric chart of the electric wire carrying implement of the terminal inserting apparatus illustrating embodiments of the present invention.Electric wire carrying implement 30 is the equipment that the electric wire 90 being provided with terminal 91 at end is transported to precalculated position.As shown in figure 12, electric wire carrying implement 30 includes: the carrying track 31 extended along X-direction；The moving body 32 slid freely on carrying track 31；Hold a part for the electric wire 90 comprising the terminal 91 being connected with end, be located at the terminal insertion 25 of moving body 32；The framework 34 of supporting carrying track 31；An air chuck main body 35 for 25 feeding air is inserted to terminal.In embodiments of the present invention, moving body 32 carrying track 31 on movement towards be equivalent to X-axis towards.
Moving body 32 includes motor, and the revolving force of this motor is transformed to the propulsive force of the long side direction carrying track 31 and can slide on carrying track 31.Moving body 32 accepts to come the control signal of self-control device, controls the rotation of motor.
It addition, moving body 32 has inserts an air chuck main body 35 for 25 feeding air to terminal, terminal inserts a 25 clamping element closedown when sending into air from moving body 32, and when not sending into air, clamping element is opened.Moving body 32 accepts to come the control signal of self-control device, controls to insert an opportunity for 25 feeding air to terminal.
It is pre-aligned that articulation mechanism 20 arranged side by side holds the position of the electric wire 90 carried by moving body 32.That is, moving body 32 moves on carrying track 31 and stops in the precalculated position predetermined, and on the other hand, articulation mechanism 20 arranged side by side makes the electric wire carried by moving body 32 as being positioned at the position predetermined, towards this position.As a result of which it is, articulation mechanism 20 can hold the electric wire 90 carried by moving body 32 side by side, on the other hand, moving body 32, after electric wire 90 is held by articulation mechanism 20 arranged side by side, releases self holding to electric wire 90.By this series of processes, supply electric wire 90 to articulation mechanism 20 arranged side by side.
[details of terminal measurement sensor 40]
Terminal measurement sensor 40 is the equipment of the XZ coordinate that measurement is positioned at the anglec of rotation of rotating direction of terminal 91 of the end of the electric wire 90 that articulation mechanism 20 arranged side by side holds and the end of terminal 91 is positioned at.In embodiments of the present invention, the wire clamping part 25c of articulation mechanism 20 arranged side by side clips the part of the crust of electric wire 90 at 2 positions, and articulation mechanism 20 arranged side by side carries this electric wire 90, and terminal 91 inserts the chamber 81 of connector shell 80.Now it is necessary to consider that terminal 91 rotates at rotating direction.And, must take into the electric wire 90 caused because of the weight of terminal 91 to hang down or because of curling the caused bounce-back of electric wire, more specifically electric wire 90, from position the hanging down or rebounding to electric wire 90 end that the front side chuck 25c1 of wire clamping part 25c holds.Terminal measurement sensor 40 detection terminal 91 is to the terminal 91 that the causes gradient relative to Y direction that hangs down or rebound of the anglec of rotation of rotating direction and this electric wire 90.
[aligned in position of terminal inserting apparatus]
[explanation of coordinate transform]
Incidentally, when the operation carrying out using terminal to insert 25 each chambers that the electric wire with terminal inserts connector shell 80 on fixed station 10, it is necessary to grasp the position coordinates on the three dimensions of reality or the common position coordinates of all devices carries out the aligned in position of chamber and terminal.This is world coordinates, is represented as representing the coordinate of each axial position of three-dimensional X, Y, Z.On the other hand, when driving articulation mechanism 20 arranged side by side to move to comprise the robot that terminal inserts 25, it is possible to use robot coordinate alone and robot coordinate to be controlled.When terminal insertion 25, as robot coordinate, there is the direction (X) that terminal direction of insertion (Y), upper direction (Z) are vertical with being equivalent to Y, Z.
Therefore, robot coordinate moves terminal insertion 25, when inserting the terminal into a position of 25 electric wires with terminal held and be arranged in the aligned in position of three-dimensional connector shell 80, it is necessary to by the controlled quentity controlled variable of robot from robot coordinate coordinate transform to world coordinates.
The form of the general vector coordinate transform of the front and back moved in parallel between 2 three-dimensional coordinate systems is as shown in Figure 2.It addition, the content of calculating formula that general three-dimensional coordinate transformation uses is as shown in Figure 3.
That is, when transforming to another coordinate from one of 2 coordinate systems represented by this three axle of X, Y, Z, along with moving in parallel the change that can produce the vector shown in Fig. 2.It addition, by using the coordinate transform formula shown in Fig. 3 such that it is able to consider Fig. 2 that Adjoint Coordinates converts such move in parallel, the impact that rotates and obtain correct transformation results.
It practice, by the determinant using " homogeneous transform matrix " shown in Fig. 3 such that it is able to carry out the coordinate transform between robot coordinate and world coordinates.As it is shown on figure 3, " homogeneous transform matrix " is expressed as, " homogeneous movement matrix " is with " homogeneous spin matrix " to be amassed.It addition, " homogeneous spin matrix " comprises each matrix rotating around X-axis, rotating around Y-axis, rotate about the z axis as shown in Figure 3.
Therefore, what control robot controls device by carrying out the calculating of the coordinate transform formula of the content shown in Fig. 3, i.e. " homogeneous transform matrix ", thus the controlled quentity controlled variable of robot is transformed to world coordinates from robot coordinate, it is possible to make position and connector shell 80 aligned in position on actual three dimensions of the electric wire with terminal that robot moves.
[explanation of position deviation]
[the position deviation of robot side]
In the described terminal inserting apparatus shown in Fig. 8～Figure 12, robot owing to moving terminal insertion 25 utilizes articulation mechanism 20 arranged side by side to be driven, so terminal inserts the movement of 25, to rotate relevant degree of freedom high, but there is the tendency of reduction in positioning precision on the contrary.
Such as, because constituting the deviation of the dimensional accuracy (length etc.) of each device of multiple connecting rod 24a, 24b, 24c of articulation mechanism 20 arranged side by side, it is possible to cause: produce deviation between amount of movement and the amount of movement of reality in design when robot moves terminal insertion 25.That is, there is the error factor that robot is intrinsic in each equipment.So, if not carrying out certain correction to get rid of error factor as above, when error is big, it is difficult to aligned in position.
Error factor about the robot side moving terminal insertion 25, it is possible to utilize these 7, (1)～(7) being exemplified below to represent.
(1) Δ X: represent the bias of the parallel position deviation of X-direction
(2) Δ Y: represent the bias of the parallel position deviation of Y direction
(3) Δ Z: represent the bias of the parallel position deviation of Z-direction
(4) Δ α: represent the bias of the rotation around X-axis
(5) Δ β: represent the bias of the rotation around Y-axis
(6) Δ γ: the bias of expression rotation about the z axis
(7) Cr: correction is than the amount of movement in (Calibration:Ratio)=actual amount of movement/design
[the position deviation of fixed station side]
In the described terminal inserting apparatus shown in Fig. 8～Figure 12, with the aligned in position of the chamber of specific connector shell 80 when multiple connector shells 80 being configured side by side on the circumference of the housing base 13 of fixed station 10 as Suo Shi Figure 10 (A), insert the terminal into the wire clamping part 25c of 25 electric wire with terminal held and position.
Therefore, when switching the connector shell 80 of insertion target of each electric wire with terminal every time, the position of connector shell 80 can change, and must insert the terminal into 25 along the circumference of housing base 13 every time and carry out aligned in position from different positions.
Additionally, such as when being alignd as initial point enforcing location in the center of the circle of housing base 13, because the out of roundness of the scale error of radius of housing base 13, housing base 13 can cause the position deviation producing radially (radiation direction) in the position that each connector shell 80 actually configures.Further, when housing base 13 configures relative to the planar tilt parallel with XY axle, due to the position difference of the circumferencial direction of housing base 13, the position deviation because gradient causes can be produced.
[explanation of the aligning step of terminal inserting apparatus]
Fig. 1 illustrates the concrete steps of the timing of the aligned in position method for implementing the present invention.That is, after each equipment being provided with the terminal inserting apparatus shown in Fig. 8～Figure 12 or implement after certain is rebuild until starting to manufacture goods, in order to get rid of the intrinsic error factor of each equipment, the operation of the aligning step shown in Fig. 1 is implemented.Then, this aligning step is utilized to obtain the correction data that correction is required.
It addition, about actual correction operation, the installation of the special fixture that is corrected by the manual work of operator, sensor etc., taking off, the movable part moving each equipment as required is implemented to measure.It is saved in the control device of terminal inserting apparatus as the correction data that obtain of result of measurement, can read when implementing the manufacturing process of reality and utilize.
Fig. 4 illustrates the outward appearance of the robot being mounted with fixture when initially adjusting carrying out robot coordinate system.
In the step S11 of Fig. 1, by the manual work of operator, the fixture needed for correction operation is loaded as shown in Figure 4.In the example shown in Figure 4, movable part and terminal in robot insert 25 loading fixture 51, at fixed part and pedestal 21 stationary fixture 52 of robot.Fixture 52 in fixing side is formed with multiple correction datum hole (not shown).Specifically, there is 1 the correction datum hole representing origin position；Be respectively formed in the positive and negative direction of X-axis relative to origin position, Y-axis positive and negative direction is respectively offset from 4 correction datum holes of position of 50 [mm]；Be respectively formed in the positive and negative direction of X-axis relative to origin position, Y-axis positive and negative direction is respectively offset from 4 correction datum holes of position of 100 [mm].
In the step S12 of Fig. 1, the fixture 51 and 52 shown in Fig. 4 is used to carry out the initial adjustment of robot as described below.First, using the correction datum hole on the fixture 52 representing origin position, drive articulation mechanism 20 arranged side by side the position of mobile terminal insertion 25, the reference position (such as selling such projection) making fixture 51 is consistent with correction datum hole.At this moment, for instance also be able to utilize the image using the photographing unit (not shown) being arranged in terminal insertion 25 grade to shoot, automatically carry out aligned in position.
Additionally, the position of 2 correction datum holes that detection deviate from origin position in X-direction, detection is by the reference direction of the X-axis of these connections and moves articulation mechanism 20 arranged side by side and inserts the terminal into a gradient for 25 X-directions when X-direction is moved (θ 1).It addition, detect the gradient (θ 2) of Z-direction equally.
Further, drive articulation mechanism 20 arranged side by side, insert the terminal into the position of 25 other correction datum holes moving to deviation 100 [mm] from the position of the correction datum hole of initial point, calculate the drive volume needed for the distance of actually mobile 100 [mm], with the ratio of the drive volume in design as correction ratio.
The robot being mounted with fixture and sensor when Fig. 5 illustrates the measurement being fixed platform and the outward appearance of fixed station.
In the step S13 of Fig. 1, by the manual work of operator, as it is shown in figure 5, the fixture 51 in terminal insertion 25 loads high-precision 2 contact digital sensors 53 and 54, it is fixed the preparation of the measurement of platform 10.
One contact digital sensor 53 is as shown in Figure 5, configure from the center position of the lateral housing base 13 of the outer peripheral face of housing base 13, abutted with the face on the circumference of housing base 13 by end such that it is able to the position in detection face radially is as the relative distance from terminal insertion 25.Another contact digital sensor 54 is as shown in Figure 5, near the outer peripheral face of housing base 13, the thickness direction configuration of top, i.e. housing base 13, is abutted by the lower surface of end with housing base 13 from below against such that it is able to the position in the face of detection above-below direction.Alternatively, it is also possible to change step, 2 contact digital sensors 53 and 54 are installed singly successively, measure every time.
Fig. 6 (A) and Fig. 6 (B) is shown respectively the outward appearance of robot and the fixed station being mounted with fixture and sensor.Fig. 6 (A) illustrates the state of the circumferential position of the radial direction of measurement housing base, and Fig. 6 (B) illustrates the state of the position of the thickness direction of measurement housing base.
In the step S14 of Fig. 1, as shown in Fig. 6 (A), when configuring in the way of abutting with the circle-shaped outer peripheral face of housing (HSG) base 13 by the end of contact digital sensor 53, drive the motor of fixed station 10, while rotating housing base 13, with the position of contact digital sensor 53 detection radial direction.Thereby, it is possible to measurement is about the out of roundness of the shape of the circumference of housing base 13.
In the step S15 of Fig. 1, as shown in Fig. 6 (B), when configuring in the way of abutting with the lower surface near the circumference of housing (HSG) base 13 by the end of contact digital sensor 54, drive the motor of fixed station 10, while rotating housing base 13, detect the change of the position of thickness direction with contact digital sensor 54.Thereby, it is possible to measurement housing base 13 is relative to the gradient of X/Y plane.
Fig. 7 is showing along the circumference of housing base and the terminal insertion head of robot is positioned at the state of multiple position.
In the step S16 of Fig. 1, move the articulation mechanism arranged side by side 20 of robot, change terminal insert 25 position and towards, as it is shown in fig. 7, be positioned at the position of more than 3 in the way of opposed with the circumference of housing base 13 successively.Then, same with S15, the lower end of the end of contact digital sensor 54 with the thickness direction of housing base 13 is abutted, measures relative inclination and the height (Z coordinate) of housing base 13 in the position of each point.
In the step S17 of Fig. 1, move the articulation mechanism arranged side by side 20 of robot, change terminal insert 25 position and towards, as it is shown in fig. 7, be positioned at the position of more than 3 in the way of opposed with the circumference of housing base 13 successively.Then, same with S14, the end of contact digital sensor 53 is connected to the outer peripheral face on the circumference of housing base 13, detected value based on the contact digital sensor 53 measured in the position of each point, it is determined that the center position (X, Y coordinate) of terminal insertion 25 and housing base 13.
In the step S18 of Fig. 1, based on the measurement result of S12～S17, determine the intrinsic error factor group making terminal insert a 25 robot side moved respectively, namely described Δ X, Δ Y, Δ Z, Δ α, Δ β, Δ γ and Cr (correction than).
In the step S19 of Fig. 1, based on the measurement result of S12～S17, determine the intrinsic error factor group of fixed station 10 side respectively, namely S14 obtains the impacts such as the gradient of housing base 13 that obtains in the out of roundness of housing base 13, S15.
In the step S20 of Fig. 1, the coordinate transform formula (with reference to Fig. 3) that coordinate transform between the robot coordinate and world coordinates of terminal inserting apparatus uses is brought the corrected value of the error factor for correcting the robot side determined in S18, for correcting the corrected value of the error factor of fixed station 10 side determined in S19 into so that the error of the aligned in position that the terminal under the original state that aligned in position controls inserts 25 electric wire with terminal held and connector shell 80 is fully little.It addition, about the data of the content of the coordinate transform formula having brought corrected value in S20 into, each corrected value, in order to read in actual manufacturing process and utilize, for instance being saved in nonvolatile memory, predetermined data base.
[action of the manufacturing process of terminal inserting apparatus]
Insert with in the manufacturing process of the electric wire of terminal at each connector shell 80 being arranged on fixed station 10, it is necessary to aligned in position makes the position of the terminal ends of electric wire 90 substantially uniform with the position of the chamber of connector shell 80.Now, drive articulation mechanism 20 arranged side by side and adjust the control device that terminal inserts the position of 25, for instance the position of the terminal ends of electric wire 90 is transformed to world coordinates from robot coordinate, by terminal ends and connector shell 80 aligned in position on world coordinates.
Herein, when transforming to world coordinates from robot coordinate, by reading in and utilize the coordinate transform formula having brought described corrected value into such that it is able to the equipment intrinsic error factor of the equipment of robot side intrinsic error factor, fixed station 10 side is greatly reduced.That is, in order to move the position of the terminal ends of electric wire 90, robot is provided 1 command value, it is possible to move to the position that the relative position relation of terminal ends and connector shell 80 does not significantly deviate from desired value.So, it is easier to carry out the aligned in position of precision, it is possible to significantly shorten the time needed for aligned in position.Thereby, it is possible to shorten the circulation time of manufacturing process, carry out the manufacture of more effective goods.
Herein, feature brief summary by the embodiment of above-mentioned aligned in position method involved in the present invention is that [1]～[10] are remembered side by side individually below.
[1] a kind of aligned in position method, it is used for: the 2nd implement (parallel rod robot 20, terminal insertion 25) that utilize the 1st implement (fixed station 10) that can keep the 1st device (connector shell 80), can keep the 2nd device (electric wire 90), at least move described 2nd implement, carry out automatically assembling the operation of described 2nd device at described 1st device, described aligned in position method is characterised by
Robot coordinate in the state of the world coordinates and described 2nd implement of expression that represent three-dimensional position is deposited in case, use according to representing that the described robot coordinate predetermined coordinate transform formula (with reference to Fig. 3) with the relation of described world coordinates has converted the result of the controlled quentity controlled variable for described 2nd implement, by described 1st device or described 1st implement and described 2nd device or described 2nd implement aligned in position, and
Obtain the 1st group of bias (S19) of the bias of the elements of fix of the normal condition representing described 1st implement,
Obtain the 2nd group of bias (S18) of the bias of the elements of fix of the normal condition representing described 2nd implement,
Bring the 1st corrected value being equivalent to described 1st group of bias and the 2nd corrected value being equivalent to described 2nd group of bias in described coordinate transform formula, the result of the correction of acquisition bias is as the transformation results (S20) of described coordinate transform formula.
[2] such as the aligned in position method of above-mentioned [1], it is characterised in that
As described 1st implement, utilize the outer shape with circle, described 1st device circumferentially can be configured multiple fixed stations (10) side by side,
As described 2nd implement, utilize the parallel rod robot (20,25) constituted by multiple linkage parallel combinations.
[3] such as the aligned in position method of above-mentioned [1], it is characterised in that
As described 1st device, utilize connector shell (80),
As described 2nd device, utilize the electric wire (90) with terminal.
[4] such as the aligned in position method of above-mentioned [1], it is characterised in that
When the bias measuring the elements of fix of normal condition of described 2nd implement,
Will be formed with the fixture (52) of predetermined correction datum hole and be loaded in the fixed position (pedestal 21) of described 2nd implement, based on movable position and the relative position relation of described correction datum hole of described 2nd implement, at least grasp origin position and actual amount of movement (with reference to Fig. 4).
[5] such as the aligned in position method of above-mentioned [1], it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
Movable part at described 2nd implement loads the sensor (contact digital sensor 53,54) of more than 1, uses described sensor to measure the position (with reference to Fig. 6 (A), (B)) at the benchmark position of described 1st implement.
[6] such as the aligned in position method of above-mentioned [5], it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
While rotating the circular supporting parts (housing base 13) driving described 1st implement, while using the described sensor each position to measure on circumference, at least obtain the out of roundness (with reference to Fig. 6 (A)) of described supporting parts.
[7] such as the aligned in position method of above-mentioned [5], it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
While rotating the circular supporting parts (13) driving described 1st implement, while using described sensor to measure each position of the thickness direction of described supporting parts, at least obtain the information (with reference to Fig. 6 (B)) of the gradient of described supporting parts.
[8] such as the aligned in position method of above-mentioned [1], it is characterised in that
When measuring described 1st implement with the bias of the relative position of described 2nd implement,
Movable part at described 2nd implement loads the sensor of more than 1, periphery along the circular supporting parts of described 1st implement, the movable part making described 2nd implement lays respectively at the position of mutually different more than 3, each position of described 3, use described sensor to obtain positional information (with reference to Fig. 7).
[9] such as the aligned in position method of above-mentioned [1], it is characterised in that
Described 2nd group of bias comprises the information (S18) corrected than (Cr), the ratio of the amount of movement that this correction is actual than what the amount of movement in (Cr) representation theory and measurement obtained.
[10] a kind of aligned in position method, it is used for: utilization can keep the 1st implement (10) of the 1st device (80), can keep the 2nd implement (20,25) of the 2nd device (90), at least move described 2nd implement, carry out automatically assembling the operation of described 2nd device at described 1st device, described aligned in position method is characterised by
Robot coordinate in the state of the world coordinates and described 2nd implement of expression that represent three-dimensional position is deposited in case, use according to representing that the described robot coordinate predetermined coordinate transform formula with the relation of described world coordinates has converted the result of the controlled quentity controlled variable for described 2nd implement, by described 1st device or described 1st implement and described 2nd device or described 2nd implement aligned in position, and
Will be equivalent to the 1st corrected value of the 1st group of bias and be equivalent to the 2nd corrected value of the 2nd group of bias, as the constant obtained by prior measurement and be applied to described coordinate transform formula, carry out correction position deviation (not shown) wherein, 1st group of bias represents the bias of the elements of fix of the normal condition of described 1st implement, and the 2nd group of bias represents the bias of the elements of fix of the normal condition of described 2nd implement.
Claims (10)
1. an aligned in position method, it is used for: utilizes and can keep the 1st implement of the 1st device and can keep the 2nd implement of the 2nd device, at least move described 2nd implement, carry out automatically assembling the operation of described 2nd device at described 1st device, described aligned in position method is characterised by
Robot coordinate in the state of the world coordinates and described 2nd implement of expression that represent three-dimensional position is deposited in case, use according to representing that the described robot coordinate predetermined coordinate transform formula with the relation of described world coordinates converts the transformation results of the controlled quentity controlled variable for described 2nd implement, by described 1st device or described 1st implement and described 2nd device or described 2nd implement aligned in position, and
Obtain the 1st group of bias of the bias of the elements of fix of the normal condition representing described 1st implement,
Obtain the 2nd group of bias of the bias of the elements of fix of the normal condition representing described 2nd implement,
Bring the 1st corrected value being equivalent to described 1st group of bias and the 2nd corrected value being equivalent to described 2nd group of bias in described coordinate transform formula, the result of the correction of acquisition bias is as the transformation results of described coordinate transform formula.
2. aligned in position method as claimed in claim 1, it is characterised in that
As described 1st implement, utilize the outer shape with circle, described 1st device circumferentially can be configured multiple fixed stations side by side,
As described 2nd implement, utilize the parallel rod robot constituted by multiple linkage parallel combinations.
3. aligned in position method as claimed in claim 1, it is characterised in that
As described 1st device, utilize connector shell,
As described 2nd device, utilize the electric wire with terminal.
4. aligned in position method as claimed in claim 1, it is characterised in that
When the bias measuring the elements of fix of normal condition of described 2nd implement,
Will be formed with the fixture of predetermined correction datum hole and be loaded in the fixed position of described 2nd implement, based on movable position and the relative position relation of described correction datum hole of described 2nd implement, at least grasp origin position and actual amount of movement.
5. aligned in position method as claimed in claim 1, it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
Movable part at described 2nd implement loads the sensor of more than 1, uses described sensor to measure the position at the benchmark position of described 1st implement.
6. aligned in position method as claimed in claim 5, it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
While rotating the circular supporting parts driving described 1st implement, using the described sensor each position to measure on circumference, at least obtaining the out of roundness of described supporting parts.
7. aligned in position method as claimed in claim 5, it is characterised in that
When the bias measuring the elements of fix of normal condition of described 1st implement,
While rotating the circular supporting parts driving described 1st implement, using described sensor to measure each position of the thickness direction of described supporting parts, obtaining the information of the gradient of at least described supporting parts.
8. aligned in position method as claimed in claim 1, it is characterised in that
When measuring described 1st implement with the bias of the relative position of described 2nd implement,
Movable part at described 2nd implement loads the sensor of more than 1, periphery along the circular supporting parts of described 1st implement, the movable part making described 2nd implement lays respectively at the position of mutually different more than 3, each position of described 3, use described sensor to obtain positional information.
9. aligned in position method as claimed in claim 1, it is characterised in that
Described 2nd group of bias comprises the information of correction ratio, and this correction is than the ratio of the amount of movement in representation theory with the amount of movement of the reality obtained by measurement.
10. an aligned in position method, it is used for: utilizes and can keep the 1st implement of the 1st device and can keep the 2nd implement of the 2nd device, at least move described 2nd implement, carry out automatically assembling the operation of described 2nd device at described 1st device, described aligned in position method is characterised by
Robot coordinate in the state of the world coordinates and described 2nd implement of expression that represent three-dimensional position is deposited in case, use according to representing that the described robot coordinate predetermined coordinate transform formula with the relation of described world coordinates converts the transformation results of the controlled quentity controlled variable for described 2nd implement, by described 1st device or described 1st implement and described 2nd device or described 2nd implement aligned in position, and
Will be equivalent to the 1st corrected value of the 1st group of bias and be equivalent to the 2nd corrected value of the 2nd group of bias, as the constant obtained by prior measurement and be applied to described coordinate transform formula, carry out correction position deviation, wherein, described 1st group of bias represents the bias of the elements of fix of the normal condition of described 1st implement, and described 2nd group of bias represents the bias of the elements of fix of the normal condition of described 2nd implement.
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| Application Number | Priority Date | Filing Date | Title |
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| JP2015006947A JP6259401B2 (en) | 2015-01-16 | 2015-01-16 | Alignment method |
| JP2015-006947 | 2015-01-16 |
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| CN105811219A true CN105811219A (en) | 2016-07-27 |
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| CN109996653A (en) * | 2016-11-17 | 2019-07-09 | 株式会社富士 | Job position bearing calibration and Work robot |
| CN110072675A (en) * | 2016-12-13 | 2019-07-30 | 株式会社富士 | The destination locations bearing calibration of Work robot |
| CN112290344A (en) * | 2020-12-30 | 2021-01-29 | 季华科技有限公司 | Automatic wire harness inserting system, method and controller |
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| DE102018117802A1 (en) * | 2018-07-24 | 2020-01-30 | Krones Aktiengesellschaft | Method and control system for calibrating a handling device, in particular a parallel kinematics robot |
| JP7364636B2 (en) | 2021-09-27 | 2023-10-18 | 矢崎総業株式会社 | terminal insertion device |
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| Publication number | Priority date | Publication date | Assignee | Title |
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| CN109996653A (en) * | 2016-11-17 | 2019-07-09 | 株式会社富士 | Job position bearing calibration and Work robot |
| CN110072675A (en) * | 2016-12-13 | 2019-07-30 | 株式会社富士 | The destination locations bearing calibration of Work robot |
| CN110072675B (en) * | 2016-12-13 | 2022-04-19 | 株式会社富士 | Target position correction method for working robot |
| CN112290344A (en) * | 2020-12-30 | 2021-01-29 | 季华科技有限公司 | Automatic wire harness inserting system, method and controller |
Also Published As
| Publication number | Publication date |
|---|---|
| CN105811219B (en) | 2018-10-23 |
| JP6259401B2 (en) | 2018-01-10 |
| JP2016132049A (en) | 2016-07-25 |
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