CN105811219B - Aligned in position method - Google Patents
Aligned in position method Download PDFInfo
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- CN105811219B CN105811219B CN201610027727.8A CN201610027727A CN105811219B CN 105811219 B CN105811219 B CN 105811219B CN 201610027727 A CN201610027727 A CN 201610027727A CN 105811219 B CN105811219 B CN 105811219B
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- 238000000034 method Methods 0.000 title claims abstract description 59
- 238000012937 correction Methods 0.000 claims abstract description 40
- 238000005259 measurement Methods 0.000 claims description 50
- 230000007246 mechanism Effects 0.000 claims description 45
- 230000009466 transformation Effects 0.000 claims description 8
- 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 21
- 238000004519 manufacturing process Methods 0.000 description 16
- 238000003780 insertion Methods 0.000 description 11
- 230000037431 insertion Effects 0.000 description 11
- 239000011159 matrix material Substances 0.000 description 7
- 238000013461 design Methods 0.000 description 6
- 238000001514 detection method Methods 0.000 description 4
- 230000002093 peripheral effect Effects 0.000 description 4
- 238000010276 construction Methods 0.000 description 2
- 238000012545 processing Methods 0.000 description 2
- 239000007787 solid Substances 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
- 230000005611 electricity Effects 0.000 description 1
- 238000005516 engineering process Methods 0.000 description 1
- 230000007717 exclusion Effects 0.000 description 1
- 238000009434 installation Methods 0.000 description 1
- 238000002360 preparation method Methods 0.000 description 1
- 238000003825 pressing Methods 0.000 description 1
- 230000002035 prolonged effect Effects 0.000 description 1
- 230000001141 propulsive effect Effects 0.000 description 1
- 230000005855 radiation Effects 0.000 description 1
- 238000004904 shortening Methods 0.000 description 1
- 230000001131 transforming effect Effects 0.000 description 1
Classifications
-
- 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
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- Engineering & Computer Science (AREA)
- Manufacturing & Machinery (AREA)
- Automatic Assembly (AREA)
- Manipulator (AREA)
Abstract
The aligned in position method of the application reduces the intrinsic error factor of various equipment caused by dimensional accuracy etc., shortens the time needed for the positioning operation that every 1 subjob carries out.In the case where carrying out that the electric wire with terminal is assembled in the assembling operation of connector shell using independent multiple implements, the position error caused by the intrinsic error factor of each equipment is reduced using prior correction is carried out.Bring the correcting value (S20) of the correcting value for the intrinsic error factor for being equivalent to the 1st equipment side, the intrinsic error factor for being equivalent to the 2nd equipment side into the transform for carrying out the coordinate transform between robot coordinate and world coordinates.The position error intrinsic since equipment can be greatly reduced is easy to carry out more accurate aligned in position so the time needed for aligned in position is shortened.It measures to determine that the position parallel with each axis direction of X, Y, Z is deviateed, respectively around the rotation of axis, correction than (S18).
Description
Technical field
The present invention relates to aligned in position method, which is used for：Utilize the 1st operation that can keep the 1st device
Equipment, the 2nd implement that can keep the 2nd device at least move the 2nd implement, are assembled automatically in the 1st device
The operation of 2nd device.
Background technology
For example, it is the implement for carrying out assembling operation automatically that automatic terminal shown in patent document 1, which is inserted into machine, it should
Assembling operation is used to the terminal with terminal wires being inserted into connector shell.In the implement, it is clamped simultaneously with supporting rod
The Cord section of supporting strip terminal wires.In addition, being equipped with wire guide component between the terminal block and supporting rod of placing terminal
Come limit the Cord section left and right directions swing, the pendulum of upper and lower directions is corrected equipped with electric wire pressing piece in wire clamping part
It is dynamic.
That is, in the case of the automatic terminal insertion machine of patent document 1, by the band terminal wires of the bearings such as supporting rod with
Configuration relatively aligned in position between the connector shell of the fixed particular place in position, later in the chamber of connector shell
It is inserted into terminal, connector shell will be assembled in terminal wires.
Existing technical literature
Patent document
Patent document 1：Japanese Unexamined Patent Publication 2001-160472 bulletins
Invention content
The problem of present invention is to be solved
Automatic terminal as shown in Patent Document 1 is inserted into that machine is such, the operation for implementing to assemble 2 devices the case where
Under, in the state that one position of 2 devices is fixed, using operation with robot come move 2 devices another,
By the aligned in position of 2 devices, implement the assemblings such as insertion later.
For example, 2 devices one position restriction under the situation at a position, management operation held with robot
Another device position, another described device is moved to destination locations by using the driving of the operation robot
Dynamic predetermined amount, so as to be aligned 2 device positions.
But in the assembling operation of actual device, for the viewpoints such as operating efficiency, yield rate, it is necessary to imagine
To complicated situation.For example, in the case where manufacturing automobile-used harness, due to must be efficient by the terminal with terminal wires respectively
Ground be inserted into type, variform many connector shells, so, can by many connector shells in mutually different position
Side by side and in the state of configuration, the insertion operation with terminal wires is carried out.So being inserted into the position of the purpose connector shell of target
Being equipped with may change in each be inserted into, every time must be by connector shell and with terminal wires aligned in position.
In addition, in the case where being inserted into the change in location of purpose connector shell of target, operation robot is utilized
Driving cannot carry out accurate aligned in position to move band terminal wires merely.That is, the movement of general operation robot is
In the top to bottom, left and right, front and rear direction relative to operation robot itself, in contrast, since the purpose for being inserted into target connects
It connects device shell and configures certain position in three dimensions, therefore when calculating the amount of movement etc. of operation robot, need to carry out
Coordinate transform and the aligned in position in three dimensions.
In addition, into the case of being about to the sub- electric wire of band edge and be assembled into the operation of connector shell, in order to realize degree of freedom
High operation needs the parallel rod robot for constituting multiple link mechanism parallel combinations.Such parallel rod machine
People can obtain high-freedom degree in the movement of device, the adjustment of gradient etc., but be difficult to improve positional precision.For example, because of structure
Can cause in the case of having at the precision of the device of parallel rod robot amount of movement in design and actual amount of movement it
Between generate bigger deviation.
In addition, for example in the case where configuring many connector shells side by side on manufacturing platform etc., because of described manufacture platform etc.
Precision have in the case of the position in the physical location and design of each connector shell can be caused to deviate.
About operation robot etc., such as using camera etc., from the image automatic identification mobile destination of shooting
Purpose device deviates, correctly aligned in position so as to automatically correct position.However, deviateing generating bigger position
In the case of, image cannot be correctly identified, needs prolonged possibility high for aligned in position.
For example, in order to carry out aligned in position with high precision, need into being about to for comprising the very limited of destination locations
Image that narrow regions are shot, the processing being compared with the benchmark image being determined in advance deviate generating big position
When, it cannot be using the comparison of image come correction position.Alternatively, due to being approached comprising reference map with correction position bit by bit
The mode in the region of picture repeats identical control, therefore the time lengthening needed for aligned in position.
In addition, in actual flow chart, due to configuring many devices, each device is repeated several times and carries out identical work
Industry, so if implementing time-consuming aligned in position in every 1 subjob, then assembling all devices can expend for a long time,
It cannot effective article of manufacture.
Such as, if it is possible to the intrinsic error factor of the various equipment caused by dimensional accuracy etc. is reduced, then for
Relative position when 2 device positions of manufacturing object are aligned can reduce the error of the position and physical location in design,
The time needed for the positioning operation for carrying out every 1 subjob can be shortened, or improve positioning accuracy.
The present invention has been made in view of the above-described circumstances, and an object thereof is to provide a kind of aligned in position methods, can reduce
The intrinsic error factor of the various equipment caused by dimensional accuracy etc. shortens needed for the positioning operation that every 1 subjob carries out
Time.
The solution to the problem
In order to achieve the above objectives, aligned in position method according to the present invention is characterized in that following (1)~(10).
(1) a kind of aligned in position method, is used for：Using can keep the 1st implement of the 1st device, the 2nd device can be kept
2nd implement of part at least moves the 2nd implement, carries out assembling the 2nd device automatically in the 1st device
Operation, the aligned in position method is characterized in that,
In the robot coordinate of the world coordinates for indicating the position of three dimensions and the state for indicating the 2nd implement
In the presence of, using according to the scheduled coordinate transform formula for indicating the robot coordinate and the relationship of the world coordinates
Come converted for the 2nd implement controlled quentity controlled variable as a result, by the 1st device or the 1st implement, with
2nd device or the 2nd implement aligned in position, also,
The 1st group of bias of the bias of the elements of fix for the normal condition for indicating the 1st implement is obtained,
The 2nd group of bias of the bias of the elements of fix for the normal condition for indicating the 2nd implement is obtained,
It is brought into the coordinate transform formula and is equivalent to the 1st corrected value of the 1st group of bias and is equivalent to the described 2nd
2nd corrected value of group bias, obtains transformation results of the result of the correction of bias as the coordinate transform formula.
(2) be above-mentioned (1) aligned in position method, which is characterized in that
It, can be by the 1st device circumferentially simultaneously using with circular outer shape as the 1st implement
Row configure multiple fixed stations,
As the 2nd implement, the parallel rod robot for constituting multiple link mechanism parallel combinations is utilized.
(3) be above-mentioned (1) aligned in position method, which is characterized in that
As the 1st device, using connector shell,
As the 2nd device, the electric wire with terminal is utilized.
(4) be above-mentioned (1) aligned in position method, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 2nd implement,
The fixture for being formed with scheduled correction datum hole is loaded in the fixed position of the 2nd implement, is based on
The relative position relation at the movable position and the correction datum hole of the 2nd implement, at least grasp origin position and
Actual amount of movement.
(5) be above-mentioned (1) aligned in position method, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
1 or more sensor is loaded in the movable part of the 2nd implement, is measured using the sensor described
The position at the benchmark position of the 1st implement.
(6) be above-mentioned (5) aligned in position method, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
Rotation drives the circular bearing part of the 1st implement on one side, is measured on one side using the sensor
Each position on circumference at least obtains the out of roundness of the bearing part.
(7) be above-mentioned (5) aligned in position method, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
Rotation drives the circular bearing part of the 1st implement on one side, is measured on one side using the sensor
The each position of the thickness direction of the bearing part obtains the information of the gradient of at least described bearing part.
(8) be above-mentioned (1) aligned in position method, which is characterized in that
When measuring the 1st implement and the bias of the relative position of the 2nd implement,
1 or more sensor is loaded in the movable part of the 2nd implement, along the circle of the 1st implement
The periphery of the bearing part of shape makes the movable part of the 2nd implement be located at mutually different 3 points or more of position,
Described 3 points of each position, location information is obtained using the sensor.
(9) be above-mentioned (1) aligned in position method, which is characterized in that
The 2nd group of bias include correction ratio information, the correction than in representation theory amount of movement with by measuring
The ratio of the actual amount of movement arrived.
(10) a kind of aligned in position method, is used for：Using can keep the 1st implement of the 1st device, the 2nd can be kept
2nd implement of device at least moves the 2nd implement, carries out assembling the 2nd device automatically in the 1st device
The operation of part, the aligned in position method be characterized in that,
In the robot coordinate of the world coordinates for indicating the position of three dimensions and the state for indicating the 2nd implement
In the presence of, using according to the scheduled coordinate transform formula for indicating the robot coordinate and the relationship of the world coordinates
Come converted for the 2nd implement controlled quentity controlled variable as a result, by the 1st device or the 1st implement, with
2nd device or the 2nd implement aligned in position, also,
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 by
Constant that prior measurement obtains simultaneously is applied to the coordinate transform formula, deviates to correct position, wherein the 1st group of deviation
Amount indicates that the bias of the elements of fix of the normal condition of the 1st implement, the 2nd group of bias indicate the described 2nd
The bias of the elements of fix of the normal condition of implement.
It according to the aligned in position method of the composition of above-mentioned (1), is calculated according to the coordinate transform formula, by various controls
When amount transforms to the world coordinates from the robot coordinate, due to correcting the intrinsic spy of the 1st implement respectively
1st group of bias caused by property (dimensional accuracy etc.), the 2nd implement intrinsic characteristic caused by the 2nd group of bias,
So the site error of original state when the 1st device is aligned with the 2nd device position is greatly decreased.Therefore, from
The original state by the 1st device and the 2nd device more closely aligned in position when positional precision improve, the position pair
The neat required time can also shorten.
According to the aligned in position method of the composition of above-mentioned (2), using the fixed station with circular outer shape, so as to
It is enough to prepare multiple 1st devices in advance, and these are assembled with the 2nd device successively.In addition, utilizing the parallel rod
The degree of freedom of robot, mobile route when to mobile 2 device etc. improves, can be respectively by the 2nd device phase
For configuring the 1st device progress aligned in position in various positions.In addition, the positioning accuracy of the parallel rod robot
It is low, but when calculating the coordinate transform formula, due to correcting position using the 2nd corrected value, so can inhibit to position
The decline of precision.
According to the aligned in position method of the composition of above-mentioned (3), the 1st implement and the 2nd operation can be used
The terminal of the electric wire with terminal is inserted by equipment by the connector shell and the electric wire aligned in position with terminal
The chamber of the connector shell.Therefore, it is possible to be utilized during manufacturing automobile-used harness etc..
The described 2nd can be made using the correction datum hole according to the aligned in position method of the composition of above-mentioned (4)
The movable part level of industry equipment is really aligned in origin position, or grasps the actual amount of movement at the movable position.
According to the aligned in position method of the composition of above-mentioned (5), the sensor can be used, correctly grasps the described 2nd
The relatively actual position relationship of the movable part of implement and the benchmark position of the 1st implement.
According to the aligned in position method of the composition of above-mentioned (6), it will appreciate that the out of roundness of the bearing part, as a result, can
Enough predictions and the radial position of the relevant bearing part in position configured with the 1st device are deviateed.
According to the aligned in position method of the composition of above-mentioned (7), due to will appreciate that the gradient of the bearing part, because
This, can predict to deviate with the position of the thickness direction of the relevant bearing part in position configured with the 1st device.
According to the aligned in position method of the composition of above-mentioned (8), due in described 3 points of each position acquisition location information,
So in the case that no matter which position the 1st device be present in, the movable part of the 2nd implement is being moved and will
When the 2nd device position alignment, it is inclined that the position that the intrinsic characteristic of the 2nd implement causes and generates can be grasped
From.
According to the aligned in position method of the composition of above-mentioned (9), amount of movement in theory with obtained by measurement it is actual
In the case of having deviation between amount of movement, it can be corrected based on the information of the correction ratio so that the deviation of amount of movement disappears
It removes.
According to the aligned in position method of the composition of above-mentioned (10), the described 1st is corrected due to the use of the constant being determined in advance
Value and the correct application of the 2nd corrected value are in the coordinate transform formula, therefore, the described 1st in actual manufacturing process
When device assembles 2 device, it can position moment in correct position, which eliminates institute under original state
State the intrinsic error factor of the 1st implement, the intrinsic error factor of the 2nd implement.Due to the original state
Position error it is very small, so movement (position from from the position to more exact position can be executed in the short time
The amendment set).So since positioning accuracy improves, the frequency for being generated in the assembling operation of device and being inserted into failure can be reduced,
Further shorten the time needed for each assembling operation, so as to improve the production efficiency of product.
The effect of invention
Aligned in position method according to the present invention, reduce the various equipment caused by dimensional accuracy etc. intrinsic error because
Son can shorten the required time of the positioning operation carried out in every 1 subjob.
More than, the present invention is illustrated in brief.In turn, it by referring to accompanying drawing and reads over for implementing invention described below
Mode (hereinafter referred to as " embodiment "), make the present invention details further make clear.
Description of the drawings
Fig. 1 is the flow chart of the specific steps for the timing for showing aligned in position method for carrying out the present invention.
Fig. 2 is the form for indicating the vector sum coordinate transform before and after being moved in parallel between 2 three-dimensional coordinate systems
Polar plot.
Fig. 3 is the schematic diagram of the content of denotation coordination transform.
Fig. 4 is the solid for showing to carry out the robot for being mounted with fixture in the case of the initial adjustment of robot coordinate system
Figure.
Fig. 5 is the solid of the robot for being mounted with fixture and sensor and fixed station when showing the measurement that platform is fixed
Figure.
Fig. 6 (A) and Fig. 6 (B) is to show to be mounted with the robot of fixture and sensor and the stereogram of fixed station, Fig. 6 (A)
Show that the state of the radial circumferential position of measurement housing base, Fig. 6 (B) show the position of the thickness direction of measurement housing base
State.
Fig. 7 be show by the terminal of robot be inserted into head along housing base circumferential registration multiple positions state
Stereogram.
Fig. 8 is the stereogram for the terminal inserting apparatus for including 2 articulation mechanisms arranged side by side.
Fig. 9 is the stereogram for showing terminal inserting apparatus.
Figure 10 (A) and Figure 10 (B) is the figure for the fixed station for showing terminal inserting apparatus, and Figure 10 (A) is the plane of fixed station
Figure, Figure 10 (B) is side view.
Figure 11 is the side view for the articulation mechanism arranged side by side for showing terminal inserting apparatus.
Figure 12 is the stereogram for the electric wire carrying implement for showing terminal inserting apparatus.
The explanation of reference numeral
10：Fixed station
11：Shell receiving portion
12：Track component
13：Housing base
14：Motor part
20：Articulation mechanism arranged side by side
21：Pedestal
22a,22b,22c：1st motor
23a,23b,23c：Arm
24a,24b,24c：Connecting rod
25：Terminal is inserted into head
25c：Wire clamping part
25f：2nd motor
30：Electric wire carrying implement
31：Carry track
32：Moving body
33：Transport clamping element
34：Frame
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
Specific implementation mode
Illustrate the specific implementation mode of the present invention referring to each figure.In addition, for ease of understanding the position pair of the present invention
Neat method initially illustrates specific manufacturing equipment, that is, terminal inserting apparatus of energy application site alignment schemes, and will be illustrated next makes
The method for carrying out aligned in position with the terminal inserting apparatus.
[The Gai Yao ] of terminal inserting apparatus;
Fig. 8 is the stereogram for the terminal inserting apparatus for showing embodiments of the present invention.The end of embodiments of the present invention
Sub- insertion apparatus include fixed station 10, joint arranged side by side (parallel rod) mechanism 20 and constitute.The terminal of embodiments of the present invention
Insertion apparatus further includes electric wire carrying implement 30, terminal measurement sensor 40.In the following, fixed station 10, joint machine arranged side by side is described in detail
Structure 20, electric wire carrying implement 30 and terminal measurement sensor 40.
As shown in figure 8,2 articulation mechanism 20A, 20B arranged side by side insert the terminal into configuration in the different of fixed station 10 respectively
Connector shell 80.In addition, in the case of this composition, electric wire carrying implement 30 includes 2 moving bodys 32A, 32B, moving body 32A
One end of electric wire 90 is held, moving body 32B holds the other end of electric wire 90.Moreover, 2 moving bodys 32A, 32B are by one end and separately
The electric wire 90 for the state that one end is held is carried to precalculated position.In this way, electric wire carrying implement 30 is removed with circuit line unit
Transport electric wire.In addition, the measurement sensor of terminal measurement sensor 40 is mounted on 2 sensor stations 41.1 measurement sensor 47A
Using the terminal of the end of the electric wire held positioned at articulation mechanism 20A arranged side by side as measurement object, another measurement sensor 47B is with position
Terminal in the end for the electric wire that articulation mechanism 20B arranged side by side is held is measurement object.Using this composition, 2 articulation mechanisms arranged side by side
One end of a holding electric wire 90 of 20A, 20B, another holds the other end of electric wire 90, for that should connect each end not
Same connector shell executes terminal insertion process.
In the terminal inserting apparatus of the embodiments of the present invention illustrated afterwards, in order to carry out deeper understanding, say
Bright is to insert the terminal into the form of connector shell using 1 articulation mechanism 20 arranged side by side, even if being to utilize 2 joints arranged side by side
Mechanism 20A, 20B is inserted into the form of terminal, and since 2 articulation mechanism 20A, 20B arranged side by side independently drive, terminal is inserted
It is also identical to enter processing.
[The ] of terminal inserting apparatus;
[The Xi Jie ] of fixed station 10;
Figure 10 (A) and Figure 10 (B) is the figure of the fixed station for the terminal inserting apparatus for showing embodiments of the present invention, Figure 10
(A) show that the plan view of fixed station, Figure 10 (B) show side view.As shown in Fig. 9 and Figure 10 (A), Figure 10 (B), fixed station 10 is
Component for positioning connector shell 80 is mounted on the flat surface of shell supporting station (not shown).Fixed station 10 includes：It protects
Hold the shell receiving portion 11 of connector shell 80；It is fixed with the circular track component 12 of shell receiving portion 11；With axle center with
The track component 12 is fixed on the housing base 13 of the disc-shape of upper surface 13a by the consistent mode of track component 12；With with
The consistent mode in the axle center of housing base 13 is set with rotary shaft 14a, lower surface 13b mounted on housing base 13 motor
Component 14.
Shell receiving portion 11, which has, is formed with the inner surface roughly the same with the shape of the lateral surface of connector shell 80
Recess portion.By being contained in the recess portion of shell receiving portion 11, to which connector shell 80 is positioned relative to shell receiving portion 11.Shell
Body receiving portion 11 is fixed on track component 12 via the supporting station 11a of support housing receiving portion 11.It is fixed on track component 12
A part of supporting station 11a extends along the radial direction of track component 12 in the outside of track component 12.Shell receiving portion 11 is fixed
In the external part extended in track component 12 of supporting station 11a.It is connect in addition, being fixed with multiple shells in track component 12
By portion 11, but these multiple shell receiving portions 11 are configured at predetermined intervals in circular track component 12.Therefore, it is fixed on
The connector shell 80 of multiple shell receiving portions 11 is configured to：When the position of adjacent connector shell 80 is sequentially connected,
Annular shape is integrally formed in the set of connected line segment.In addition, shown in Figure 10 (A) and Figure 10 (B), connector shell 80 is maintained at shell
Body receiving portion 11 so that the front surface for the connector shell 80 that the opening of chamber 81 is exposed is located at the outside of track component 12.
At this point, the extending direction for being maintained at the chamber 81 of the connector shell of shell receiving portion 11 is matched along the radial direction of track component 12
It sets.
Track component 12 is the inside of round tablet by perforative flat circle ring part, passes through and is embedded in shell inside it
A part for body pedestal 13, to be fixed on the housing base 13.Track component 12 is 2 semicircular tablets and is located at same
In plane.Preferably, the track component 12 in the state that shell receiving portion 11 maintains connector shell 80 is fixed on shell
Body pedestal 13 implements insertion of the terminal to each connector shell 80.
Housing base 13 is that diameter different 3 discs 13c, 13d, 13e are laminated in such a way that axle center is consistent, these circles
Disk body 13c, 13d, 13e are the component that is formed as one.The internal diameter substantially one of the diameter and track component 12 of disc 13c
It causes.It is embedded in its track component 12 by disc 13c, to which track component 12 is fixed relative to disc 13c.In addition, circle
The diameter of disk body 13d and the outer diameter of track component 12 are roughly the same.It is supported relative to circle by the upper surface 13a of disc 13d
The lower surface of the fixed track components of disk body 13c 12, to which track component 12 is held stably relative to housing base 13.
In addition, disc 13e is equipped with motor part 14 in lower surface 13b.The rotary shaft in the axle center and motor part 14 of disc 13e
The axle center of 14a is consistent, and housing base 13 is rotated with the rotation of motor part 14.As a result, being fixed on housing base 13
Disc 13c track component 12 also with the rotation of motor part 14, rotated centered on rotary shaft 14a.Therefore,
It is fixed on rotating in a circumferential direction for the annulus that multiple connector shells 80 of each shell receiving portion 11 are also formed in these shells.
For motor part 14 by the flat surface bearing, rotary shaft is vertical with the flat surface of shell supporting station (not shown).Pass through
Motor part 14 is by the flat surface bearing of shell supporting station, to which fixed station 10 is mounted on shell supporting station.In motor part 14
The rotary force of motor is transferred to housing base 13 via various gears, and housing base 13 is rotated.Motor part 14 receives to come
From the control signal of scheduled control device (not shown), the rotation of motor is controlled.
In the terminal inserting apparatus of embodiments of the present invention, multiple connector shells 80 are with annular shape configuration in fixation
Platform 10.Therefore, the terminal inserting apparatus of embodiments of the present invention is such not necessarily like previous terminal inserting apparatus, it is ensured that is used for
By multiple connector shells be configured to a row in the space that width direction is substantially pulled open, as long as ensuring that width can store fixation
The space of 10 degree of platform.Therefore, the construction of above-mentioned fixed station 10 contributes to the miniaturization of terminal inserting apparatus.
[The Xi Jie ] of articulation mechanism 20 arranged side by side;
Figure 11 is the side view of the articulation mechanism arranged side by side for the terminal inserting apparatus for showing embodiments of the present invention.It closes side by side
Section mechanism 20 be for insert the terminal into connector shell 80 and move terminal be inserted into head 25 robot driving mechanism, quilt
Mounted on articulation mechanism supporting station (not shown) arranged side by side.Articulation mechanism 20 arranged side by side is as shown in figure 11, including：Mounted on joint arranged side by side
The pedestal 21 of mechanism supporting station；3 the 1st motors 22a, 22b, 22c being arranged on pedestal 21；Respective one end and the 1st motor
The rotation axis connection of 22a, 22b, 22c and 3 arms 23a, 23b, the 23c driven；Respective one end is via universal joint, transmission tooth
Take turns 3 connecting rods 24a, 24b, 24c being connect with the other end of arm 23a, 23b, 23c；Via universal joint and 3 connecting rod 24a,
The terminal of the other end connection of 24b, 24c is inserted into head 25.Articulation mechanism 20 arranged side by side is by controlling 3 the 1st motors 22a, 22b, 22c
Rotation amount, and make the angle of the angle of inclination and connecting rod 24a, 24b, 24c of arm 23a, 23b, 23c relative to arm 23a, 23b, 23c
Degree variation is gone forward side by side so as to make terminal be inserted into head 25 along 3 directions of XYZ.Articulation mechanism 20 arranged side by side receives to carry out automatic control
The control signal of device processed controls the rotation of the 1st motor 22a, 22b, 22c.
Also, terminal, which is inserted into head 25, to be had：It is connect with the other end of 3 connecting rods 24a, 24b, 24c via universal joint
Hand pedestal 25a；The electric wire that hand pedestal 25a is rotatably freely installed in rotating direction holds main body 25b；Holding includes and end
A part for the electric wire of the terminal of connection is located at the wire clamping part 25c that electric wire holds the end of main body 25b；Mounted on hand base
Electric wire is held main body 25b relative to hand pedestal 25a in pitch orientation (Figure 11 around the direction of X-axis), deflection side by seat 25a
To the 2nd motor 25f of (Figure 11 around the direction of Z axis) rotation；Mounted on hand pedestal 25a, it is opposite that electric wire is held into main body 25b
In hand pedestal 25a rotating direction (Figure 11 around the direction of Y-axis) rotation the 3rd motor 25d；Detection acts on wire clamping
The pressure sensor 25g of the external force of part 25c.In addition, in the present embodiment, the 2nd motor 25f is equipped with using in hand pedestal 25a
With the composition of the 3rd motor 25d, but it can also use and the 2nd motor 25f and the 3rd motor 25d be located at the composition on pedestal 21.
In this case, the 2nd motor 25f and the 3rd motor 25d is mounted on hand pedestal 25a by using via telescopic shaft and universal joint
Construction, rotated freely in pitch orientation, deflection direction, rotating direction to which terminal is inserted into head 25.In addition, using with 1
Electric wire is held the composition that main body 25b is rotated in pitch orientation and deflection direction and is constituted but it is also possible to be following by the 2nd motor 25f：
The motor that will be equivalent to the 2nd motor 25f installs 2 in hand pedestal 25a, and a motor makes electric wire hold main body by its rotation
25b is rotated freely in pitch orientation, another motor makes electric wire holding main body 25b be rotated certainly in deflection direction by its rotation
Such as.
Electric wire, which holds main body 25b, has a cylinder that air is sent into wire clamping part 25c, and wire clamping part 25c is from electric wire
It holds clamping element when main body 25b is sent into air to close, when not being sent into air, clamping element is opened.Articulation mechanism 20 arranged side by side receives to come
The control signal of self-control device, control electric wire hold the opportunity that main body 25b is sent into air to wire clamping part 25c.
In addition, main body 25b is held for electric wire, by controlling rotation amount and the driving of the 2nd motor 25f, to electric wire handle
The posture for holding main body 25b rotates in pitch orientation, deflection direction.Have with the 3rd motor 25d's in addition, electric wire holds main body 25b
The drive shaft 25e of rotary shaft connection, by controlling the rotation amount of the 3rd motor 25d and making drive shaft 25e relative to hand pedestal 25a
Rotation, the posture so as to make electric wire hold main body 25b are rotated in rotating direction.As a result, by wire clamping part 25c's
The posture of electric wire is also in pitch orientation, deflection direction and rotating direction rotation.Articulation mechanism 20 arranged side by side receives to carry out self-control device
Control signal, control the 2nd motor 25f and the 3rd motor 25d rotation.
In addition, wire clamping part 25c includes front side chuck 25c1 and rear side chuck 25c2.In embodiments of the present invention
In, each chuck 25c1,25c2 in the state of being partially sandwiched between clamping element respectively in closing the crust of electric wire, to electric wire
Clamping element 25c holds electric wire.In this way, when wire clamping part 25c can not also hold terminal 91, will not be used to hold terminal 91
Terminal clamping element be located at electric wire and hold main body 25b.Hereby it is achieved that electric wire holds the lightweight of main body 25b, and then realize
Terminal is inserted into the lightweight of head 25.As a result, the raising of the movement speed of articulation mechanism 20 arranged side by side, circulation time can be realized
Shortening, can realize the raising of the operating efficiency of articulation mechanism 20 arranged side by side.
[The Xi Jie ] of electric wire carrying implement 30;
Figure 12 is the stereogram of the electric wire carrying implement for the terminal inserting apparatus for showing embodiments of the present invention.Electric wire is carried
Machine 30 is the equipment that the electric wire 90 that terminal 91 is equipped in end is transported to precalculated position.As shown in figure 12, electric wire carrying implement
30 include：The carrying track 31 extended along X-direction；The moving body 32 slid freely on carrying track 31；Hold comprising with
A part for the electric wire 90 of the terminal 91 of end connection, the terminal for being located at moving body 32 are inserted into head 25；Track 31 is carried in bearing
Frame 34；It is inserted into the air chuck main body 35 that head 25 is sent into air to terminal.In embodiments of the present invention, moving body 32 exists
Carry the direction that the direction moved on track 31 is equivalent to X-axis.
Moving body 32 includes motor, and the rotary force of the motor is transformed to carry the propulsive force of the long side direction of track 31
And it can be slided on carrying track 31.Moving body 32 receives to carry out the control signal of self-control device, controls the rotation of motor.
In addition, moving body 32, which has to terminal, is inserted into the air chuck main body 35 that head 25 is sent into air, terminal is inserted into head 25
When being sent into air from moving body 32, clamping element is closed, and clamping element is opened when not being sent into air.Moving body 32 receives from control
The control signal of device controls to terminal and is inserted into the opportunity that head 25 is sent into air.
Articulation mechanism 20 arranged side by side is held to be pre-positioned by the position for the electric wire 90 that the carrying of moving body 32 comes.That is, mobile
Body 32 moves on carrying track 31 and stops in pre-determined precalculated position, on the other hand, articulation mechanism 20 arranged side by side make by
The electric wire that moving body 32 is carried is as pre-determined position is located at, towards the position.As a result, 20 energy of articulation mechanism arranged side by side
Enough hold carries the electric wire 90 of coming by moving body 32, and on the other hand, moving body 32 is held in electric wire 90 by articulation mechanism 20 arranged side by side
Afterwards, itself holding to electric wire 90 is released.By this series of processes, electric wire 90 is supplied to articulation mechanism 20 arranged side by side.
[The Xi Jie ] of terminal measurement sensor 40;
Terminal measurement sensor 40 is the terminal 91 for the end that measurement is located at the electric wire 90 that articulation mechanism 20 arranged side by side is held
The equipment for the XZ coordinates that the rotation angle of rotating direction and the end of terminal 91 are located at.In embodiments of the present invention, it closes side by side
The wire clamping part 25c of section mechanism 20 clips the part of the crust of electric wire 90 at 2 positions, and articulation mechanism 20 arranged side by side carries the electricity
Terminal 91 is inserted into the chamber 81 of connector shell 80 by line 90.Now it is necessary to consider that terminal 91 is rotated in rotating direction.Also,
It must take into consideration the electric wire 90 caused by the weight of terminal 91 to hang down or the rebound caused by the curling of electric wire, more specifically
For electric wire 90, hanging down from the position that the front side chuck 25c1 of wire clamping part 25c is held to 90 end of electric wire or
Rebound.Hang down or rebound institute of 40 detection terminal 91 of terminal measurement sensor to the rotation angle of rotating direction and the electric wire 90
Gradient of the caused terminal 91 relative to Y direction.
[The Wei Zhiduiqi ] of terminal inserting apparatus;
[The ] of coordinate transform;
Incidentally, be inserted into using terminal head 25 by the connector case on the electric wire insertion fixed station 10 with terminal
In the case of the operation of each chamber of body 80, the position coordinates or all devices that need to be grasped on the three dimensions of reality are total to
Logical position coordinates carry out the aligned in position of chamber and terminal.This is world coordinates, be represented as indicate three dimensions X,
Y, the coordinate of the position of each axis directions of Z.On the other hand, articulation mechanism 20 arranged side by side is being driven to be inserted into head 25 comprising terminal to move
In the case of robot, it can be controlled using the coordinate, that is, robot coordinate of robot alone.It is inserted into head 25 in terminal
In the case of, as robot coordinate, there are terminal direction of insertion (Y), upper direction (Z) and be equivalent to the vertical direction Y, Z (X).
Therefore, terminal is moved on robot coordinate and is inserted into head 25, inserts the terminal into first 25 electric wires with terminal held
Position, with configuration in the case of the aligned in position of the connector shell 80 of three dimensions, need the controlled quentity controlled variable of robot
World coordinates is transformed to from robot coordinates.
Form such as Fig. 2 of general vector sum coordinate transform before and after being moved in parallel between 2 three-dimensional coordinate systems
It is shown.In addition, the content of calculating formula used in general three-dimensional coordinate transformation is as shown in Figure 3.
That is, in the case where transforming to another coordinate for one of 2 coordinate systems represented by X, Y, Z this three axis, with
The variation for moving in parallel and will produce vector shown in Fig. 2.In addition, by using coordinate transform formula shown in Fig. 3, so as to
Moved in parallel as Fig. 2 in view of Adjoint Coordinates transformation, the influence that rotates and obtain correct transformation results.
In fact, by using the determinant of " homogeneous transform matrix " shown in Fig. 3, robot coordinate is thus allowed for
Coordinate transform between world coordinates.As shown in figure 3, " homogeneous transform matrix " be expressed as " homogeneous movement matrix " with it is " homogeneous
The product of spin matrix ".In addition, " homogeneous spin matrix " includes to rotate around X-axis, rotated around Y-axis, being rotated about the z axis as shown in Figure 3
Each matrix.
Therefore, the control device for controlling robot passes through coordinate transform formula, i.e. " the homogeneous change of progress content shown in Fig. 3
Change matrix " calculating, to by the controlled quentity controlled variable of robot from robot coordinate transform to world coordinates, robot can be made to move
The electric wire with terminal position and the aligned in position on actual three dimensions of connector shell 80.
[The ] that position is deviateed;
[Deviate ] in the position of robot side;
In the terminal inserting apparatus shown in Fig. 8~Figure 12, the robot that head 25 is inserted into due to moving terminal utilizes
Articulation mechanism 20 arranged side by side is driven, so to be inserted into the movement of head 25, rotation relevant degree of freedom high for terminal, but positioning accuracy
There is the tendency reduced instead.
For example, dimensional accuracy (the length of each device because of multiple connecting rod 24a, 24b, 24c for constituting articulation mechanism 20 arranged side by side
Deng) deviation, it is possible to cause：Amount of movement and actual movement in design when terminal is inserted into head 25 are moved in robot
Deviation is generated between amount.That is, there are the intrinsic error factors of robot for each equipment.So if being arranged without certain correction
Except error factor as described above, in the case where error is big, it is difficult to aligned in position.
About the error factor for moving terminal and being inserted into the robot side of head 25, can utilize (1)~(7) that are exemplified below this
7 indicate.
(1)ΔX：Indicate the bias that the parallel position of X-direction is deviateed
(2)ΔY：Indicate the bias that the parallel position of Y direction is deviateed
(3)ΔZ：Indicate the bias that the parallel position of Z-direction is deviateed
(4)Δα：Indicate the bias of the rotation around X-axis
(5)Δβ：Indicate the bias of the rotation around Y-axis
(6)Δγ：Indicate the bias of rotation about the z axis
(7)Cr：Correction is than (Calibration：Ratio the amount of movement in)=practical amount of movement/design
[Deviate ] in the position of fixed station side;
In the terminal inserting apparatus shown in Fig. 8~Figure 12, in the housing base of fixed station 10 as shown in Figure 10 (A)
By the position with the chamber of specific connector shell 80 in the state of multiple connector shells 80 side by side configuration on 13 circumference
Alignment inserts the terminal into the electric wire positioning with terminal that first 25 wire clamping part 25c is held.
Therefore, when switching the connector shell 80 of insertion target of each electric wire with terminal every time, connector shell 80
Position can change, must be inserted the terminal into every time along the circumference of housing base 13 first 25 and different position carry out position
Alignment.
In addition, for example in the case where the center of the circle of housing base 13 to be aligned as origin enforcing location, because
The scale error of the radius of housing base 13, the out of roundness of housing base 13 can cause actually to configure in each connector shell 80
Position generate the position of radial (radiation direction) and deviate.Further, in housing base 13 relative to the plane parallel with XY axis
In the case of being arranged obliquely, due to the position difference of the circumferencial direction of housing base 13, the position caused by gradient will produce
Deviate.
[The ] of the aligning step of terminal inserting apparatus;
Fig. 1 shows the specific steps of the timing of aligned in position method for carrying out the present invention.That is, provided with Fig. 8
After each equipment of terminal inserting apparatus shown in~Figure 12 or implement be until starting article of manufacture after certain is rebuild
The intrinsic error factor of each equipment of exclusion, implements the operation of aligning step shown in FIG. 1.Then, the aligning step is utilized
To obtain the correction data needed for correction.
In addition, about actual correction operation, the special fixture that is corrected by the handwork of operator, biography
The installation of sensor etc. is removed, and implements to measure while moving the movable part of each equipment as needed.Result as measurement obtains
To correction data be stored in the control device of terminal inserting apparatus, can read and utilize when implementing actual manufacturing process.
Fig. 4 shows to carry out the appearance of the robot for being mounted with fixture in the case of the initial adjustment of robot coordinate system.
In the step S11 of Fig. 1, by the handwork of operator, by the fixture needed for correction operation as shown in Figure 4 that
Sample loads.In the example shown in Figure 4, it is inserted into 25 loading fixture 51 of head in the movable part of robot, that is, terminal, in robot
21 stationary fixture 52 of fixed part, that is, pedestal.It is formed with multiple correction datum holes (not shown) in the fixture 52 of affixed side.Specifically
For, there is 1 correction datum hole for indicating origin position；It is respectively formed in the positive and negative side of X-axis relative to origin position
It is respectively offset from 50[ to, Y-axis positive and negative direction;mm]Position 4 correction datum holes；It is respectively formed relative to origin position
It is respectively offset from 100[ in positive and negative direction, the Y-axis positive and negative direction in X-axis;mm]Position 4 correction datum holes.
In the step S12 of Fig. 1, robot is carried out as described below using fixture 51 and 52 shown in Fig. 4
Initial adjustment.First, it using the correction datum hole on the fixture 52 for indicating origin position, drives articulation mechanism 20 arranged side by side and moves
Moved end is inserted into the position of head 25, keeps the reference position (such as the such protrusion of pin) of fixture 51 consistent with correction datum hole.
At this moment, the image for the camera shooting (not shown) for being inserted into head 25 etc. in terminal using configuration such as can be also utilized, automatically
Carry out aligned in position.
In addition, the position for 2 correction datum holes that detection deviates from origin position in X-direction, detection connects these
The reference direction of the X-axis connect inserts the terminal into first 25 in the case where X-direction is moved with articulation mechanism 20 arranged side by side is moved
The gradient (θ 1) of X-direction.In addition, equally detecting the gradient (θ 2) of Z-direction.
Further, articulation mechanism 20 arranged side by side is driven, first 25 is inserted the terminal into and is moved from the position of the correction datum hole of origin
It moves and deviates 100[mm]Other correction datum holes position, calculating actually move 100[mm]Distance needed for driving
The ratio of amount and the drive volume in design is as correction ratio.
Fig. 5 shows the appearance of the robot for being mounted with fixture and sensor and fixed station when the measurement that platform is fixed.
In the step S13 of Fig. 1, by the handwork of operator, as shown in figure 5, being inserted into the fixture of head 25 in terminal
51 load high-precision 2 contact digital sensors 53 and 54, and the preparation of the measurement of platform 10 is fixed.
One contact digital sensor 53 is as shown in figure 5, from the outer side of the peripheral surface of housing base 13 to housing base
13 center position configuration, is abutted by end with the face on the circumference of housing base 13, so as to detect radial face
Position is as the relative distance being inserted into head 25 from terminal.Another contact digital sensor 54 is as shown in figure 5, at shell bottom
Seat 13 peripheral surface near, from below upward, i.e. housing base 13 thickness direction configure, pass through end and housing base
13 lower face abuts, so as to detect upper and lower directions face position.Alternatively, it is also possible to change step, singly
2 contact digital sensors 53 and 54 are installed successively, are measured every time.
The appearance of the robot and fixed station that are mounted with fixture and sensor is shown respectively in Fig. 6 (A) and Fig. 6 (B).Fig. 6 (A)
Show that the state of the radial circumferential position of measurement housing base, Fig. 6 (B) show the position of the thickness direction of measurement housing base
State.
In the step S14 of Fig. 1, as shown in Fig. 6 (A), with the end of contact digital sensor 53 and shell (HSG)
In the state that the mode that the circle-shaped peripheral surface of pedestal 13 abuts configures, the motor of fixed station 10 is driven, rotates shell on one side
Pedestal 13 detects radial position with contact digital sensor 53 on one side.Thereby, it is possible to measure the circle about housing base 13
The out of roundness of the shape in week.
In the step S15 of Fig. 1, as shown in Fig. 6 (B), with the end of contact digital sensor 54 and shell (HSG)
In the state that the mode that lower face near the circumference of pedestal 13 abuts configures, the motor of fixed station 10, one side shell of revolution are driven
Body pedestal 13 uses contact digital sensor 54 to detect the variation of the position of thickness direction on one side.Thereby, it is possible to measure shell bottom
Gradient of the seat 13 relative to X/Y plane.
The terminal of robot is inserted into the state that head is located in multiple positions by the circumference that Fig. 7 is showing along housing base.
In the step S16 of Fig. 1, move the articulation mechanism arranged side by side 20 of robot, change terminal be inserted into head 25 position and
Direction, as shown in fig. 7, being located in 3 points or more of position successively in a manner of opposed with the circumference of housing base 13.Then, with
S15 is same, the end of contact digital sensor 54 is abutted with the lower end of the thickness direction of housing base 13, in the position of each point
Set the relative inclination and height (Z coordinate) of measurement housing base 13.
In the step S17 of Fig. 1, move the articulation mechanism arranged side by side 20 of robot, change terminal be inserted into head 25 position and
Direction, as shown in fig. 7, being located in 3 points or more of position successively in a manner of opposed with the circumference of housing base 13.Then, with
S14 is same, the peripheral surface end of contact digital sensor 53 being connected on the circumference of housing base 13, based in each point
Position measurement contact digital sensor 53 detected value, determine terminal be inserted into head 25 and housing base 13 center of rotation
Position (X, Y coordinates).
In the step S18 of Fig. 1, the measurement based on S12~S17 is as a result, determine makes terminal be inserted into what head 25 moved respectively
The intrinsic error factor group of robot side, i.e., the described Δ X, Δ Y, Δ Z, Δ α, Δ β, Δ γ and Cr (correction ratio).
In the step S19 of Fig. 1, the measurement based on S12~S17 as a result, determine the intrinsic mistake of 10 side of fixed station respectively
Poor factor set obtains the influences such as the gradient of housing base 13 obtained in the out of roundness of housing base 13, S15 in i.e. S14.
In the step S20 of Fig. 1, the coordinate transform institute between the robot coordinate and world coordinates of terminal inserting apparatus
Brought into the coordinate transform formula (with reference to Fig. 3) used for correct in S18 determine robot side error factor corrected value,
Corrected value for the error factor for correcting 10 side of fixed station determined in S19 so that under the original state of aligned in position control
Terminal be inserted into the electric wire with terminal, fully small with the error of the aligned in position of connector shell 80 that head 25 is held.In addition, closing
The content of the coordinate transform formula of corrected value, the data of each corrected value are brought into S20, in order in actual manufacturing process
It reads and utilizes, such as be stored in nonvolatile memory, scheduled database.
[The Dong Zuo ] of the manufacturing process of terminal inserting apparatus;
It is inserted into the manufacturing process of the electric wire with terminal in each connector shell 80 of the configuration on fixed station 10, needs position
Alignment is set so that the position and the position of the chamber of connector shell 80 of the terminal ends of electric wire 90 are roughly the same.At this point, driving
Articulation mechanism 20 arranged side by side simultaneously adjusts the control device that terminal is inserted into the position of head 25, such as by the position of the terminal ends of electric wire 90
From robot coordinate transform to world coordinates, by terminal ends and 80 aligned in position of connector shell on world coordinates.
Herein, when from robot coordinate transform to world coordinates, the corrected value has been brought by reading in and utilizing
Coordinate transform formula, the intrinsic error factor of equipment so as to which robot side is greatly reduced, the equipment of 10 side of fixed station are intrinsic
Error factor.That is, the position of terminal ends in order to move electric wire 90 and provide 1 command value to robot, can move
The position that do not deviate substantially from desired value to the relative position relation of terminal ends and connector shell 80.So, it is easier into
The accurate aligned in position of row, can substantially shorten the time needed for aligned in position.When thereby, it is possible to shorten the cycle of manufacturing process
Between, carry out the manufacture of more effective product.
Herein, individually below that the feature of the embodiment of above-mentioned aligned in position method according to the present invention is succinctly total
Jie Wei [1]~[10]Note side by side.
[1]A kind of aligned in position method, is used for：It is set using the 1st operation of the 1st device (connector shell 80) can be kept
Standby (fixed station 10), the 2nd implement (parallel rod robot 20, the terminal insertion head that the 2nd device (electric wire 90) can be kept
25) the 2nd implement, is at least moved, the operation for assembling the 2nd device automatically in the 1st device, institute's rheme are carried out
Alignment schemes are set to be characterized in that,
In the robot coordinate of the world coordinates for indicating the position of three dimensions and the state for indicating the 2nd implement
In the presence of, using according to the scheduled coordinate transform formula for indicating the robot coordinate and the relationship of the world coordinates
(with reference to Fig. 3) come converted for the 2nd implement controlled quentity controlled variable as a result, by the 1st device or it is described 1st make
Industry equipment and the 2nd device or the 2nd implement aligned in position, also,
Obtain the 1st group of bias of the bias of the elements of fix for the normal condition for indicating the 1st implement
(S19),
Obtain the 2nd group of bias of the bias of the elements of fix for the normal condition for indicating the 2nd implement
(S18),
It is brought into the coordinate transform formula and is equivalent to the 1st corrected value of the 1st group of bias and is equivalent to the described 2nd
2nd corrected value of group bias, obtains transformation results (S20) of the result as the coordinate transform formula of the correction of bias.
[2]It is such as above-mentioned;1]Aligned in position method, which is characterized in that
It, can be by the 1st device circumferentially simultaneously using with circular outer shape as the 1st implement
Row configure multiple fixed stations (10),
As the 2nd implement, the parallel rod robot for constituting multiple link mechanism parallel combinations is utilized
(20、25)。
[3]It is such as above-mentioned;1]Aligned in position method, which is characterized in that
As the 1st device, using connector shell (80),
As the 2nd device, the electric wire (90) with terminal is utilized.
[4]It is such as above-mentioned;1]Aligned in position method, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 2nd implement,
The fixture (52) for being formed with scheduled correction datum hole is loaded in the fixed position of the 2nd implement
(pedestal 21), the relative position relation at movable position and the correction datum hole based on the 2nd implement, is at least slapped
Hold origin position and actual amount of movement (with reference to Fig. 4).
[5]It is such as above-mentioned;1]Aligned in position method, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
1 or more sensor (contact digital sensor 53,54) is loaded in the movable part of the 2nd implement,
The position (with reference to Fig. 6 (A), (B)) at the benchmark position of the 1st implement is measured using the sensor.
[6]It is such as above-mentioned;5]Aligned in position method, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
Rotation drives the circular bearing part (housing base 13) of the 1st implement on one side, uses on one side described
Sensor measures each position on circumference, at least obtains the out of roundness of the bearing part (with reference to Fig. 6 (A)).
[7]It is such as above-mentioned;5]Aligned in position method, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
Rotation drives the circular bearing part (13) of the 1st implement on one side, is come on one side using the sensor
The each position of the thickness direction of the bearing part is measured, at least obtains the information of the gradient of the bearing part (with reference to Fig. 6
(B))。
[8]It is such as above-mentioned;1]Aligned in position method, which is characterized in that
When measuring the 1st implement and the bias of the relative position of the 2nd implement,
1 or more sensor is loaded in the movable part of the 2nd implement, along the circle of the 1st implement
The periphery of the bearing part of shape makes the movable part of the 2nd implement be located at mutually different 3 points or more of position,
Described 3 points of each position, location information is obtained using the sensor (with reference to Fig. 7).
[9]It is such as above-mentioned;1]Aligned in position method, which is characterized in that
The 2nd group of bias includes information (S18) of the correction than (Cr), and the correction is than the movement in (Cr) representation theory
The ratio for the actual amount of movement that amount is obtained with measurement.
[10]A kind of aligned in position method, is used for：Utilize the 1st implement (10), the energy that can keep the 1st device (80)
The 2nd implement (20,25) for keeping the 2nd device (90) at least moves the 2nd implement, carries out in the 1st device
Automatically the operation of the 2nd device is assembled, the aligned in position method is characterized in that,
In the robot coordinate of the world coordinates for indicating the position of three dimensions and the state for indicating the 2nd implement
In the presence of, using according to the scheduled coordinate transform formula for indicating the robot coordinate and the relationship of the world coordinates
Come converted for the 2nd implement controlled quentity controlled variable as a result, by the 1st device or the 1st implement, with
2nd device or the 2nd implement aligned in position, also,
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 by
Constant that prior measurement obtains simultaneously is applied to the coordinate transform formula, deviates (not shown) wherein to correct position, the 1st group inclined
The bias of elements of fix from the normal condition that amount indicates the 1st implement, the 2nd group of bias indicate that the described 2nd makees
The bias of the elements of fix of the normal condition of industry equipment.
Claims (10)
1. a kind of aligned in position method, is used for：Using the 1st implement that can keep the 1st device and the 2nd device can be kept
The 2nd implement, at least move the 2nd implement, carry out assembling the 2nd device automatically in the 1st device
Operation, the aligned in position method be characterized in that,
Exist in the robot coordinate of the world coordinates for indicating the position of three dimensions and the state for indicating the 2nd implement
In the case of, become using according to the scheduled coordinate transform formula for indicating the robot coordinate and the relationship of the world coordinates
The transformation results for changing the controlled quentity controlled variable for the 2nd implement, by the 1st device or the 1st implement and institute
The 2nd device or the 2nd implement aligned in position are stated, also,
The 1st measurement, the 2nd measurement and the 3rd measurement are carried out, the 1st measurement is the normal condition for measuring the 1st implement
Elements of fix bias；2nd measurement is the deviation of the elements of fix for the normal condition for measuring the 2nd implement
Amount；3rd measurement is the bias of measurement the 1st implement and the relative position of the 2nd implement,
By based on the described 1st to the 3rd measurement as a result, the specific 1st implement side intrinsic error factor group, from
And the 1st group of bias of the bias of the elements of fix for the normal condition for indicating the 1st implement is obtained,
By based on the described 1st to the 3rd measurement as a result, the specific 2nd implement side intrinsic error factor group, from
And the 2nd group of bias of the bias of the elements of fix for the normal condition for indicating the 2nd implement is obtained,
The coordinate transform formula bring into be equivalent to the 1st corrected value of the 1st group of bias and be equivalent to described 2nd group it is inclined
The 2nd corrected value from amount obtains transformation results of the result of the correction of bias as the coordinate transform formula.
2. aligned in position method as described in claim 1, which is characterized in that
The 1st device can circumferentially be matched side by side using with circular outer shape as the 1st implement
Multiple fixed stations is set,
As the 2nd implement, the parallel rod robot for constituting multiple link mechanism parallel combinations is utilized.
3. aligned in position method as described in claim 1, which is characterized in that
As the 1st device, using connector shell,
As the 2nd device, the electric wire with terminal is utilized.
4. aligned in position method as described in claim 1, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 2nd implement,
The fixture for being formed with scheduled correction datum hole is loaded in the fixed position of the 2nd implement, based on described
The relative position relation at the movable position of the 2nd implement and the correction datum hole is at least grasped a correction and is used
The actual amount of movement of origin position and the movable position represented by datum hole.
5. aligned in position method as described in claim 1, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
1 or more sensor is loaded at the movable position of the 2nd implement, described the is measured using the sensor
The position at the benchmark position of 1 implement.
6. aligned in position method as claimed in claim 5, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
Rotation drives the circular bearing part of the 1st implement on one side, measures circumference using the sensor on one side
On each position, at least obtain the out of roundness of the bearing part.
7. aligned in position method as claimed in claim 5, which is characterized in that
In the bias for measuring the elements of fix of normal condition of the 1st implement,
Rotation drives the circular bearing part of the 1st implement on one side, is measured on one side using the sensor described
The each position of the thickness direction of bearing part obtains the information of the gradient of at least described bearing part.
8. aligned in position method as described in claim 1, which is characterized in that
When measuring the 1st implement and the bias of the relative position of the 2nd implement,
1 or more sensor is loaded at the movable position of the 2nd implement, along the circle of the 1st implement
Bearing part periphery, so that the movable position of the 2nd implement is located at mutually different 3 points or more of position,
Described 3 points or more of each position, location information is obtained using the sensor.
9. aligned in position method as described in claim 1, which is characterized in that
The 2nd group of bias includes the information of correction ratio, the correction than in representation theory amount of movement with obtained by measurement
The ratio of actual amount of movement.
10. a kind of aligned in position method, is used for：Using the 1st implement that can keep the 1st device and the 2nd device can be kept
The 2nd implement, at least move the 2nd implement, carry out assembling the 2nd device automatically in the 1st device
Operation, the aligned in position method be characterized in that,
Exist in the robot coordinate of the world coordinates for indicating the position of three dimensions and the state for indicating the 2nd implement
In the case of, become using according to the scheduled coordinate transform formula for indicating the robot coordinate and the relationship of the world coordinates
The transformation results for changing the controlled quentity controlled variable for the 2nd implement, by the 1st device or the 1st implement and institute
The 2nd device or the 2nd implement aligned in position are stated, also,
It 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 by prior
The obtained constant of measurement and be applied to the coordinate transform formula, deviate to correct position, wherein the 1st group of deviation scale
Show that the bias of the elements of fix of the normal condition of the 1st implement, the 2nd group of bias indicate the 2nd operation
The bias of the elements of fix of the normal condition of equipment,
As the prior measurement, the 1st measurement, the 2nd measurement and the 3rd measurement are carried out, the 1st measurement is measurement described the
The bias of the elements of fix of the normal condition of 1 implement；2nd measurement is the benchmark for measuring the 2nd implement
The bias of the elements of fix of state；3rd measurement is the phase for measuring the 1st implement and the 2nd implement
Bias to position,
By based on the described 1st to the 3rd measurement as a result, the specific 1st implement side intrinsic error factor group, from
And the 1st group of bias is obtained,
By based on the described 1st to the 3rd measurement as a result, the specific 2nd implement side intrinsic error factor group, from
And obtain the 2nd group of bias.
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| JP2015006947A JP6259401B2 (en) | 2015-01-16 | 2015-01-16 | Alignment method |
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| CN109996653B (en) * | 2016-11-17 | 2022-09-02 | 株式会社富士 | Working position correction method and working robot |
| EP3556519B1 (en) * | 2016-12-13 | 2020-12-02 | Fuji Corporation | Method for correcting target position of work robot |
| 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 |
| CN109766914A (en) * | 2018-12-14 | 2019-05-17 | 深圳壹账通智能科技有限公司 | Item identification method, device, equipment and storage medium based on image recognition |
| CN112290344B (en) * | 2020-12-30 | 2021-04-06 | 季华科技有限公司 | Automatic wire harness inserting system, method and controller |
| JP7364636B2 (en) | 2021-09-27 | 2023-10-18 | 矢崎総業株式会社 | terminal insertion device |
| CN114300914B (en) * | 2021-11-26 | 2024-06-11 | 深圳市深科达智能装备股份有限公司 | Plug-in device, system and control method |
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| US4892457A (en) * | 1988-07-11 | 1990-01-09 | Gmf Robotics Corporation | Apparatus for mastering a robot |
| JP3209444B2 (en) * | 1992-04-07 | 2001-09-17 | タイコエレクトロニクスアンプ株式会社 | Wiring device for electrical connector |
| JPH0679567A (en) * | 1992-08-28 | 1994-03-22 | Hitachi Constr Mach Co Ltd | Assembly reproducibility guarantee device of rotary tool in industrial robot |
| JPH08137528A (en) * | 1994-11-02 | 1996-05-31 | Yaskawa Electric Corp | Calibration method for robot and turn table |
| JPH09319420A (en) * | 1996-05-31 | 1997-12-12 | Ricoh Co Ltd | Assembly robot |
| JPH10301609A (en) * | 1997-04-28 | 1998-11-13 | Denso Corp | Position error detection method for robot and device therefor |
| JP3538362B2 (en) * | 1999-09-16 | 2004-06-14 | ファナック株式会社 | Synchronous or cooperative operation control device for multiple robots |
| JP3661986B2 (en) * | 1999-12-01 | 2005-06-22 | 矢崎総業株式会社 | Apparatus for chucking electric wire with terminal in automatic terminal insertion machine and its chucking method |
| JP2002018750A (en) * | 2000-07-07 | 2002-01-22 | Yaskawa Electric Corp | Method and device for calibration of robot |
| JP4289619B2 (en) * | 2004-09-15 | 2009-07-01 | 富士フイルム株式会社 | Tool position correction method for articulated robots |
| JP2007185723A (en) * | 2006-01-11 | 2007-07-26 | Fujifilm Corp | Apparatus and method for automatic alignment |
| EP2259011A4 (en) * | 2008-03-28 | 2011-04-27 | Honda Motor Co Ltd | Work measuring method, method for attaching suspension assembly and apparatus for attaching suspension assembly |
| JP2010058171A (en) * | 2008-09-01 | 2010-03-18 | Olympus Corp | Method and program of controlling parallel link stage, and parallel link stage |
| JP5448634B2 (en) * | 2009-08-11 | 2014-03-19 | オークマ株式会社 | Machine error identification method and program |
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