JP2002254257A - Automatic part-assembling method and device - Google Patents

Abstract

PROBLEM TO BE SOLVED: To provide an automatic part-assembling method and device that can reliably and automatically fit a part suitable for a high-speed operation and requiring alignment and phasing. SOLUTION: The automatic part-assembling method is composed of a positioning and gripping process sp1 to position a first part and grip a second part, a pressing process p2 to press the second part onto the first part, a revolution orbit formation process sp3 to form the exploratory travel direction and travel amount of the second part for the alignment of the second part with the first part, a rotation orbit formation process sp4 to form a rotational amount around the exploratory fitting directional axis of the second part for phasing the second part with the first part, a fitting process sp5 to perform the alignment and phasing simultaneously by moving the second part by means of the travel amount, the travel direction and the rotation amount formed in the processes sp3 and sp4, and an insertion process sp6 to move the second part to the first part in the fitting and inserting direction.

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a method and an apparatus for automatically assembling parts by a robot, and more particularly, to an automatic parts assembling method for automatically fitting and inserting parts requiring a shaft center and a phase alignment.

[0002]

2. Description of the Related Art Conventionally, in a method of automatically assembling parts that cannot be assembled unless the axes and phases are aligned, a special tool is installed at the tip of the robot and the phases are previously adjusted by a CCD camera or the like. The method of assembling and generating the moving direction and moving amount of the axis alignment from the measurement data of the force sensor installed at the robot tip, aligning the axis, and subsequently generating the moving amount of the phase alignment from the measurement data of the force sensor. There has been an assembling method of sequentially fitting and inserting.

[0003] Among them, JP-A-07-241733 is disclosed.
In the publication, the moving direction and the moving amount of the axis alignment are generated from the measurement data of the force sensor installed at the robot tip, the axis is aligned, and the moving amount of the phase alignment is continuously generated from the measurement data of the force sensor. , An assembling method of sequentially fitting and inserting is described. Hereinafter, a brief description will be given with reference to the drawings.

FIG. 13 is a front view showing a basic structure, and FIG. 14 is a partially enlarged view of FIG. In FIGS. 13 and 14,
The four-axis force sensor S10 is a wrist tip S8a of the robot S8.
And the Z-axis compliance mechanism S12. Thus, the four-axis force sensor S10 and the six-degree-of-freedom compliance mechanism are provided. This is RCC (REMOT
E CENTER COMPLIANCE) S11 is a compliance mechanism having five degrees of freedom in positions and postures other than the fitting / inserting direction, and when used together with the Z-axis compliance mechanism S12, it becomes a compliance mechanism having six degrees of freedom.

FIG. 15 is a perspective view showing a part to be assembled. In FIG. 15, S19 is a first part having a square hole S19a, and S20 is a square chamfer to be fitted with the square hole S19a. This is a second component having a certain shaft portion S20a.

FIG. 16 is a sectional view showing a component to be assembled and its positioning or component supply. S21 is a positioning mechanism for positioning and holding the first component S19.
Is a component supply mechanism for supplying the second component S20 to the robot S8.

FIG. 17 is a diagram showing a configuration of a transmission system of a measurement signal of the four-axis force sensor S10. S51 is a force Fx, Fy, F in the X, Y, and Z directions measured by the four-axis force sensor S10.
A computing unit such as a microcomputer that inputs a moment Mz around the z and θ axes, and converts these forces and moments into movement amounts ΔX, ΔY, ΔZ, and Δθ. S52 is based on the movement amount from the calculator S51. First part S19 and second part
Is a robot controller for relatively moving the parts S20 with the moving amounts ΔX, ΔY, ΔZ and Δθ.

Next, the operation of the conventional example will be described. First, the robot S8 is operated, and the chuck mechanism S7 grips the second component S20 supplied by the component supply mechanism S22. Then, as shown in FIG. 18, the robot S8 is moved to position the second component S20 gripped by the chuck mechanism S7 above the first component S19 positioned by the positioning mechanism S21. Next, the wrist S8a of the robot S8 is lowered and the second part S20
Is pressed against the first component S19 by the action of the RCC S11 with a force equal to or greater than the pressing force at which the axes are aligned.

Then, in the process of lowering the second component S20, usually, the second component S20 is not connected to the first component S1.
First, since the axis is slightly shifted from
A part of the chamfer at the lower end of the shaft of the component S20 contacts the upper end of the hole of the first component S19. Therefore, as shown in FIG. 19, a force F1 acts on the second component S20 in the direction of the arrow. RCC S11 acts by this force F1,
The second component S20 moves in the direction of aligning the axes. As described above, by using both the force sensor S10 and the RCC S11, the amount of axial misalignment becomes R as shown in FIG.
Since the deflection of the CC S11 occurs, the force F2 is detected by the force sensor S10, so that not only the direction of the axis misalignment but also the amount of axis misalignment can be detected. Therefore, the second component S20 is moved in the direction where the axes are aligned by the RCC S11, but the tip of the wrist of the robot S8 is not moved. Therefore, as shown in FIG.
Can be moved in the horizontal direction to align the axis of the second component S20 with the axis of the wrist tip of the robot.

[0010] Even when the axes of the second component S20 and the first component S19 are aligned, the phases are usually slightly shifted. Therefore, as shown in FIG. 22, a moment M indicated by an arrow acts on the second component S20. In the phase adjustment, the same direction as the moment M detected by the force sensor S10 is determined, and the wrist S8a of the robot S8 is rotated in that direction as shown in FIG. 111. The robot S8 is stopped at the position changed to. Thus, the force sensor S10 and the RCC S
By using 11 together, the axis and phase can be matched.

[0011]

However, in the above-described conventional method of automatically assembling parts by a robot, particularly in the method of automatically assembling and inserting parts requiring a shaft center and a phase alignment, the contact is difficult to achieve. During operation, vibrations due to the unevenness of parts occur, and noise is easily added to the force sensor data.It is difficult to accurately determine the moving direction of axis alignment from the obtained force information, and Can not. Further, it is difficult for a planetary gear reducer having a large number of teeth to specify the direction of phase matching.

[0012] Further, since the moving amount of the axial center alignment is determined based on the force sensor data, the operation is confirmed after the movement, and the phase alignment is subsequently performed, the operation cannot be speeded up.

Accordingly, an object of the present invention is to provide a component automatic assembling method and apparatus for automatically fitting and inserting components requiring high accuracy and high-speed operation and requiring alignment and phase alignment. That is.

[0014]

In order to solve the above-mentioned problems, an automatic parts assembling method according to the present invention uses a robot having a chuck mechanism and a positioning mechanism and operated by a control device having force control means. A) a method of automatically assembling the part and the second part: a) a positioning and gripping step sp1 of positioning the first part by the positioning mechanism and gripping the second part by the chucking mechanism; A pressing step sp2 of pressing a second component into the first component in a fitting and inserting direction; c) adjusting the axis of the second component to the first component to align the axis of the second component with the first component. A revolving trajectory generating step sp3 for generating an exploratory moving direction and a moving amount; and d) exploratory fitting and insertion of the second component for phase matching between the second component and the first component. The amount of rotation around the E) the pressing of the second component by the pressing step sp2 is performed using the movement amount, the moving direction, and the rotation amount generated in the revolution trajectory generation step sp3 and the rotation trajectory generation step sp4. A fitting step sp5 of moving the shaft while maintaining the same to simultaneously perform axis alignment and phase matching; and f) an insertion step sp6 of moving the second component in the fitting insertion direction with respect to the first component. Consisting of

Further, the automatic parts assembling apparatus of the present invention is characterized in that the positioning and gripping means, the pressing means, the revolving trajectory generating means, the revolving trajectory generating means, which perform the respective steps a) to f), are fitted with each other. And insertion means.

According to the present invention, the axis alignment and the phase adjustment can be performed without any time-series restriction such as generating the movement amount of the axis alignment and the movement amount of the phase alignment after waiting for the output of the force sensor data. Since they are executed simultaneously, the work can be performed at high speed.

The following embodiment can be adopted in this method of automatically assembling parts by a robot.

(1) In the positioning and gripping step sp1, the first component is positioned with a predetermined accuracy width.
The second component is gripped so that the insertion direction of the second component is parallel to one of the axes of the motion coordinate system of the robot within a predetermined accuracy range.

As a result, it is possible to reduce the calculation amount of the coordinate transformation accompanying the generation of the trajectory of the robot, thereby realizing a high-speed operation.

(2) In the orbit generating step sp3, a moving direction and a moving amount are generated in accordance with the positioning accuracy width in the positioning and gripping step sp1.

As a result, since the axis center can be searched within the range of the positioning accuracy, an unnecessary range search is not performed, and a reliable axis center search can be performed in the shortest search time. .

(3) In the rotation trajectory generation step sp4, a rotation amount is generated according to the positioning accuracy width in the positioning and gripping step sp1.

[0024] With this arrangement, a phase that can be fitted can be searched for within the range of positioning accuracy, so that a reliable phase search can be performed in the shortest search time.

(4) In the orbit generating step sp3, the moving direction and the moving amount of the spiral orbit are generated.

As a result, since the search range is gradually expanded from the point having the high position reliability, the axis center search can be performed in the shortest time.

(5) In the rotation trajectory generation step sp4, a periodic rotation amount of normal rotation and reverse rotation is generated.

Thus, since the phase is adjusted by rotating in both directions, a necessary and sufficient phase search can be performed.

(6) If the amount of pushing movement of the second component in the fitting / inserting direction becomes larger than a predetermined value in the fitting step sp5, the fitting step sp5 is immediately stopped.

In this way, since the fitting process is recognized by using the amount of pushing movement in the fitting / inserting direction, it is possible to simultaneously determine that both the axis and the phase are matched and to use the position information which is less affected by noise. , It is possible to confirm that the fitting has been securely performed.

[0030]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS One embodiment of the present invention will be described below with reference to the drawings.

<Embodiment 1> FIG. 1 is a front view showing the basic structure of an apparatus for carrying out the automatic parts assembling method of the present invention, and FIG. 2 is a perspective view of the parts to be assembled used in the first embodiment.

In FIG. 1, reference numeral 1 denotes a chuck mechanism for gripping a second component 4 to be assembled, and 2 denotes a translational freedom in three directions of X, Y and Z and a rotation freedom about an axis in the Z-axis direction. The robot 3 having a degree is a controller for operating the robot 2, and has a storage device 3a and a CPU 3
b, a digital servo circuit 3c. The digital servo circuit 3c controls position and force based on a command from the CPU 3b.

FIG. 2 is a perspective view showing parts to be assembled.
Reference numeral 5 denotes a first component having a square hole 5a, and reference numeral 4 denotes a second component having a shaft 4a having a square chamfered portion into which the square hole 5a fits.

FIG. 3 is a sectional view showing a part to be assembled and its positioning or part supply. FIG. 3 shows a positioning mechanism for positioning the first part 5, and 7 shows a part for supplying the second part 4 to the apparatus. It is a supply mechanism.

Next, the operation of the first embodiment will be described.

First, the robot 2 is operated in the positioning / gripping step sp1 based on a command from the CPU 3b, and the second component 4 supplied by the component supply mechanism 7 is gripped by the chuck mechanism 1. Then, as shown in FIG. 3, the robot 2 is moved and the second component 4 held by the chuck mechanism 1 is moved.
Is positioned above the first component 5 positioned by the positioning mechanism 6.

Next, in the pressing step sp2, the wrist 2a of the robot 2 is lowered to press the second component 4 against the first component 5 with a preset force. Then, in the process of lowering the second component 4, since the second component 4 is usually slightly off-axis with respect to the first component 5, first, the lower end of the shaft portion of the second component 4 Part of the chamfer of the first part 5
Contact the upper end of the hole. Since the range of deviation of the axis is known in advance from the repetition accuracy of the robot 2, the accuracy of the positioning mechanism 6, and the accuracy of the component supply mechanism 7, the contact point position CP1 is centered as shown in FIG. Then, the moving direction and the moving amount of the spiral track type are generated and stored in the storage device 3a.

Similarly, in the rotation trajectory generating step sp4, since the range of the rotation error is known in advance, as shown in FIG.
Store it in a.

In the fitting step sp5, an operation amount is taken out from the storage device 3a on the basis of the results of the orbit generating step sp3 and the orbit generating step sp4.
The control point C1 of the second component 4 is moved by operating the robot 2 while maintaining the pressing force of 2. When the pushing movement amount in the fitting insertion direction calculated from the feedback position in the middle of the fitting step sp5 becomes equal to or larger than a set value, it is determined that the phase is aligned with the axis, the robot 2 is temporarily stopped, and the operation proceeds to the insertion step sp6. move on.

In the insertion step sp6, the robot 2 is inserted and moved by a predetermined moving amount, and the operation of the robot 2 is stopped.

Here, the method of generating the moving direction and the moving amount of the spiral trajectory in the revolution trajectory generating step sp3 will be described in detail with reference to FIGS.

FIG. 6 is a cross-sectional view of the first part 5 and the second part 4 immediately after the completion of the pressing step sp2.
Is opposite to the fitting / inserting direction of the second component 4, and the origin of the working coordinate system S is located at the center of the tip of the second component.

FIG. 7A is a perspective view of a spiral trajectory generated using the work coordinate system S as reference coordinates, and FIG. 7B is an XY plan view of the work coordinate system S. In FIG. 7A, M
inY is the minimum radius of the spiral trajectory, MaxY is the maximum radius of the spiral trajectory in the Y-axis direction, and MaxX is the maximum radius of the spiral trajectory in the X-axis direction. The MaxY and MaxX set the maximum amount of the displacement range expected from the positioning accuracy. The control cycle of the controller 3 is Δt, and the position on the spiral trajectory at the time Δt (n−1) (n is an integer of 1 or more) with the work coordinate system S as the reference coordinates is (Sx (n−1),
Sy (n−1)) and Angle (n−1) as the total rotation angle up to time Δt (n−1), the coordinates (Sx (n−1), Sy (n−1) )) Is R (n-1)

(Equation 1) Becomes However, the coefficients k, B, C, and N satisfy the following relationship.

[0044]

(Equation 2) Assuming that a predetermined circumferential velocity in the tangential direction of the spiral orbit is V, the angle increment Δθ after Δt seconds is

(Equation 3) Becomes Total rotation angle Angle until time Δt * n
(N)

(Equation 4) And the position (Sx
(N), Sy (n))

(Equation 5) Becomes

Conversion matrix

(Equation 6) Represents the working coordinate system S based on the world coordinate system W, the time Δ
The position of t * n (X (n), Y (n), Z (n)) is

(Equation 7) And vectors (ΔX (n), ΔY (n), ΔZ (n)) indicating the movement amount and the movement direction at the time Δt * n are

(Equation 8) Is obtained. The generation from (Equation 1) to (Equation 7) is repeated until R (n-1)> MaxX (Equation 8), and the value MaxN of n that satisfies (Equation 8) is stored together with the generation result in the storage device 3a. To memorize.

Next, a method of generating a periodic rotation amount of forward rotation and reverse rotation in the rotation trajectory generation step sp4 will be described in detail with reference to FIGS. FIG. 8 is a perspective view of a spiral trajectory generated using the working coordinate system S as reference coordinates.
* Position of spiral orbit at n (Sx (n), Sy
(N)) the posture coordinates of the tip of the second component 4 in Cx
(N), Cy (n) and Cz (n) are base vectors of the coordinate system C (n). Cx (n-1), Cy (n-1),
Cz (n−1) is a coordinate system C (n) at time Δt (n−1).
-1) is the basis vector. Here, the coordinate origins of the coordinate systems C (n-1) and C (n) are displayed at the same position in order to handle only the posture change. World coordinate system W of C (n)
The attitude matrix based on

(Equation 9) And 1 in the normal rotation direction around the axis of the second component 4 in the fitting and insertion direction.
The rotation matrix of the attitude change for each control cycle is

(Equation 10) Then

[Equation 11] Is established.

A transformation matrix ΔR (n) from C (n−1) to C (n) based on the robot world coordinate system W
Is

(Equation 12) From (Equation 9)

(Equation 13) Becomes

Similarly, the transformation matrix Δ in the reverse direction
R (n) is also obtained. FIG. 9 is a processing flow of a method of generating a periodic rotation using (Equation 9) to (Equation 11).
In FIG. 9, in S12, the rotation angle error (DeltaA
ng), and in S13, the cycle of switching between normal rotation and reverse rotation is set by the number of clocks (F) of the control cycle.
, The rotation angle (Δθ) for each control cycle is calculated, and the time Δt * n is calculated using (Equation 9), (Equation 10) and (Equation 11).
The transformation matrix ΔR (n) is obtained. It is generated until n becomes MaxN stored in the storage device 3a in the orbit generating process sp3.

<Embodiment 2> FIGS. 10 to 12 show Embodiment 2.
FIG. 10 is a cross-sectional view of the RV reducer 8, which is provided on a positioning mechanism 10 having opposed gears 8a and 8b for positioning and holding. FIG. 11 shows RV
FIG. 2 is a cross-sectional view of an input gear 9 for transmitting power to a speed reducer 8, having a gear 9 a and supplying a component to a device;
1 is installed. In the assembling operation in the second embodiment, the input gear 9 is fitted and inserted into the center position of the opposing gears 8a and 8b of the RV reduction gear 8 in phase with the axis. At this time, since the gears 8a and 8b are not fixed, the gear 9a and the gears 8a, 8
Since the position of the teeth is shifted from the position before the assembling work due to the contact friction with b, the assembling cannot be performed only by the conventional phase adjustment by the visual sensor before the assembling work.

Next, the operation of the second embodiment will be described.
First, the positioning / gripping step sp is performed based on a command from the CPU 3b.
1 operates the robot 2 and the chuck mechanism 1 grips the input gear 9 supplied by the component supply mechanism 11. Then, as shown in FIG. 11, the input gear 9 held by the chuck mechanism 1 is moved by moving the robot 2.
Is positioned above the RV reducer 8 positioned by the positioning mechanism 10. Next, in the pressing step sp2, the wrist 2a of the robot 2 is lowered and the input gear 9 is set to R.
It is pressed against the V reducer 8 with a preset force. Then, in the process of lowering the second component 4, since the input gear 9 is normally slightly off-axis with respect to the RV reducer 8, a part of the chamfered portion at the lower end of the shaft of the input gear 9 is partially removed. It contacts the upper end of the hole of the gear 8a or 8b. Since the range of deviation of the axis is known in advance,
As in the case of the first embodiment, the orbit generating step sp3
Then, a spiral trajectory-type moving direction and a moving amount are generated around the contact point position, and the generated result is stored in the storage device 3a. Similarly, in the rotation trajectory generation step sp4, since the range of the rotation error is known in advance, as shown in FIG. 5, a periodic rotation amount of normal rotation and reverse rotation is generated, and the generation result is stored in the storage device 3a. In the fitting step sp5, the orbit generating step sp
3 and the robot 2 while maintaining the pressing force of the pressing force step sp2 based on the generation result of the rotation trajectory generating step sp4.
Is operated, the control point C2 of the input gear 9 is changed.
To move. FIG. 12 shows a state in this fitting step. When the pushing movement amount in the fitting insertion direction calculated from the feedback position in the middle of the fitting step sp5 becomes equal to or larger than a set value, it is determined that the phase is aligned with the axis, the robot 2 is temporarily stopped, and the operation proceeds to the insertion step sp6. move on. Insertion process sp
At 6, the robot 2 is inserted and moved by a predetermined moving amount, and the operation of the robot 2 is stopped.

[0051]

As described above, according to the present invention, the following effects can be obtained.

(1) a) a positioning / gripping step sp1 of positioning the first component by the positioning mechanism and gripping the second component by the chucking mechanism; and b) positioning the second component by the first component. And c) a pressing step sp2 for pressing the second component in the insertion direction of the second component, and c) a search direction and a moving amount of the second component for the axial centering of the second component and the first component. And d) generating an amount of rotation of the second component about an axis in the exploratory fitting direction in order to align the phases of the second component and the first component. E) maintaining the pressing of the second component by the pressing step sp2 with the movement amount, the moving direction, and the rotation amount generated in the revolution trajectory generation step sp3 and the rotation trajectory generation step sp4. And move it to A fitting step sp5 for simultaneously executing alignment and phase matching; and f) an insertion step sp6 for moving the second component in the fitting insertion direction with respect to the first component by a robot automatic part assembly method. , The axis alignment and the phase adjustment are performed simultaneously without any time-series restrictions such as calculating the movement amount of the axis alignment and the movement amount of the phase alignment after waiting for the output of the force sensor data. Can be done.

(2) In the positioning / gripping step sp1, the first component is positioned with a preset accuracy width, and the second component is positioned with the preset accuracy width in accordance with the insertion direction of the second component and the robot. By gripping such that any axis direction of the motion coordinate system is parallel, it is possible to reduce the calculation amount of coordinate transformation accompanying the generation of the trajectory of the robot and to achieve high-speed operation.

(3) In the revolving orbit generating step sp3, the moving direction and the moving amount are generated in accordance with the positioning accuracy width of the positioning and holding step sp1, so that the axis center can be searched within the range of the positioning accuracy. For this reason, an unnecessary range search is not performed, and a reliable axis center search can be performed in the shortest search time.

(4) In the rotation orbit generating step sp4, the amount of rotation is generated in accordance with the positioning accuracy width of the positioning and gripping step sp1, so that a fittable phase can be searched within the range of the positioning accuracy. Therefore, a reliable phase search can be performed in the shortest search time.

(5) In the revolution orbit generation step sp3, the search direction is gradually widened from the point with high position reliability by generating the spiral direction and the movement amount of the spiral path type. You can do a heart search.

(6) The rotation trajectory generation step sp4 generates a periodic rotation amount of normal rotation and reverse rotation to rotate in both directions to perform phase matching, so that a necessary and sufficient phase search can be performed.

(7) When the amount of pushing movement of the second component in the fitting / inserting direction becomes larger than a predetermined value by the fitting step sp5, the fitting step sp5 is immediately stopped, and the fitting is performed. Using the amount of pushing movement in the insertion direction,
Since the fitting step is recognized, it is possible to confirm that both the axis and the phase match at the same time, and furthermore, it is possible to confirm that the fitting has been securely performed since the recognition is performed based on the positional information with little influence of noise.

[Brief description of the drawings]

FIG. 1 is a front view showing a basic configuration of an apparatus for performing an automatic component assembling method of the present invention.

FIG. 2 is a perspective view of a component to be assembled used in Embodiment 1 of the present invention.

FIG. 3 is a cross-sectional view illustrating a component to be assembled and its positioning or component supply used in the first embodiment of the present invention.

FIG. 4 is a schematic diagram of a revolution orbit generation step of the present invention.

FIG. 5 is a schematic view of a rotation trajectory generation step of the present invention.

FIG. 6 is a cross-sectional view of the first component 5 and the second component 4 immediately after the pressing step sp2 according to the first embodiment of the present invention is completed.

FIG. 7A is a perspective view of a spiral trajectory generated using the working coordinate system S as reference coordinates, and FIG.
It is a Y plan view.

FIG. 8 is a perspective view of a spiral trajectory generated using the work coordinate system S as reference coordinates.

FIG. 9 is a process flow diagram of a method for generating a periodic rotation.

FIG. 10 is a sectional view of an RV reducer according to a second embodiment of the present invention.

FIG. 11 is a sectional view of an input gear for transmitting power to an RV reducer according to a second embodiment of the present invention.

FIG. 12 is a partially cutaway front view of a state in a fitting step according to the second embodiment of the present invention.

FIG. 13 is a front view showing a basic configuration of a conventional automatic assembling apparatus.

14 is a partially enlarged view of the compliance mechanism of FIG.

FIG. 15 is a perspective view showing a component to be assembled in a conventional example.

FIG. 16 is a cross-sectional view showing positioning of a component to be assembled and supply of the component in a conventional embodiment.

FIG. 17 is a configuration diagram of a transmission system of a measurement signal of a four-axis force sensor in a conventional example.

FIG. 18 is a front view illustrating a method for automatically assembling parts in a conventional example.

FIG. 19 is a front view illustrating a method for automatically assembling parts in a conventional example.

FIG. 20 is a front view illustrating a method for automatically assembling parts in a conventional example.

FIG. 21 is a front view illustrating a method for automatically assembling parts in a conventional example.

FIG. 22 is a front view illustrating a method for automatically assembling parts in a conventional example.

[Explanation of symbols]

 Reference Signs List 1 chuck mechanism 2 robot 3 controller 3a storage device 3b CPU 3c digital servo circuit 4 second part 4a shaft part of second part 5 first part 5a hole of first part 6 positioning mechanism 7 part supply mechanism 8 RV reducer 8a RV reducer gear 8b RV reducer gear 9 input gear 9a gear 10 positioning mechanism 11 component supply mechanism SP1 positioning gripping step SP2 pressing step SP3 revolving orbit generating step SP4 rotating orbit generating step SP5 fitting step SP6 insertion Step SP7 end S working coordinate system C1 control point S7 chuck mechanism S8 robot mechanism S8a wrist S9 coupling mechanism S10 force sensor S11 RCC S12 compliance mechanism S13 guide S14 compression coil spring S15 proximity switch S15a detection member S16 plate S17 plate S19 First component S19a Hole of first component S20 Second component S20a Shaft of second component S21 Positioning mechanism S22 Component supply mechanism S51 Generator S52 Robot controller

 ────────────────────────────────────────────────── ─── Continuing on the front page (72) Minoru Kanamaru 2-1 Kurosaki Castle Stone, Yawatanishi-ku, Kitakyushu-shi, Fukuoka Prefecture F-term (reference) 3C007 AS07 BS10 LT00 LT01 LU08 LV17 MT02 NS11 3C030 BC01 BC11 BC25 BC31

Claims (8)

[Claims] 1. A method of automatically assembling a first part and a second part by a robot having a chuck mechanism and a positioning mechanism and operated by a control device having a force control means, wherein: a) the positioning mechanism A positioning gripping step sp1 for positioning the first component and gripping the second component by the chuck mechanism; and b) a pressing process for pressing the second component on the first component in a fitting insertion direction. and c) a revolving trajectory generating step sp3 for generating an exploratory moving direction and a moving amount of the second component for axial alignment of the second component and the first component; d) A rotation trajectory generating step sp4 for generating an amount of rotation of the second component about an axis in a search and insertion direction for phase matching of the second component and the first component; e) the revolution Trajectory generation step sp3 With the movement amount, the movement direction, and the rotation amount generated in the rotation trajectory generation step sp4, the second component is moved while maintaining the pressing in the pressing step sp2, and the axis alignment and the phase alignment are simultaneously performed. A component automatic assembling method using a robot, comprising: a joining step sp5; and f) an insertion step sp6 of moving the second component in the fitting / inserting direction with respect to the first component. 2. The positioning and gripping step sp1 includes: positioning a first component with a predetermined accuracy width; and positioning the second component with a predetermined accuracy width in accordance with the insertion direction of the second component and the robot. 2. The method for automatically assembling parts by a robot according to claim 1, wherein the gripping is performed so that any one of the axis directions of the motion coordinate system is parallel. 3. The automatic component assembly by a robot according to claim 1, wherein the revolving trajectory generating step sp3 generates a moving direction and a moving amount according to a positioning accuracy width of the positioning and gripping step sp1. Method. 4. The component automatic assembling method according to claim 1, wherein the rotation trajectory generating step sp4 generates a rotation amount according to a positioning accuracy width of the positioning and gripping step sp1. 5. The component automatic assembling method according to claim 1, wherein the orbit generating step sp3 generates a moving direction and a moving amount of a spiral path type. 6. The method according to claim 1, wherein the rotation trajectory generating step sp4 generates a periodic rotation amount of normal rotation and reverse rotation. 7. The fitting step sp5 stops the fitting step sp5 immediately when the pushing movement amount of the second component in the fitting insertion direction becomes larger than a predetermined value. A method for automatically assembling parts by a robot according to any one of claims 1 to 6. 8. A component assembling apparatus for automatically assembling a first component and a second component by a robot having a chuck mechanism and a positioning mechanism and operated by a control device having a force control means, wherein: a) the positioning Positioning gripping means for positioning the first component by a mechanism and gripping the second component by the chuck mechanism; and b) pressing the second component to the first component in a direction of fitting and insertion. And c) revolving trajectory generating means for generating an exploratory moving direction and a moving amount of the second component for axial centering of the second component and the first component; Rotation trajectory generating means for generating an amount of rotation of the second component about an axis in a search and insertion direction for phase matching between the second component and the first component; e) generating the revolution trajectory Means and the rotation orbit generating means Fitting means for moving the second part while maintaining the pressing by the pressing means with the moving amount, the moving direction and the rotation amount thus formed, and performing the axial alignment and the phase alignment simultaneously; A part automatic assembling apparatus using a robot, comprising an insertion means for moving the second part with respect to the first part in the fitting insertion direction.