JP2016132049A - Positioning method - Google Patents

Abstract

PROBLEM TO BE SOLVED: To shorten the time required of a positioning operation to be performed at every one time of the operation by reducing error factors peculiar to various kinds of arrangements caused by dimensional accuracy or the like.SOLUTION: When such an assembling operation as to assemble an electric wire with a terminal to a connector housing is performed by using a plurality of independent operational arrangements, positioning errors due to error factors peculiar to various kinds of arrangements are reduced by calibration performed beforehand. A correction amount corresponding to an error factor peculiar to the first arrangement side and a correction amount corresponding to an error factor peculiar to the second arrangement side are assembled into a transformation relation for performing coordinate transformation between a robot coordinate and a world coordinate (S20). Because the positioning error peculiar to the arrangement can be sharply reduced, the time required for positioning is shortened and the more accurate positioning is facilitated. A positional deviation parallel to each axial direction of X, Y, Z, a rotation around each axis and a calibration rate are measured and specified (S18).SELECTED DRAWING: Figure 1

Description

  The present invention uses a first work facility capable of holding a first part and a second work facility capable of holding a second part, and moves at least the second work facility to The present invention relates to an alignment method for automatically assembling the second part to one part.

  For example, the automatic terminal insertion machine shown in Patent Document 1 is a work facility for automatically performing an assembly operation for inserting a terminal of a terminal-attached electric wire into a connector housing. In this work facility, the electric wire portion of the electric wire with terminal is sandwiched and supported by a clamp rod. In addition, an electric wire guide member is provided between the terminal block on which the terminal is placed and the clamp rod to restrict the horizontal deflection of the electric wire portion, and an electric wire presser is provided on the electric wire chuck to correct the vertical deflection. ing.

  In other words, in the case of the automatic terminal insertion machine disclosed in Patent Document 1, the electric wire with terminal supported by the clamp rod or the like is relative to the connector housing disposed at a specific fixed position. After the positioning, the terminal is inserted into the cavity of the connector housing, and the electric wire with terminal is assembled to the connector housing.

JP 2001-160472 A

  When the operation of assembling two parts is performed as in the automatic terminal insertion machine disclosed in Patent Document 1, the work robot is connected to the other of the two parts while the position of one of the two parts is fixed. The two parts are moved and the positions of the two parts are aligned, and then assembly such as insertion is performed.

  For example, in a situation where the position of one of two parts is limited to only one place, the position of the other part held by the work robot is managed, and the other robot is driven by the work robot. The two parts can be aligned by moving the parts by a predetermined amount toward the target position.

  However, in the actual assembly work of parts, a complicated situation must be assumed from the viewpoint of work efficiency and yield. For example, when manufacturing a wire harness for a vehicle, the terminals of the electric wire with terminal must be efficiently inserted into each of a large number of connector housings of different types and shapes. The insertion operation of the electric wire with terminal is performed in a state where the electric wires with terminals are arranged at different positions. Therefore, the position of the target connector housing at the insertion destination may change every time it is inserted, and the connector housing and the electric wire with terminal must be aligned each time.

  In addition, when the position of the target connector housing at the insertion destination changes, accurate positioning cannot be performed simply by moving the electric wire with terminal by driving the working robot. That is, the movement in a general work robot is up, down, left and right, and forward and backward with respect to itself, whereas the target connector housing of the insertion destination is arranged at a certain position in the three-dimensional space. When calculating the amount of movement of the robot, it is necessary to perform coordinate conversion and align it in the three-dimensional space.

  Further, when performing an operation of assembling the electric wire with terminal to the connector housing, a parallel link robot configured by combining a plurality of link mechanisms in parallel is necessary to realize a highly flexible operation. Such a parallel link robot can obtain a high degree of freedom with respect to movement of components, adjustment of inclination, and the like, but it is difficult to increase position accuracy. For example, there may be a relatively large difference between the designed movement amount and the actual movement amount due to the accuracy of the parts constituting the parallel link robot.

  For example, when a large number of connector housings are arranged side by side on a table or the like, the actual position of each connector housing may deviate from the design position due to the accuracy of the table or the like.

  With respect to a working robot or the like, for example, by using a camera or the like to automatically recognize a target part as a movement destination from a photographed image, it is possible to automatically correct a positional deviation and perform correct alignment. However, if there is a relatively large misalignment, it is highly possible that the image cannot be recognized correctly or that a long time is required for alignment.

  For example, in order to perform alignment with high accuracy, it is necessary to perform processing such as comparing an image obtained by photographing a very narrow area including the target position with a predetermined reference image. Therefore, when a large misalignment occurs, the position cannot be corrected by comparing the images. Alternatively, since the same control is repeatedly executed so as to approach the region including the reference image while correcting the position little by little, it is inevitable that the time required for alignment becomes long.

  In an actual work process, many parts are arranged and the same work is repeated many times for each part. Therefore, time-consuming alignment is performed for each work. However, it takes a long time to assemble all the parts, and the product cannot be manufactured efficiently.

  For example, if the inherent error factors of various facilities due to dimensional accuracy etc. can be reduced, the error between the design position and the actual position is reduced with respect to the relative position when aligning the two parts to be manufactured. Therefore, it is possible to shorten the time required for the positioning work performed for each work and to increase the positioning accuracy.

  The present invention has been made in view of the above-described circumstances, and its purpose is to reduce the inherent error factors of various facilities caused by dimensional accuracy and the like, and to reduce the time required for positioning work performed each time work is performed. An object of the present invention is to provide an alignment method that can be shortened.

In order to achieve the above-described object, the alignment method according to the present invention is characterized by the following (1) to (10).
(1) Using the first work facility capable of holding the first component and the second work facility capable of holding the second component, moving at least the second work facility, the first work facility A positioning method for automatically assembling the second part to the part,
When there are world coordinates representing a position in a three-dimensional space and robot coordinates representing the state of the second work facility, according to a predetermined coordinate conversion formula representing the relationship between the robot coordinates and the world coordinates, Using the result of converting the control amount for the second work equipment, aligning the first part or the first work equipment and the second part or the second work equipment,
Obtaining a first set of deviation amounts representing deviation amounts of positioning elements in a reference state of the first work equipment;
Obtaining a second set of deviation amounts representing deviation amounts of the positioning elements in the reference state of the second work equipment;
Incorporating the first correction value corresponding to the first set of shift amounts and the second correction value corresponding to the second set of shift amounts into the coordinate conversion formula, the result of correcting the shift amount is obtained. Obtained as a conversion result of the coordinate conversion formula,
It is characterized by that.
(2) The alignment method of (1) above,
As the first work equipment, using a fixed platen having a circular outer shape, and a plurality of the first components arranged on the circumference can be arranged,
As the second work facility, a parallel link robot configured by combining a plurality of link mechanisms in parallel is used.
It is characterized by that.
(3) The alignment method of (1) above,
Using a connector housing as the first part;
Utilizing an electric wire with a terminal as the second component,
It is characterized by that.
(4) The alignment method of (1) above,
When measuring the displacement amount of the positioning element in the reference state of the second work equipment,
A jig in which a predetermined calibration reference hole is formed is attached to the fixed part of the second work facility, and the relative positional relationship between the movable part of the second work facility and the calibration reference hole is set. Based on at least the origin position and the actual amount of movement,
It is characterized by that.
(5) The alignment method of (1) above,
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
One or more sensors are attached to the movable part of the second work facility, and the position of the reference part of the first work facility is measured using the sensor.
It is characterized by that.
(6) The alignment method of (5) above,
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
While rotating and driving the circular support member of the first work facility, each position on the circumference is measured using the sensor, and at least the roundness of the support member is acquired.
It is characterized by that.
(7) The alignment method of (5) above,
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
While rotationally driving the circular support member of the first work equipment, using the sensor, each position in the thickness direction of the support member is measured, and at least information on the inclination of the support member is obtained.
It is characterized by that.
(8) The alignment method of (1) above,
When measuring the amount of deviation of the relative position between the first work facility and the second work facility,
One or more sensors are mounted on the movable part of the second work facility, and the second work facility is located at three or more different positions along the outer periphery of the circular support member of the first work facility. Each of the movable parts is positioned, and position information is obtained using the sensor at each of the three positions.
It is characterized by that.
(9) The alignment method of (1) above,
The second set of deviation amounts includes information on a calibration ratio that represents a ratio between a theoretical movement amount and an actual movement amount obtained by measurement.
It is characterized by that.
(10) Using the first work facility capable of holding the first component and the second work facility capable of holding the second component, moving at least the second work facility, the first work facility A positioning method for automatically assembling the second part to the part,
When there are world coordinates representing a position in a three-dimensional space and robot coordinates representing the state of the second work facility, according to a predetermined coordinate conversion formula representing the relationship between the robot coordinates and the world coordinates, Using the result of converting the control amount for the second work equipment, aligning the first part or the first work equipment and the second part or the second work equipment,
The first correction value corresponding to the first set of shift amounts representing the shift amount of the positioning element in the reference state of the first work facility, and the shift amount of the positioning element in the reference state of the second work facility. Applying a second correction value corresponding to the second set of deviation amounts to the coordinate transformation equation as a constant obtained by prior measurement, and correcting the positional deviation.
It is characterized by that.

According to the positioning method of the configuration of (1) above, when calculating according to the coordinate conversion formula and converting various control amounts from the robot coordinates to the world coordinates, the unique characteristics of the first work equipment ( Since the first set of deviations due to dimensional accuracy and the like and the second set of deviations due to the unique characteristics of the second work equipment are respectively corrected, the first component and the first The position error in the initial state when aligning the two parts is greatly reduced. Therefore, the positional accuracy when the first component and the second component are more precisely aligned from this initial state is improved, and the time required for this alignment can be shortened.
According to the alignment method of the configuration of (2) above, by using a fixed plate having a circular outer shape, a plurality of the first parts are prepared in advance, and the second parts are sequentially arranged with respect to these. It becomes possible to assemble the parts. In addition, by using the parallel link robot, the degree of freedom of the moving path when moving the second component is increased, and the first component arranged at various positions is respectively connected to the first component. The two parts can be aligned. In addition, although the positioning accuracy of the parallel link robot is low, since the position is corrected by the second correction value when calculating the coordinate conversion formula, a decrease in positioning accuracy can be suppressed.
According to the alignment method of the configuration of (3) above, the connector housing and the electric wire with terminal are aligned using the first work facility and the second work facility, and the connector housing The terminal of the electric wire with the terminal can be inserted into the cavity. Therefore, it can be used in the process of manufacturing a wire harness for vehicles.
According to the alignment method of the configuration of (4) above, the calibration reference hole is used to accurately align the movable part of the second work facility with the origin position, or the actual movement amount of the movable part can be set. It becomes possible to grasp.
According to the positioning method of the configuration of (5) above, the relative actual positional relationship between the movable part of the second work facility and the reference site of the first work facility is correctly calculated using the sensor. I can grasp it.
According to the positioning method of the configuration of (6) above, the roundness of the support member can be grasped, and thereby the radial position of the support member with respect to the position where the first component is arranged. A shift can be predicted.
According to the alignment method of the configuration of (7) above, since the inclination of the support member can be grasped, it is possible to predict a displacement in the thickness direction of the support member with respect to the position where the first component is arranged. become.
According to the positioning method of the configuration of (8) above, the position information is acquired at each of the three points, so that the second part can be located at any position. When the movable part of the work facility is moved to align the second component, it is possible to grasp the positional deviation caused by the characteristic characteristic of the second work facility.
According to the positioning method of the above configuration (9), when there is a deviation between the theoretical movement amount and the actual movement amount obtained by the measurement, the movement is performed based on the calibration ratio information. Correction can be made so as to eliminate the deviation of the amount.
According to the positioning method of the above configuration (10), since the correction of the first correction value and the correction value of the second correction value are applied to the coordinate conversion formula using a predetermined constant, actual manufacturing is performed. When assembling the second part to the first part in the process, the error factor inherent in the first work facility and the error factor inherent in the second work facility are eliminated in the initial state. The position can be instantly determined. Since the position error in this initial state is very small, it is possible to execute movement (correction of position) from this position to a more accurate correct position in a short time. Therefore, it is possible to reduce the frequency of insertion failure during part assembly work by improving positioning accuracy, and to reduce the time required for one assembly work, thereby improving product production efficiency.

  According to the alignment method of the present invention, it is possible to reduce the inherent error factor of various facilities due to dimensional accuracy and the like, and to shorten the time required for the positioning operation performed for each operation.

  The present invention has been briefly described above. Further, the details of the present invention will be further clarified by reading through a mode for carrying out the invention described below (hereinafter referred to as “embodiment”) with reference to the accompanying drawings. .

FIG. 1 is a flowchart showing a specific procedure at the time of calibration for carrying out the alignment method of the present invention. FIG. 2 is a vector diagram showing a vector and a state of coordinate transformation before and after parallel translation between two three-dimensional coordinate systems. FIG. 3 is a schematic diagram showing the contents of the coordinate conversion formula. FIG. 4 is a perspective view showing a robot equipped with a jig for initial adjustment of the robot coordinate system. FIG. 5 is a perspective view showing a robot and a stationary plate equipped with a jig and a sensor when measuring the stationary platen. 6 (A) and 6 (B) are perspective views showing a robot and a fixed plate equipped with jigs and sensors, and FIG. 6 (A) shows a state in which the circumferential position of the housing base in the radial direction is measured. FIG. 6B shows a state in which the position of the housing base in the thickness direction is measured. FIG. 7 is a perspective view showing a state in which the terminal insertion head of the robot is positioned at a plurality of positions along the circumference of the housing base. FIG. 8 is a perspective view of a terminal insertion device including two parallel joint mechanisms. FIG. 9 is a perspective view showing the terminal insertion device. 10 (A) and 10 (B) are views showing a fixed plate of the terminal insertion device, FIG. 10 (A) is a plan view of the fixed plate, and FIG. 10 (B) is a side view. . FIG. 11 is a side view showing the parallel joint mechanism of the terminal insertion device. FIG. 12 is a perspective view showing an electric wire transporter of the terminal insertion device.

  Specific embodiments relating to the present invention will be described below with reference to the drawings. In order to facilitate understanding of the alignment method of the present invention, a terminal insertion device, which is a specific manufacturing facility to which the alignment method can be applied, will be described first, and then the terminal insertion device is used for positioning. A method of combining them will be described.

[Outline of terminal insertion device]
FIG. 8 is a perspective view showing the terminal insertion device according to the embodiment of the present invention. The terminal insertion device according to the embodiment of the present invention includes a stationary platen 10 and a parallel joint (parallel link) mechanism 20. The terminal insertion device according to the embodiment of the present invention further includes an electric wire carrier 30 and a terminal measurement sensor 40. Hereinafter, the fixed platen 10, the parallel joint mechanism 20, the electric wire transporter 30, and the terminal measurement sensor 40 will be described in detail.

  As shown in FIG. 8, the two parallel joint mechanisms 20 </ b> A and 20 </ b> B insert terminals into different connector housings 80 arranged on the fixed platen 10. In the case of this configuration, the electric wire transporter 30 includes two moving bodies 32A and 32B, and the moving body 32A holds one end of the electric wire 90 and the moving body 32B holds the other end of the electric wire 90. Then, the two moving bodies 32A and 32B carry the electric wire 90 in a state where one end and the other end are gripped to a predetermined position. Thus, the electric wire transporter 30 carries an electric wire per circuit line unit. The terminal measurement sensor 40 has two measurement sensors attached to the sensor base 41. One measurement sensor 47A measures a terminal located at the tip of an electric wire held by the parallel joint mechanism 20A, and another measurement sensor 47B measures a terminal located at the tip of the electric wire held by the parallel joint mechanism 20B. And With this configuration, the two parallel joint mechanisms 20A and 20B have one end gripping one end of the electric wire 90 and the other end holding the other end of the electric wire 90, with respect to different connector housings to which the respective end portions should be connected. Terminal insertion processing.

  In the terminal insertion device according to the embodiment of the present invention to be described later, in order to lead to a deeper understanding, a mode in which a terminal is inserted into a connector housing by one parallel joint mechanism 20 will be described. Even if the terminals are inserted by the mechanisms 20A and 20B, the two parallel joint mechanisms 20A and 20B are driven independently, so that the terminal insertion process is the same.

[Configuration of terminal insertion device]
[Details of fixed platen 10]
10 (A) and 10 (B) are diagrams showing a stationary platen in the terminal insertion device according to the embodiment of the present invention. FIG. 10 (A) is a plan view of the stationary platen, and FIG. 10 (B). Shows side views respectively. As shown in FIGS. 9, 10 (A), and 10 (B), the stationary platen 10 is a member for positioning the connector housing 80, and is attached to a flat surface of a housing support (not shown). It is done. The stationary platen 10 includes a housing receiver 11 for holding the connector housing 80, an annular rail member 12 to which the housing receiver 11 is fixed, and the rail member 12 on the upper surface 13a so that the axis of the rail member 12 is aligned. A disk-shaped housing base 13 to be fixed, and a motor member 14 attached to a lower surface 13b of the housing base 13 and having a rotating shaft 14a set to coincide with the axis of the housing base 13 are provided.

  The housing receiver 11 has a recess formed with an inner surface that substantially matches the shape of the outer surface of the connector housing 80. The connector housing 80 is positioned with respect to the housing receiver 11 by being accommodated in the recess of the housing receiver 11. The housing receiver 11 is fixed to the rail member 12 via a support base 11 a that supports the housing receiver 11. A part of the support base 11 a fixed to the rail member 12 extends outside the rail member 12 along the radial direction of the rail member 12. The housing receiver 11 is fixed to a part of the support base 11a extending to the outside of the rail member 12. In addition, a plurality of housing receivers 11 are fixed to the rail member 12, and the plurality of housing receivers 11 are disposed on the annular rail member 12 at a predetermined interval. For this reason, the connector housings 80 fixed to the plurality of housing receivers 11 are arranged such that when the positions of the adjacent connector housings 80 are sequentially connected, a set of the connected line segments forms an annular shape as a whole. The Further, as shown in FIGS. 10A and 10B, the connector housing 80 has a housing receiving portion so that the front surface of the connector housing 80 where the opening of the cavity 81 is exposed is located outside the rail member 12. 11 is held. At this time, the extending direction of the cavity 81 in the connector housing held by the housing receiver 11 is arranged along the radial direction of the rail member 12.

  The rail member 12 is a flat annular member having a circular flat plate formed therein, and is fixed to the housing base 13 by fitting a part of the housing base 13 therein. The rail member 12 has two semicircular flat plates arranged side by side on the same plane. Preferably, the rail member 12 in a state where the connector housing 80 is held by the housing receiver 11 is fixed to the housing base 13, and the terminals are inserted into the connector housings 80.

  The housing base 13 is a member in which three disk bodies 13c, 13d, and 13e having different diameters are stacked so that their axes coincide with each other, and the disk bodies 13c, 13d, and 13e are integrally formed. The disk body 13 c has a diameter that substantially matches the inner diameter of the rail member 12. When the disk body 13c is fitted into the rail member 12, the rail member 12 is fixed to the disk body 13c. Further, the disk body 13 d has a diameter substantially equal to the outer diameter of the rail member 12. The rail member 12 is stably held with respect to the housing base 13 by the lower surface of the rail member 12 fixed to the disk body 13c being supported by the upper surface 13a of the disk body 13d. The disk member 13e has a motor member 14 attached to the lower surface 13b. The axis of the disc body 13e coincides with the axis of the rotating shaft 14a of the motor member 14, and the housing base 13 rotates as the motor member 14 rotates. As a result, the rail member 12 fixed to the disk body 13 c of the housing base 13 also rotates about the rotation shaft 14 a as the motor member 14 rotates. For this reason, the plurality of connector housings 80 fixed to the respective housing receivers 11 also rotate in the circumferential direction of the ring formed by these housings.

  The motor member 14 is supported on the flat surface so that the rotation shaft is perpendicular to the flat surface of the housing support (not shown). When the motor member 14 is supported on the flat surface of the housing support base, the fixed platen 10 is attached to the housing support base. In the motor member 14, the rotational force of the motor is transmitted to the housing base 13 via various gears, and the housing base 13 rotates. The motor member 14 receives a control signal from a predetermined control device (not shown) and controls the rotation of the motor.

  In the terminal insertion device according to the embodiment of the present invention, a plurality of connector housings 80 are arranged in an annular shape on the stationary platen 10. For this reason, the terminal insertion device according to the embodiment of the present invention does not need to secure a wide open space in the width direction for arranging a plurality of connector housings in a row, unlike the conventional terminal insertion device. It is sufficient to secure a space having a width that can accommodate the board 10. For this reason, the structure of the fixed board 10 mentioned above contributes to size reduction of a terminal insertion apparatus.

[Details of Parallel Joint Mechanism 20]
FIG. 11 is a side view showing a parallel joint mechanism in the terminal insertion device according to the embodiment of the present invention. The parallel joint mechanism 20 is a robot drive mechanism that moves the terminal insertion head 25 to insert terminals into the connector housing 80, and is attached to a parallel joint mechanism support (not shown). As shown in FIG. 11, the parallel joint mechanism 20 includes a base 21 attached to the parallel joint mechanism support base, three first motors 22a, 22b, 22c installed on the base 21, and a first motor. Three arms 23a, 23b, 23c, each of which is connected to one of the rotating shafts 22a, 22b, 22c and driven, and one end of each of the arms 23a, 23b, 23c via a universal joint and transmission gear Three links 24a, 24b, 24c to be connected and a terminal insertion head 25 connected to the other end of the three links 24a, 24b, 24c via a universal joint are provided. The parallel joint mechanism 20 controls the rotation amounts of the three first motors 22a, 22b, and 22c so that the inclination angles of the arms 23a, 23b, and 23c and the angles of the links 24a, 24b, and 24c with respect to the arms 23a, 23b, and 23c are adjusted. By changing, the terminal insertion head 25 can be translated in three directions along XYZ. The parallel joint mechanism 20 receives a control signal from the control device and controls the rotation of the first motors 22a, 22b, and 22c.

  Further, the terminal insertion head 25 is attached to the other end of the three links 24a, 24b, 24c via a universal joint, and is attached to the hand base 25a so as to be rotatable in the roll direction. A wire gripping body 25b and a wire chuck 25c provided at the tip of the wire gripping body 25b that grips a part of the wire including the terminal connected to the tip, and a hand base 25a are attached to the wire gripping body 25b. Attached to the hand base 25a, a second motor 25f that pivots in the pitch direction (the direction around the X axis in FIG. 11) and the yaw direction (the direction around the Z axis in FIG. 11) with respect to the hand base 25a. The third motor 25d for turning the electric wire gripping body 25b with respect to the hand base 25a in the roll direction (a direction around the Y axis in FIG. 11). , A pressure sensor 25g for detecting the external force acting on the wire chuck 25c. In this embodiment, the second motor 25f and the third motor 25d are provided on the hand base 25a. However, the second motor 25f and the third motor 25d may be provided on the base 21. In this case, the terminal insertion head 25 can be pivoted in the pitch direction, the yaw direction, and the roll direction by attaching the second motor 25f and the third motor 25d to the hand base 25a via the telescopic shaft and the universal joint. To do. In addition, the electric wire gripping body 25b is swung in the pitch direction and the yaw direction by one second motor 25f, but two motors corresponding to the second motor 25f are attached to the hand base 25a, and one motor is The rotation may be such that the electric wire gripping body 25b is pivotable in the pitch direction, and the other motor is pivotable by the rotation of the electric wire gripping body 25b in the yaw direction.

  The wire gripping body 25b has a cylinder that feeds air into the wire chuck 25c. The wire chuck 25c is closed when air is fed from the wire gripping body 25b, and is opened when air is not fed. The parallel joint mechanism 20 receives a control signal from the control device, and controls the timing at which the wire gripping body 25b sends air to the wire chuck 25c.

  Further, the electric wire gripping body 25b is driven by controlling the rotation amount of the second motor 25f, so that the posture of the electric wire gripping body 25b turns in the pitch direction and the yaw direction. The electric wire gripping body 25b has a drive shaft 25e connected to the rotation shaft of the third motor 25d, and controls the amount of rotation of the third motor 25d to move the drive shaft 25e with respect to the hand base 25a. By rotating, the posture of the electric wire gripping main body 25b can be turned in the roll direction. As a result, the electric wire held by the electric wire chuck 25c also turns in the pitch direction, the yaw direction, and the roll direction. The parallel joint mechanism 20 receives a control signal from the control device and controls the rotation of the second motor 25f and the third motor 25d.

  The electric wire chuck 25c includes a front chuck 25c1 and a rear chuck 25c2. In the embodiment of the present invention, each of the chucks 25c1 and 25c2 is closed in a state where the outer skin portion of the electric wire is sandwiched between the chucks, whereby the electric wire chuck 25c grips the electric wire. When the electric wire chuck 25c does not have to hold the terminal 91 as described above, it is not necessary to provide a terminal chuck for holding the terminal 91 in the electric wire holding body 25b. Thereby, it leads to the weight reduction of the electric wire holding body 25b, and the weight reduction of the terminal insertion head 25 by extension. As a result, the operation speed of the parallel joint mechanism 20 can be improved and the cycle time can be shortened, and the working efficiency of the parallel joint mechanism 20 can be improved.

[Details of Electric Wire Transporter 30]
FIG. 12 is a perspective view showing an electric wire transporter in the terminal insertion device according to the embodiment of the present invention. The electric wire transporter 30 is a device that transports an electric wire 90 having a terminal 91 attached to the tip to a predetermined position. As shown in FIG. 12, the electric wire transporter 30 is a part of the electric wire 90 including a transport rail 31 extending in the X-axis direction, a movable body 32 that can slide the transport rail 31, and a terminal 91 connected to the tip. A terminal insertion head 25 provided on the moving body 32, a frame 34 that supports the transport rail 31, and an air chuck body 35 that sends air to the terminal insertion head 25. In the embodiment of the present invention, the direction in which the moving body 32 moves on the transport rail 31 corresponds to the direction of the X axis.

  The moving body 32 includes a motor, and the rotational force of the motor can be converted into the propulsive force in the longitudinal direction of the transport rail 31 to slide on the transport rail 31. The moving body 32 receives a control signal from the control device and controls the rotation of the motor.

  Further, the moving body 32 has an air chuck main body 35 that sends air to the terminal insertion head 25. When the air is sent from the moving body 32, the terminal insertion head 25 is closed and the air is not sent. And the chuck opens. The moving body 32 receives a control signal from the control device and controls the timing at which air is sent to the terminal insertion head 25.

  The position where the parallel joint mechanism 20 grips the electric wire 90 transported by the moving body 32 is previously determined. That is, the moving body 32 moves on the transport rail 31 and stops at a predetermined position. On the other hand, the parallel joint mechanism 20 has an electric wire transported by the moving body 32 at a predetermined position. Head to that position. As a result, the parallel joint mechanism 20 can grip the electric wire 90 that has been transported by the moving body 32, while the moving body 32 has the own electric wire 90 after the electric wire 90 is gripped by the parallel joint mechanism 20. Release the grip. The electric wire 90 is supplied to the parallel joint mechanism 20 by this series of processes.

[Details of terminal measurement sensor 40]
The terminal measurement sensor 40 is a device that measures the rotation angle in the roll direction of the terminal 91 located at the tip of the electric wire 90 held by the parallel joint mechanism 20 and the XZ coordinate where the tip of the terminal 91 is located. In the embodiment of the present invention, the electric wire chuck 25c of the parallel joint mechanism 20 sandwiches two portions of the outer skin of the electric wire 90, the parallel joint mechanism 20 carries the electric wire 90, and the terminal 91 is placed in the cavity 81 of the connector housing 80. insert. At this time, it must be considered that the terminal 91 is rotating in the roll direction. Furthermore, the electric wire 90 hangs down due to the weight of the terminal 91 or bounces off due to the winding curl of the electric wire. Or bounce and have to consider. The terminal measurement sensor 40 detects the rotation angle of the terminal 91 in the roll direction and the inclination of the terminal 91 with respect to the Y-axis direction due to the drooping or rebounding of the electric wire 90.

[Positioning of terminal insertion device]
[Description of coordinate transformation]
By the way, when an operation of inserting an electric wire with a terminal into each cavity of the connector housing 80 on the stationary platen 10 using the terminal insertion head 25, the position coordinates in the actual three-dimensional space or all devices are used. It is necessary to grasp the common position coordinates and align the cavity and the terminal. This is the world coordinate, which is expressed as a coordinate representing the position in the X, Y, and Z axis directions of the three-dimensional space. On the other hand, when the robot including the terminal insertion head 25 is moved by driving the parallel joint mechanism 20, control can be performed using robot coordinates that are unique to the robot. In the case of the terminal insertion head 25, the robot coordinates include a terminal insertion direction (Y), an upward direction (Z), and a direction (X) perpendicular to Y and Z.

  Therefore, when the terminal insertion head 25 is moved on the robot coordinates and the position of the electric wire with the terminal gripped by the terminal insertion head 25 is adjusted to the position of the connector housing 80 arranged in the three-dimensional space, the robot control is performed. The quantity needs to be transformed from robot coordinates to world coordinates.

  FIG. 2 shows a general vector and coordinate transformation before and after translation between two three-dimensional coordinate systems. FIG. 3 shows the contents of a calculation formula used for general three-dimensional coordinate transformation.

  That is, when the coordinates are converted from one of the two coordinate systems represented by the three axes X, Y, and Z to the other, the vector changes as shown in FIG. Further, by using a coordinate conversion formula as shown in FIG. 3, it is possible to obtain a correct conversion result in consideration of the effects of parallel movement and rotation as shown in FIG.

  Actually, coordinate transformation between robot coordinates and world coordinates can be performed by using the determinant of the “homogeneous displacement matrix” shown in FIG. As shown in FIG. 3, the “homogeneous displacement matrix” is expressed as a product of a “homogeneous movement matrix” and a “homogeneous rotation matrix”. Further, the “homogeneous rotation matrix” includes respective matrices of rotation around the X axis, rotation around the Y axis, and rotation around the Z axis, as shown in FIG.

  Accordingly, the control device that controls the robot performs coordinate conversion of the contents shown in FIG. 3, that is, the calculation of the “homogeneous displacement matrix”, thereby converting the control amount of the robot from robot coordinates to world coordinates. It is possible to align the position of the terminal-attached electric wire and the connector housing 80 in an actual three-dimensional space.

[Explanation of misalignment]
[Robot side misalignment]
In the above-described terminal insertion device shown in FIGS. 8 to 12, since the robot that moves the terminal insertion head 25 is driven using the parallel joint mechanism 20, freedom regarding movement and rotation of the terminal insertion head 25 is achieved. While the degree is high, the positioning accuracy tends to be low.

  For example, the design movement amount when the robot moves the terminal insertion head 25 due to variations in the dimensional accuracy (length, etc.) of the parts of the plurality of links 24a, 24b, 24c constituting the parallel joint mechanism 20 And there is a possibility that a deviation occurs between the actual movement amount. That is, there are error factors specific to the robot for each equipment. Therefore, if some kind of calibration is not performed to eliminate the error factors as described above, alignment becomes difficult when the error is large.

The error factors on the robot side that moves the terminal insertion head 25 can be expressed by the following seven (1) to (7).
(1) ΔX: A displacement amount indicating a parallel displacement in the X-axis direction (2) ΔY: A displacement amount representing a parallel displacement in the Y-axis direction (3) ΔZ: A displacement representing a parallel displacement in the Z-axis direction Amount (4) Δα: Deviation amount representing rotation about X axis (5) Δβ: Deviation amount representing rotation about Y axis (6) Δγ: Deviation amount representing rotation about Z axis (7) Cr: Calibration ratio (Calibration Ratio) = actual travel distance / design travel distance [Position shift on fixed platen]

  In the above-described terminal insertion device shown in FIGS. 8 to 12, a specific connector in a state where a plurality of connector housings 80 are arranged side by side as shown in FIG. 10A on the circumference of the housing base 13 of the stationary platen 10. In accordance with the position of the cavity of the housing 80, the electric wire with a terminal gripped by the electric wire chuck 25c of the terminal insertion head 25 is positioned.

  Accordingly, the position of the connector housing 80 changes each time the connector housing 80 into which each terminal-attached electric wire is inserted is changed, and the terminal insertion head 25 is aligned with a different position along the circumference of the housing base 13 each time. There must be.

  For example, when the alignment is performed with the center position of the circle of the housing base 13 as the origin, each connector housing 80 is caused by the dimensional error of the radius of the housing base 13 or the roundness of the housing base 13. A positional deviation in the radial direction (radial direction) occurs at the actual position. Furthermore, when the housing base 13 is disposed to be inclined with respect to a plane parallel to the XY axis, a positional shift caused by the inclination occurs due to a difference in the circumferential position of the housing base 13.

[Explanation of calibration procedure for terminal insertion device]
A specific procedure at the time of calibration for carrying out the alignment method of the present invention is shown in FIG. That is, in order to eliminate the inherent error factors of each equipment immediately after installing each equipment of the terminal insertion device shown in FIGS. Then, the calibration procedure shown in FIG. 1 is performed. Then, correction data necessary for calibration is acquired by this calibration procedure.

  In the actual calibration work, measurement is performed while attaching or removing a special jig or sensor for calibration by the operator's manual work and moving the movable part of each equipment as necessary. The correction data obtained as a result of the measurement is stored on the control device of the terminal insertion device, and is read out and used when an actual manufacturing process is performed.

FIG. 4 shows the appearance of a robot equipped with a jig for initial adjustment of the robot coordinate system.
In step S11 of FIG. 1, a jig necessary for calibration work is mounted as shown in FIG. 4 by the operator's manual work. In the example shown in FIG. 4, a jig 51 is mounted on a terminal insertion head 25 that is a movable part of a robot, and a jig 52 is fixed to a base 21 that is a fixed part of the robot. A plurality of reference holes for calibration (not shown) are formed in the fixture 52 on the fixed side. Specifically, it is formed at one calibration reference hole representing the origin position, and at positions shifted by 50 [mm] in the plus and minus directions of the X axis and in the plus and minus directions of the Y axis with respect to the origin position. Four calibration reference holes, and four calibration reference holes formed at positions shifted by 100 [mm] in the X-axis plus and minus directions and in the Y-axis plus and minus directions, respectively, with respect to the origin position There is.

  In step S12 of FIG. 1, initial adjustment of the robot is performed using the jigs 51 and 52 shown in FIG. 4 as described below. First, using the calibration reference hole on the jig 52 representing the origin position, the parallel joint mechanism 20 is driven so that the reference position of the jig 51 (for example, a projection like a pin) matches the calibration reference hole. Then, the position of the terminal insertion head 25 is moved. At this time, for example, it is possible to automatically perform alignment using an image photographed using a camera (not shown) arranged on the terminal insertion head 25 or the like.

  Further, the positions of the two calibration reference holes that are displaced in the X-axis direction from the origin position are detected, and the X-axis reference direction connecting these positions and the parallel joint mechanism 20 are moved to move the terminal insertion head 25 in the X-axis direction. The inclination (θ1) in the X direction with respect to the movement is detected. Similarly, the inclination in the Z direction (θ2) is also detected.

  Furthermore, the parallel joint mechanism 20 is driven, and the terminal insertion head 25 is moved from the position of the calibration reference hole at the origin to the position of another calibration reference hole that is shifted by 100 [mm]. The ratio between the drive amount required to actually move the distance and the designed drive amount is calculated as the calibration ratio.

  FIG. 5 shows the appearance of a robot and a fixed plate equipped with a jig and a sensor for measuring the fixed platen.

  In step S13 of FIG. 1, two high-precision contact type digital sensors 53 and 54 are attached to the jig 51 of the terminal insertion head 25 by manual operation of the operator as shown in FIG. Prepare for measurement.

  One contact type digital sensor 53 is arranged from the outside of the outer peripheral surface of the housing base 13 toward the center of the housing base 13 as shown in FIG. 5, and the tip is in contact with the circumferential surface of the housing base 13. Thus, the position of the surface in the radial direction can be detected as a relative distance from the terminal insertion head 25. The other contact type digital sensor 54 is arranged in the vicinity of the outer peripheral surface of the housing base 13 as shown in FIG. 5 from the lower side to the upper side, that is, in the thickness direction of the housing base 13. The position of the surface in the vertical direction can be detected. Note that the procedure may be changed so that the two contact type digital sensors 53 and 54 are attached one by one in order and the measurement is performed each time.

  FIGS. 6A and 6B show the appearances of a robot and a fixed plate equipped with a jig and a sensor, respectively. 6A shows a state in which the circumferential position of the housing base in the radial direction is measured, and FIG. 6B shows a state in which the position in the thickness direction of the housing base is measured.

  In step S14 of FIG. 1, the fixed platen 10 is placed in a state where the tip of the contact type digital sensor 53 is disposed so as to contact the circumferential outer peripheral surface of the housing (HSG) base 13 as shown in FIG. The position in the radial direction is detected by the contact-type digital sensor 53 while driving the motor and rotating the housing base 13. Thereby, the roundness related to the shape of the circumference of the housing base 13 can be measured.

  In step S15 in FIG. 1, the stationary digital sensor 54 is placed in a state where the tip of the contact type digital sensor 54 is in contact with the lower end surface in the vicinity of the circumference of the housing (HSG) base 13 as shown in FIG. While the motor base is driven to rotate the housing base 13, a change in the position in the thickness direction is detected by the contact type digital sensor 54. Thereby, the inclination with respect to XY plane of the housing base 13 is measurable.

  FIG. 7 shows a state in which the terminal insertion head of the robot is positioned at a plurality of positions along the circumference of the housing base.

  In step S16 of FIG. 1, the parallel joint mechanism 20 of the robot is moved to change the position and orientation of the terminal insertion head 25, and as shown in FIG. 7, three or more points are set so as to face the circumference of the housing base 13. Sequentially positioned at Then, similarly to S15, the tip of the contact type digital sensor 54 is brought into contact with the lower end in the thickness direction of the housing base 13, and the relative inclination and height (Z coordinate) of the housing base 13 are measured at the positions of the respective points.

  In step S17 in FIG. 1, the parallel joint mechanism 20 of the robot is moved to change the position and orientation of the terminal insertion head 25, and three or more points are provided so as to face the circumference of the housing base 13 as shown in FIG. Sequentially positioned at Then, similarly to S14, the tip of the contact type digital sensor 53 is brought into contact with the outer peripheral surface on the circumference of the housing base 13, and the terminal insertion head 25 is based on the detection value of the contact type digital sensor 53 measured at the position of each point. And the turning center position (X, Y coordinate) of the housing base 13 is specified.

  In step S18 of FIG. 1, based on the measurement results of S12 to S17, a group of inherent error factors on the robot side that moves the terminal insertion head 25, that is, the aforementioned ΔX, ΔY, ΔZ, Δα, Δβ, Δγ, and Cr ( Specify the calibration ratio).

  In step S19 of FIG. 1, based on the measurement results of S12 to S17, a specific error factor group on the fixed platen 10 side, that is, the roundness of the housing base 13 obtained in S14, or the housing base 13 obtained in S15. Identify the effects of the slope of each.

  In step S20 of FIG. 1, the robot coordinates of the terminal insertion device are set so that an error in alignment between the terminal-attached electric wire held by the terminal insertion head 25 and the connector housing 80 is sufficiently small in the initial state of alignment control. In the coordinate conversion formula (see FIG. 3) used for coordinate conversion with the world coordinates, a correction value for correcting the error factor on the robot side specified in S18 and an error on the fixed platen 10 side specified in S19. A correction value for correcting the factor is incorporated. Note that the contents of the coordinate conversion formula incorporating the correction value in S20 and the data of each correction value are stored in, for example, a nonvolatile memory or a predetermined database so that they can be read and used in the actual manufacturing process.

[Operation in manufacturing process of terminal insertion device]
In the manufacturing process of inserting a terminal-attached electric wire into each connector housing 80 arranged on the fixed platen 10, it is necessary to align the terminal end of the electric wire 90 so that it substantially coincides with the position of the cavity of the connector housing 80. is there. At this time, the control device that adjusts the position of the terminal insertion head 25 by driving the parallel joint mechanism 20 converts, for example, the position of the terminal tip of the electric wire 90 from the robot coordinates to the world coordinates, The connector housing 80 is aligned.

  Here, when converting from the robot coordinates to the world coordinates, the coordinate conversion formula incorporating the above-described correction values is read and used, so that the error factors specific to the equipment on the robot side and the equipment specific to the equipment on the fixed platen 10 side can be obtained. The error factor can be greatly reduced. That is, only by giving a command value once to the robot in order to move the position of the terminal tip of the electric wire 90, the relative positional relationship between the terminal tip and the connector housing 80 moves to a position where it does not deviate significantly from the target value. Can do. Therefore, it is easy to perform more precise alignment, and the time required for alignment can be greatly shortened. As a result, the cycle time of the manufacturing process is shortened, and a more efficient product can be manufactured.

Here, the features of the embodiment of the alignment method according to the present invention described above are briefly summarized and listed in the following [1] to [10], respectively.
[1] A first work facility (fixed platen 10) capable of holding the first component (connector housing 80) and a second work facility (parallel link robot 20) capable of holding the second component (electric wire 90). A positioning method for the operation of automatically assembling the second part to the first part by moving at least the second work equipment using the terminal insertion head 25),
When there are world coordinates representing a position in a three-dimensional space and robot coordinates representing the state of the second work facility, a predetermined coordinate conversion formula (FIG. 3) representing the relationship between the robot coordinates and the world coordinates. The first part or the first work equipment and the second part or the second work equipment are positioned using the result of converting the control amount for the second work equipment according to As well as
Obtaining a first set of deviation amounts representing deviation amounts of the positioning elements in the reference state of the first work equipment (S19);
Obtaining a second set of deviation amounts representing deviation amounts of the positioning elements in the reference state of the second work equipment (S18);
A first correction value corresponding to the first set of shift amounts and a second correction value corresponding to the second set of shift amounts are incorporated into the coordinate conversion formula (S20), and the shift amount is corrected. A result obtained as a conversion result of the coordinate conversion formula,
An alignment method characterized by that.
[2] The alignment method of [1] above,
As the first work equipment, using a fixed platen (10) having a circular outer shape and arranging a plurality of the first parts on the circumference,
As the second work equipment, a parallel link robot (20, 25) configured by combining a plurality of link mechanisms in parallel is used.
An alignment method characterized by that.
[3] The alignment method of [1] above,
Using a connector housing (80) as the first part;
Utilizing a wire (90) with a terminal as the second component,
An alignment method characterized by that.
[4] The alignment method of [1] above,
When measuring the displacement amount of the positioning element in the reference state of the second work equipment,
A jig (52) in which a predetermined calibration reference hole is formed is attached to a fixed part (base 21) of the second work equipment, and the movable part of the second work equipment and the calibration reference hole. Based on the relative positional relationship between and at least the origin position and the actual movement amount (see FIG. 4),
An alignment method characterized by that.
[5] The alignment method of [1] above,
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
One or more sensors (contact type digital sensors 53 and 54) are attached to the movable part of the second work facility, and the position of the reference part of the first work facility is measured using the sensor (FIG. 6). (See (A) and (B)),
An alignment method characterized by that.
[6] The alignment method of [5] above,
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
While rotating the circular support member (housing base 13) of the first work equipment, each position on the circumference is measured using the sensor, and at least the roundness of the support member is acquired ( (See FIG. 6A)
An alignment method characterized by that.
[7] The alignment method of [5] above,
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
While rotationally driving the circular support member (13) of the first work facility, each position in the thickness direction of the support member is measured using the sensor, and at least information on the inclination of the support member is acquired. (See FIG. 6 (B)),
An alignment method characterized by that.
[8] The alignment method of [1] above,
When measuring the amount of deviation of the relative position between the first work facility and the second work facility,
One or more sensors are mounted on the movable part of the second work facility, and the second work facility is located at three or more different positions along the outer periphery of the circular support member of the first work facility. Each of the movable parts is positioned, and at each of the three points, position information is obtained using the sensor (see FIG. 7).
An alignment method characterized by that.
[9] The alignment method of [1] above,
The second set of deviation amounts includes information on a calibration ratio (Cr) representing a ratio between a theoretical movement amount and an actual movement amount obtained by measurement (S18).
An alignment method characterized by that.
[10] Utilizing the first work facility (10) capable of holding the first component (80) and the second work facility (20, 25) capable of holding the second component (90), An alignment method for an operation of automatically assembling the second part to the first part by moving at least the second work facility,
When there are world coordinates representing a position in a three-dimensional space and robot coordinates representing the state of the second work facility, according to a predetermined coordinate conversion formula representing the relationship between the robot coordinates and the world coordinates, Using the result of converting the control amount for the second work equipment, aligning the first part or the first work equipment and the second part or the second work equipment,
The first correction value corresponding to the first set of shift amounts representing the shift amount of the positioning element in the reference state of the first work facility, and the shift amount of the positioning element in the reference state of the second work facility. A second correction value corresponding to the second set of deviation amounts is applied to the coordinate conversion equation as a constant obtained by prior measurement to correct the positional deviation (not shown).
An alignment method characterized by that.

DESCRIPTION OF SYMBOLS 10 Fixed platen 11 Housing receptacle 12 Rail member 13 Housing base 14 Motor member 20 Parallel joint mechanism 21 Base 22a, 22b, 22c 1st motor 23a, 23b, 23c Arm 24a, 24b, 24c Link 25 Terminal insertion head 25c Electric wire chuck 25f Second motor 30 Electric wire carrier 31 Transport rail 32 Moving body 33 Transport chuck 34 Frame 35 Air chuck body 40 Terminal measurement sensor 41 Sensor base 51, 52 Jig 53, 54 Contact-type digital sensor 80 Connector housing 81 Cavity 90 Electric wire 91 Terminal

Claims (10)

Using the first work equipment capable of holding the first part and the second work equipment capable of holding the second part, moving at least the second work equipment to the first part An alignment method for automatically assembling the second part,
When there are world coordinates representing a position in a three-dimensional space and robot coordinates representing the state of the second work facility, according to a predetermined coordinate conversion formula representing the relationship between the robot coordinates and the world coordinates, Using the result of converting the control amount for the second work equipment, aligning the first part or the first work equipment and the second part or the second work equipment,
Obtaining a first set of deviation amounts representing deviation amounts of positioning elements in a reference state of the first work equipment;
Obtaining a second set of deviation amounts representing deviation amounts of the positioning elements in the reference state of the second work equipment;
Incorporating the first correction value corresponding to the first set of shift amounts and the second correction value corresponding to the second set of shift amounts into the coordinate conversion formula, the result of correcting the shift amount is obtained. Obtained as a conversion result of the coordinate conversion formula,
An alignment method characterized by that. The alignment method according to claim 1, comprising:
As the first work equipment, using a fixed platen having a circular outer shape, and a plurality of the first components arranged on the circumference can be arranged,
As the second work facility, a parallel link robot configured by combining a plurality of link mechanisms in parallel is used.
An alignment method characterized by that. The alignment method according to claim 1, comprising:
Using a connector housing as the first part;
Utilizing an electric wire with a terminal as the second component,
An alignment method characterized by that. The alignment method according to claim 1, comprising:
When measuring the displacement amount of the positioning element in the reference state of the second work equipment,
A jig in which a predetermined calibration reference hole is formed is attached to the fixed part of the second work facility, and the relative positional relationship between the movable part of the second work facility and the calibration reference hole is set. Based on at least the origin position and the actual amount of movement,
An alignment method characterized by that. The alignment method according to claim 1, comprising:
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
One or more sensors are attached to the movable part of the second work facility, and the position of the reference part of the first work facility is measured using the sensor.
An alignment method characterized by that. The alignment method according to claim 5, comprising:
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
While rotating and driving the circular support member of the first work facility, each position on the circumference is measured using the sensor, and at least the roundness of the support member is acquired.
An alignment method characterized by that. The alignment method according to claim 5, comprising:
When measuring the displacement amount of the positioning element in the reference state of the first work equipment,
While rotationally driving the circular support member of the first work equipment, using the sensor, each position in the thickness direction of the support member is measured, and at least information on the inclination of the support member is obtained.
An alignment method characterized by that. The alignment method according to claim 1, comprising:
When measuring the amount of deviation of the relative position between the first work facility and the second work facility,
One or more sensors are mounted on the movable part of the second work facility, and the second work facility is located at three or more different positions along the outer periphery of the circular support member of the first work facility. Each of the movable parts is positioned, and position information is obtained using the sensor at each of the three positions.
An alignment method characterized by that. The alignment method according to claim 1, comprising:
The second set of deviation amounts includes information on a calibration ratio that represents a ratio between a theoretical movement amount and an actual movement amount obtained by measurement.
An alignment method characterized by that. Using the first work equipment capable of holding the first part and the second work equipment capable of holding the second part, moving at least the second work equipment to the first part An alignment method for automatically assembling the second part,
When there are world coordinates representing a position in a three-dimensional space and robot coordinates representing the state of the second work facility, according to a predetermined coordinate conversion formula representing the relationship between the robot coordinates and the world coordinates, Using the result of converting the control amount for the second work equipment, aligning the first part or the first work equipment and the second part or the second work equipment,
The first correction value corresponding to the first set of shift amounts representing the shift amount of the positioning element in the reference state of the first work facility, and the shift amount of the positioning element in the reference state of the second work facility. Applying a second correction value corresponding to the second set of deviation amounts to the coordinate transformation equation as a constant obtained by prior measurement, and correcting the positional deviation.
An alignment method characterized by that.

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