JP2805191B2 - Parts assembly equipment - Google Patents

Description

DETAILED DESCRIPTION OF THE INVENTION

[0001]

BACKGROUND OF THE INVENTION 1. Field of the Invention The present invention relates to a component assembling apparatus,
For example, the present invention relates to a component assembling apparatus used in a watch assembly line.

[0002]

2. Description of the Related Art For example, in assembling a timepiece, there is a step of driving a plurality of pins for attaching a gear or the like into a base part (base plate) of the timepiece. In this step, since the pin driving position is strictly determined, as a preparation work, the operator first performs a teaching operation using a teaching jig or the like, and the driving position is accurately determined for each point by the robot. Need to be taught.

[0003]

However, conventionally, there is an error in a jig such as a gripper for holding a pin, or an installation error occurs between jigs at the time of replacement. And the position of the pin actually attached to the main plate may be different. Therefore, fine adjustment in consideration of an error peculiar to the jig is required, and the time required for the teaching operation is increased.

Further, since the assembling accuracy after teaching cannot be known without actually performing an assembling operation, there has been a limit in improving the assembling accuracy. Further, the teaching work requires skill, and thus the work efficiency is poor. In addition, since the teaching work must be performed every time the base plate or the like to be assembled changes, the response to the lot variation is poor.

Accordingly, an object of the present invention is to provide a component assembling apparatus capable of performing an accurate teaching operation in a short time without manual operation.

[0006]

According to the first aspect of the present invention, a position information storage unit that stores position information indicating a mounting position of a component on a workpiece, and a position information stored in the position information storage unit. Temporary assembling means for assembling the component to the dummy work, assembling position measuring means for measuring the position of the part assembled to the dummy work by the temporary assembling means, and measurement by the assembling position measuring means. Error calculating means for calculating an error between the position of the component and the position indicated by the position information, and position information correction for correcting the position information stored in the position information storing means by the error calculated by the error calculating means. Means for assembling the component to the workpiece based on the position information corrected by the position information correcting means in the component assembling apparatus. To.

According to a second aspect of the present invention, in the component assembling apparatus according to the first aspect, the position measuring means captures an image of the dummy work on which the component is mounted, and captures an image of the dummy work by the capturing means. The object is achieved by providing image processing means for measuring the position of the component by analyzing image information.

According to a third aspect of the present invention, in the component assembling apparatus according to the first aspect, the object is achieved by that the position information is NC data indicating coordinates of the mounting position. According to a fourth aspect of the present invention, in the component assembling apparatus according to the third aspect, the NC data includes a C value of the workpiece.
The object is achieved by being obtained from the AD data.

According to a fifth aspect of the present invention, in the component assembling apparatus according to the first aspect, the work has a mark on a surface thereof to indicate a location where the component is to be assembled, and an imaging means for imaging the surface of the work. And an assembling point recognizing means for recognizing an assembling point indicated by the mark from image information of the surface of the work imaged by the imaging means, wherein the position information storage means includes an assembling point recognizing means. The above object is achieved by storing the recognized assembly location as the position information.

In the invention according to claim 6, in the component assembling apparatus according to claim 1, the above object is achieved by that the dummy work is made of clay.

[0011]

In the component assembling apparatus according to the first aspect, the temporary assembling means assembles the component to the dummy work based on the position information stored in the position information storage means. The assembling position measuring means measures the position of the component assembled to the dummy work by the temporary assembling means. The error calculating means obtains an error between the position of the component measured by the assembly position measuring means and the position indicated by the position information. The position information correction means corrects the position information stored in the position information storage means for the error calculated by the error calculation means. The assembling unit assembles the component on the workpiece based on the position information corrected by the position information correcting unit.

[0012] In the component assembling apparatus according to the second aspect, the imaging means captures an image of the dummy work on which the component is mounted, and the image processing means analyzes the captured image information to measure the position of the component. Do. In the component assembling apparatus according to the third aspect, the temporary assembling unit assembles the component to the dummy work based on the NC data. The error calculating means calculates an error between the position of the component and the coordinates indicated by the NC data, and the position information correcting means corrects the NC data by the determined error. Then, the assembling unit assembles the component on the workpiece based on the corrected NC data.

In the component assembling apparatus according to the fourth aspect, the CAD data of the workpiece is subjected to predetermined processing, and is stored in the position information storage means. In the component assembling apparatus according to the fifth aspect, the imaging unit captures an image of the surface of the work, and the assembling point recognition unit recognizes the assembling position indicated by the mark from the image information of the surface of the work captured by the imaging unit. .
The position information storage means stores the assembly location recognized by the assembly location recognition means as position information.

Since the dummy work is made of clay, the parts to be assembled are held by plastically deforming the dummy work.

[0015]

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS An embodiment of a component assembling apparatus according to the present invention will be described below in detail with reference to FIGS. FIG.
Represents a component assembling apparatus according to the present embodiment,
FIG. 2 is a partially enlarged cross-sectional view taken along the line CC of FIG.

The component assembling apparatus 10 of the present embodiment includes, for example,
It is provided on an assembly line of a timepiece, and is configured to drive a pin into a work such as a main plate. As shown in FIG. 1, the component assembling apparatus 10 includes a driving operation section A that performs a pin transfer operation and a driving operation, and a work mounting section B on which a work is mounted.

The driving unit A includes three driving units 12, 12, 1 and 2 for holding pins and driving operations.
2, an upper imaging unit 14 for imaging the work placed on the work placement unit B from directly above, and an X-axis for moving these upper imaging unit 14 and the driving unit 12 in the horizontal direction in FIG. Table mechanism 1
6 (FIG. 2). In the drawings, the X-axis and the Y-axis are set in a horizontal plane which is the horizontal direction in FIGS. 1 and 2, respectively, and the Z-axis is set in the vertical direction.

As shown in FIG. 2, the X-axis table mechanism 16
Has a movable table 20 to which the driving unit 12 and the upper imaging unit 14 are fixed, and a drive mechanism (not shown) such as a ball screw or a servomotor for moving the movable table 20 in the X-axis direction by the guide rail 22. doing.

The driving unit 12 includes a press-fitting jig 24 for holding a pin, a rod-shaped elevating member 25 having the press-fitting jig 24 attached to a lower end thereof, and raising and lowering the elevating member 25 at a predetermined stroke. Air cylinder 26
And The press-fitting jig 24 has a holding bar 24a protruding downward at the center thereof, and the holding bar 24a is configured to hold the pin at its tip (lower end) by air suction. Further, the press-fitting jig 24 is detachable from the elevating member 25. Each of the driving units 12 is configured to hold and drive a different type of pin by attaching a press-fitting jig corresponding to the type (shape) of the pin.

As shown in FIG. 1, the upper imaging unit 14 is a CCD (Charge Coupled Device) camera 1
4a, an optical unit 14b including a lens and a reflecting mirror such as a half mirror, and an illumination unit (not shown). On the other hand, the work mounting portion B includes a driving work table 30 on which a pin driving operation is performed, a rod-shaped variable stopper 32 having one end protruding above the upper surface of the driving work table 30, and a vertical movement of the variable stopper 32. A vertically moving mechanism 34, a movable table 35 to which the vertically moving mechanism 34, the driving table 30, and the like are fixed, and the movable table 35 are moved in the Y-axis direction (see FIG. 2) by a ball screw mechanism (not shown) or the like. A Y-axis table mechanism 36 is provided.

Before starting the actual assembly work,
When setting the attachment work, as shown in FIG.
The teaching work W (hereinafter referred to as “workpiece W”)
Below, work W is simply arranged. This jig board 38
And a dummy table 40 is arranged at a position aligned with the Y-axis direction. The dummy table 40 is a dummy work (dummy work) made of, for example, a white clay material instead of the work W.
, And the dummy work D is a work W
And a dummy table 4 as shown by a dotted line in FIG.
When placed on the work W, its upper surface is at the same height as the upper surface of the work W. A plurality of holes for driving pins are formed in the surface of the work W in advance.

In this embodiment, pins are driven into the dummy work D on the dummy table 40 by the driving unit 12, and the position adjacent to the dummy table 40 is as shown in FIG. A linear gauge 41 for measuring the height of a pin driven into the dummy work D is provided.

The variable stopper 32 includes the driving unit 1
When the pin 2 is driven, the lower end position of the holding rod 24a is regulated by contacting the lower end surface of the press-fitting jig 24, and the depth of the pin to be driven is determined by the amount of protrusion of the variable stopper 32. It has become so. Further, although not shown, the vertical movement mechanism 34 has a screw portion that is screwed with a male screw formed on a part of the variable stopper 32. By rotating the variable stopper 32, the vertical It is made to move. The rotation of the variable stopper 32 is performed by a motor (not shown) (for example, a pulse motor), and the upper end position of the variable stopper 32, that is, the depth of the pin to be driven is adjusted by controlling the driving of the motor (not shown). It has become so.

The work placement section B is provided with a lower image pickup unit 42 for picking up an image of an object located immediately above the object by a CCD camera 42a. In this embodiment, the driving unit 1 is driven by the X-axis table mechanism 16.
The pin 2 held by the holding rod 24a of the press-fitting jig 24 is imaged by the CCD camera 42a from below by moving the 2 just above the lower imaging unit 42.

In this embodiment, the driving unit 1
A parts feeder or the like that supplies parts such as pins is installed within the movement range of No. 2. In addition, at a position adjacent to the component assembling apparatus 10, a work W for teaching and a work
W (hereinafter simply referred to as “work W”)
A transfer robot or the like that transfers the work W, which has been placed on the top or has completed the work such as the driving of a pin, from the driving work table 30 to the next process is also arranged.

FIG. 3 shows a part of a control system of the component assembling apparatus 10. As shown in this figure, the component assembling apparatus 10 includes an NC device (numerical control device) 50. The NC device 50 controls each drive unit in accordance with various numerical information input through an input device (not shown), and stores numerical information (NC data), other various data, programs, and the like therefor. RAM
It has a memory 50a such as (random access memory) or ROM (read only memory). As the NC data stored in the memory 50a, for example,
There is coordinate data or the like for specifying a position at which a pin is driven into the work W.

The NC device 50 includes a linear gauge 4
1, an image processing device 52, an X-axis motor driving unit 54,
A Y-axis motor driving unit 56, an air cylinder driving unit 57,
The stopper motor drive unit 59 is connected. The image processing device 52 includes the CCD camera 1 of the upper imaging unit 14.
4a and the CCD camera 42a of the lower image pickup unit 42, and performs analysis processing of images picked up by these.

The X-axis motor driving section 54 drives the X-axis motor 58 in the ball screw mechanism (not shown) of the X-axis table mechanism 16, and drives the X-axis motor 58 based on a command from the NC device 50. By controlling, the movable table 20 is moved to a predetermined position.

The Y-axis motor drive section 56 drives a Y-axis motor 60 in a ball screw mechanism (not shown) of the Y-axis table mechanism 36. The Y-axis motor drive unit 56 also controls the Y-axis motor 6 based on a command from the NC device 50.
By driving 0, the movable table 35 is moved to a predetermined position.

The air cylinder driving section 57 controls the air pressure of the air cylinder 26 of each driving unit 12 by the NC device 50.
The air pressure is controlled by driving, for example, a valve mechanism or a pump (not shown). In addition, the motor driving unit 59 for the stopper is provided with the variable stopper 32 in the vertical movement mechanism 34.
The stopper motor 61 drives the stopper motor 61 that rotates the stopper motor 6 based on the control of the NC device 50.
1 drives the upper end of the variable stopper 32 to a predetermined position.

The NC unit 50 recognizes the driving state of each unit.
The drive of the X-axis motor drive unit 54 and the drive of the Y-axis motor drive unit 56 are feedback-controlled based on the output of the position sensor that measures the position of 0, 35, or the like. Also,
In the present embodiment, the NC device 50 monitors the analysis result of the image processing device 52 and the measurement value of the linear gauge 41 to determine the actual working state of the driving unit 12 and the like, which will be described later in detail. Memory 5 according to the judgment result
The NC data of 0a is corrected.

Next, the operation of the embodiment configured as described above will be described. First, in the component assembling apparatus 10, a driving robot 30 (not shown) or the like
As shown in FIG. 2, the teaching work W
(Hereinafter, simply referred to as a work W) is placed. The center of the XY coordinates is set, for example, at the center point of the work W at this time. Note that the dummy work D
Is placed.

When the mounting of the work W is completed, the NC device 5
0 moves the movable table 20 in the + X direction by the X-axis table mechanism 16 and moves the upper imaging unit 14 to the jig board 3.
8 directly above. The image processing device 52
An image captured by the CD camera 14a is analyzed, and a hole for driving a pin formed on the surface of the work W, for example, a hole (a hole for the second pin) located at the center of the work W on the XY coordinates is determined. Find the position. On the other hand, since the NC data indicating the pin driving position is stored in the memory 50a in advance, the NC device 50 stores the position of the pin driving hole obtained by the image processing device 52 and the NC data stored in the memory 50a. It is determined whether the workpiece W is placed at a predetermined position in a predetermined posture by comparing the driving position with the driving position. That is, it calculates how much the pin hole for image pickup is displaced from the driving position of the memory 50a, and determines whether or not the amount of deviation is within a predetermined allowable range. Thus, for example, it is possible to determine whether or not another member is placed on the driving work table 30 due to a foreign substance or the like. When the work W is not placed at the predetermined position and posture, for example, the display lamp is turned on or an alarm is sounded to notify the worker of the defective state. Also, if the deviation is within a predetermined allowable range,
The NC data is updated to a value corrected by the deviation amount.
You.

On the other hand, when the workpiece W is placed in a predetermined state, the NC device 50 moves the movable table 20 in the X-axis direction, so that the position where the pins are supplied by a parts feeder (not shown) is set. Driving unit 1 up
Move 2 Then, the holding rod 24a of the press-fitting jig 24 is lowered by the air cylinder 26 to the pin supply height, the pin is held by the holding rod 24a, and the pin is raised again to the height shown in the drawing. By performing this operation sequentially for the three driving units 12, the driving operation unit A holds a total of three pins on the respective holding rods 24a. The number of pins to be held may be changed in consideration of the total number of pins to be driven, work efficiency, and the like.
For example, any one of the driving units 12 may be driven to hold only one pin. Also, by providing more movable units on the movable table 20,
You may make it possible to hold four or more pins.

Next, the NC device 50 moves the driving unit 12 holding the pins with the holding rods 24a directly above the lower imaging unit 42 by the X-axis table mechanism 16, and removes the pins held by the holding rods 24a. Images are taken from below. Then, by analyzing the image data with the image processing device 52, the NC device 50 determines the presence or absence and the posture of the pin from the analysis result.

If the pin is not properly held by the holding rod 24a because the pin is tilted or displaced, the operator is notified of the defective state by turning on a display lamp, for example. On the other hand, when it is held correctly, the driving unit 12 is moved by the X-axis table mechanism 16 directly above the driving table 30. Then, the pins are temporarily driven into the dummy work D as described below .

In the preliminary driving, first, the driving table 30 is moved by a predetermined amount in the −Y direction by the Y-axis table mechanism 36, so that the dummy table 40 is located immediately below the press-fitting jig 24 where the jig board 38 was located. Position. The tip of the variable stopper 32 is set to a predetermined height by the vertical movement mechanism 34.

By controlling the driving of the X-axis table mechanism 16 and the Y-axis table mechanism 36, the position of the holding rod 24a is adjusted to the pin driving position (the position on the XY coordinates) indicated by the NC data in the memory 50a. . However, the NC data indicating the pin driving position is based on the coordinates of each point on the workpiece W, as described above.
Since the data is a value corrected by the displacement amount obtained by the analysis, when a pin is driven into the dummy work D on the dummy base 40 , + X, +
Each drive unit is controlled by shifting the origin of the X and Y axes in the Y direction . And the center of the dummy workpiece D after movement, the XY center of the virtual.

After the holding rod 24a is set at the pin driving position, the NC device 50 lowers the press-fitting jig 24 by the air cylinder 26 by a predetermined amount. As a result, the lower end surface of the press-fitting jig 24 contacts the upper end of the variable stopper 32, and the pin held by the holding rod 24a is
The dummy workpiece D is driven into the dummy work D by a depth corresponding to the contact height with the dummy work D.

The above-described holding and transporting of the pins and provisional driving of the dummy work D are performed for all the pins that need to be driven for one work W. For example, when 15 pins need to be driven, the above operation is repeated five times, assuming that the driving unit 12 carries out the pins three times or temporarily drives the pins.

In the provisional driving of the pins, even if the X-axis table mechanism 16 and the Y-axis table mechanism 36 perform an accurate operation under the control of the NC device 50, for example, when the press-fitting jig 24 is replaced, If there is an error in the position, shape, etc., the position of the pin actually driven is N
There is a case where the driving position does not coincide with the driving position indicated by the C data.

Then, the NC device 50 then performs the teaching operation of the driving position by correcting the NC data based on the position of the actually driven pin. That is, NC
First, the device 50 connects the upper imaging unit 14 to the dummy table 4.
0, and the upper surface of the dummy work D is imaged by the CCD camera 14a. Then, the captured image data is analyzed by the image processing device 52, and the X
The position (coordinates) on the Y plane is obtained. Further, the height of a pin temporarily tacked on the dummy work D by the linear gauge 41 is measured.

The NC device 50 stores the coordinates on the XY plane obtained from the image information and the positions on the Z coordinate obtained from the measured values of the linear gauge 41 in the memory 50a.
Is compared with the NC data stored in. For example, in the comparison of the driving positions in the XY plane, the NC data shows the coordinate positions of the pins a, b, c, and d as shown in FIG. 4A obtained from the image data. Are compared with the coordinate positions of the respective pins a, b, c, and d.

Next, the NC device 50 is actually driven.
The amount of deviation between the coordinate position of the pin and the coordinate position in the NC data is determined in the XYZ-axis directions, and the stored NC data in the memory 50a is corrected by the amount of the deviation. For example, if the first point is shifted by -1 micron in the X-axis direction, +3 microns in the Y-axis direction, and +2 microns in the Z-axis direction, the coordinates of the first point in the NC data by that amount. Change position. By performing this for all the points, the teaching operation of the driving position is completed.

Next, the actual driving operation will be described.
When the teaching work is completed , the jig board on the driving work table 30
38, a work to be driven with a pin (hereinafter simply referred to as
(Referred to as work W). The NC device 50 first
The driving work table 30 is +
It is moved in the Y direction, and as shown in FIG.
The jig board 38 is located immediately below the jig. Further, the origin of the Y axis is returned to the −Y direction, and, for example, the center of the workpiece W is again moved to the XY direction.
The origin of the coordinates. Then, in the same manner as the temporary driving into the dummy work D, the driving unit 12 is moved to the pin supply position by the X-axis table mechanism 16 to hold and transport the pins, and the pin book based on the corrected NC data. Make a drive.

That is, first, the work W is moved to a predetermined position by the Y-axis table mechanism 36 based on the corrected coordinate data in the Y-axis direction, and the work W is moved by the X-axis table mechanism 16 based on the coordinate data in the X-axis direction. Driving unit 1
2 is moved to a predetermined position. Further, the height of the variable stopper 32 is changed based on the coordinate data in the Z-axis direction.
Then, the press-fitting jig 24 is lowered by a predetermined amount by the air cylinder 26, and the pins held by the holding rods 24a are driven into the work W.

In this actual driving, since each drive unit is driven based on the corrected NC data, there is no deviation between the actual pin position and the pin driving position indicated by the NC data. The above-described actual driving is performed for all pins that need to be driven into one work W by repeating the above operation.

As described above, in the component assembling apparatus 10 of the present embodiment, the NC data indicating the pin driving position is obtained based on the result of the temporary driving into the dummy work D.
Since the correction is performed by the NC device 50, an accurate teaching operation can be performed in a short time. In addition, the NC device 50 performs the correction process each time there is a lot change, so that the teaching operation can be automatically terminated, and the operation efficiency can be improved. Further, in this embodiment, since the pins are temporarily driven into the dummy work D which is a clay material, the pins are held at the positions where the pins are driven, so that accurate position measurement can be performed.

In the above-described embodiment, the NC data input manually is used as the position information indicating the position at which the pin is driven on the work W. However, for example, the base plate (work W) CAD (Comput
er-aided design) Data may be used. That is, since the CAD data of the base plate includes the position information of the holes for driving the pins, the CAD data is subjected to a predetermined process, and is converted into coordinates in the NC device 50, so that each of the pins is obtained. The driving position is stored in the memory 50a without manual input.

According to this method, since the labor for inputting the driving positions of the pins can be omitted, the teaching operation can be simplified, and especially when there are many driving positions, the working efficiency can be remarkably improved. In the above embodiment, the height (position in the Z-axis direction) of the temporarily driven pin is measured by the linear gauge 41, but other measuring means may be used. For example, an imaging unit similar to the upper imaging unit 14 is arranged on the side of the driving work table 30,
An image of the dummy table 40 into which the pins are driven is taken from the side.
Then, by analyzing the image data by the image processing device 52, the coordinate position of the pin in the Z-axis direction may be obtained.

Further, in the above-described embodiment, the deviation of the pin driving position is obtained by comparing the actual provisional driving position with the NC data driving position. In some cases, the amount of deviation may be obtained by comparing with a hole for driving a pin formed on the upper surface of the work W. For example, from the image information of the upper surface of the work W captured by the upper imaging unit 14 at the time of the posture determination, first, the position of each hole for pin driving is obtained. Then, by comparing the determined position of each hole with the position of the actual pin temporarily driven into the dummy work D, the amount of pin shift is determined.

In the above embodiment, the dummy work D
The NC data is corrected by performing the temporary driving and the measurement of the driving position once, but the temporary driving and the driving position may be measured twice or more for one correction process. For example, when the recognition accuracy of the driving position obtained from the image information is low, the provisional driving is sequentially performed on the two dummy works D, and the measurement of the driving position based on the image information is performed for each dummy work D. I do. Then, the driving position obtained by each measurement and NC
The amount of deviation from the data is calculated, and the average value is calculated. Then, the calculated average value is used as a correction amount in NC
Perform data correction.

In the above embodiment, the driving position in the Z-axis direction is also measured by the temporary driving into the dummy work D. However, only the position measurement in the XY-axis direction is performed, and the teaching operation in the Z-axis direction is performed. May not be performed. Further, in the above embodiment, the component assembling apparatus 10 performs the operation of driving a pin into the main plate of the timepiece. However, the present invention can be applied to a component assembling apparatus that performs another assembling operation. .

[0054]

According to the present invention, an accurate teaching operation can be performed in a short time without manual operation.

[Brief description of the drawings]

FIG. 1 is a front view showing a component assembling apparatus according to an embodiment of the present invention.

FIG. 2 is a side view showing a part of the device.

FIG. 3 is a block diagram showing a part of a control system of the apparatus.

FIG. 4A is an explanatory diagram showing the actual position of each pin recognized by the image processing apparatus, and FIG. 4B is an explanatory diagram showing the driving position of each pin indicated by the NC data.

[Explanation of symbols]

 DESCRIPTION OF SYMBOLS 10 Component assembling apparatus 12 Driving unit 14 Upper imaging unit 16 X-axis table mechanism 20 Movable table 24 Press-in jig 24a Holding rod 26 Air cylinder 30 Driving worktable 32 Variable stopper 34 Vertical movement mechanism 36 Y-axis table mechanism 38 Jig board 40 Dummy table 42 Lower imaging unit A Driving unit B Work placement unit

Claims (6)

(57) [Claims] 1. The position of a part on a workpiece is indicated.
Position information storage means for storing position information
Teaching work indicating the position to be
Process the image and attach the part to the workpiece
In which the teaching work and the
A dummy work provided separately , position information storage means for storing position information indicating a mounting position of the part with respect to the work, and a temporary work for assembling the part to the dummy work based on the position information stored in the position information storage means. Assembling means, assembling position measuring means for measuring the position of the part assembled to the dummy work by the temporary assembling means,
Error calculating means for calculating an error between the position of the component measured by the assembly position measuring means and the position indicated by the position information,
A position information correction unit that corrects the position information stored in the position information storage unit by the amount of the error calculated by the error calculation unit, and the position information corrected by the position information correction unit. A component assembling apparatus, comprising: assembling means for assembling components. 2. The apparatus according to claim 1, wherein the position measuring unit measures the position of the component by analyzing the image information captured by the image capturing unit. The component assembling apparatus according to claim 1, further comprising an image processing unit. 3. The component assembling apparatus according to claim 1, wherein the position information is NC data indicating coordinates of the mounting position. 4. The NC data is a CAD of the work.
4. The parts assembling apparatus according to claim 3, wherein the parts are obtained from data. 5. The work has a mark on its surface that indicates an assembly position of the component, and includes: an image pickup unit that picks up an image of the surface of the work; and image information of the surface of the work picked up by the image pickup unit. Mounting position recognition means for recognizing the mounting position indicated by the mark, wherein the position information storage means stores the mounting position recognized by the mounting position recognition means as the position information. The component assembling apparatus according to claim 1, wherein 6. The component assembling apparatus according to claim 1, wherein said dummy work is made of clay.