JP3601279B2 - Parts assembly equipment - Google Patents

Description

【００９９】
但し、ｘ_ｉｊ、ｘ_ｉｋ：現在の組付部品Ｐ１と被組付部品Ｐ２との接触状態ｉにて測定されたｊ番目又はｋ番目の変数。
【０１００】
【外１】

【０１０１】
【数２】

【０１０２】
Ｓ_{ｊｋ（ｈ）}は、想定した状態ｈでの分散・共分散行列で、下記に示す数３で求められる。
【０１０３】
【数３】

【０１０４】
ここで、ｍｈ：接触状態ｈにて測定されたサンプル群に含まれるデータ数である。
但し、ｘ_{ｌｊ（ｋ）}、ｘ_{ｌｋ（ｈ）}：接触状態ｈのサンプル群中のｌ番目のデータのｊ番目又はｋ番目の変数の値。
ｘ_ｊ（ｈ）、_{ｘｋ（ｈ）}：接触状態ｈにて測定されたサンプル群に含まれるｊ番目又はｋ番目の変数の値。
【０１０５】
図１２に示すフローチャートにしたがえば、接触状態判別ステップにおいて、６軸力覚検出ステップにおいて、ユークリッドの距離ではなく、データのばらつきをも考慮した、マハラノビスの汎距離を用い、ばらつきを考慮した判定を行っているので、組付部品Ｐ１と被組付部品Ｐ２との接触状態をより正確に判定できる。
【０１０６】
図１３は、組付部品Ｐ１と被組付部品Ｐ２との接触状態を、組み付けに最適な接触状態になるように修正できるように修正する方法を概略的に示すフローチャートである。
尚、図１３に示すフローチャートにおいて、ステップＳａ１〜ステップＳａ３迄は、図６に示すフローチャートと同様であるが、このフローチャートでは、ステップＳｅ４〜ステップＳｅ７が、図６に示すフローチャートと異なっている。
【０１０７】
即ち、このフローチャートでは、ステップＳｅ４〜ステップＳｅ７の、接触状態最適化ステップを、組付部品Ｐ１と被組付部品Ｐ２との接触状態が、組み付けに最適な接触状態になるまで、６軸力覚検出ステップ、接触状態判別ステップ及びロボット手段制御ステップを繰り返して行うようにしている。
６軸力覚検出ステップ、接触状態判別ステップ及びロボット手段制御ステップを繰り返して、ロボット手段、より特定的には、可動部２の位置及び姿勢の変更を少しずつ行うように設定するれば、組付部品Ｐ１と被組付部品Ｐ２との接触状態を、より一層、組み付けに最適な接触状態にすることができるようになる。
【０１０８】
以上のような方法で、組付部品Ｐ１と被組付部品Ｐ２との接触状態を正しい状態にすることができた後は、図６に示すように、ステップＳａ７において、組付部品Ｐ１と被組付部品Ｐ２との組付作業を開始する。
まず、組付部品Ｐ１を被組付部品Ｐ２に組み付ける際のロボット手段、より特定的には、可動部２の組付軌跡の修正を容易にできるようにする方法について説明する。
【０１０９】
図１４は、可動部２の組付軌跡の修正を容易にできるようにする方法を概略的に示すフローチャートである。
この部品組付装置１では、図６及び図１４に示すように、組付部品Ｐ１を被組付部品Ｐ２に組み付ける組付ステップにおいても、組付作業の開始から終了まで、６軸力覚検出装置８により、組付部品Ｐ１と被組付部品Ｐ２との接触状態を監視するようにしている（ステップＳａ７及びステップＳａ１０を参照）。
【０１１０】
また、図２及び図５で既に説明したように、６軸力覚検出装置８の３軸の任意の軸方向と、可動部２の被組付部品Ｐ２への組付部品Ｐ１の組付方向とを一致させるようにしている。
具体的には、この例では、図２に示すように、６軸力覚検出装置８の３軸のＹ軸方向と、可動部２の被組付部品Ｐ２への組付部品Ｐ１の組付方向とを一致させるようにしている（図２中の曲がった矢印を参照）。
【０１１１】
また、この部品組付装置１では、制御手段３に、教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））での６軸力覚検出装置８が検出した検出値中、組付部品Ｐ１と被組付部品Ｐ２との組付けが成功した場合の検出値を設定値を記憶させておき、ステップＳｆ１１において、６軸力覚検出装置８が、教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））で、組付部品Ｐ１と被組付部品Ｐ２との組付けが成功した場合に検出値を各軸毎に対比して、大きな差が認められる軸があるか否かを判定し（ステップＳｆ１２を参照）、大きな差がある軸が存在する場合には、大きな差がある軸方向の、ロボット手段、より特定的には、可動部２の位置及び姿勢を規定する教示点を、６軸力覚検出装置８が検出した検出値と設定値との差が小さくなる方向に修正し（ステップＳｆ１３）、その後、ロボット手段、より特定的には、可動部２の位置及び姿勢を、修正した教示点にしたがって、組付部品Ｐ１と被組付部品Ｐ２との組付けを行うようにしている（ステップＳｆ１４及びステップＳｆ１５を参照）。
【０１１２】
一方、ステップＳｆ１２において、６軸力覚検出装置８が教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））で検出した検出値を各軸毎に対比して、大きな差が認められる軸があるか否かを判定し、大きな差がある軸が存在しない場合は、教示点を修正することなく、教示点にしたがって、組付部品Ｐ１と被組付部品Ｐ２との組付けを行うようにしている（ステップＳｆ１４及びステップＳｆ１５を参照）。
【０１１３】
この部品組付装置１では、ロボット手段、より特定的には、可動部２の位置及び姿勢を、３次元に動かすのではなく、３次元を規定する３軸の中、６軸力覚検出装置８の座標軸と、ロボット手段、より特定的には、可動部２の位置及び姿勢を、組付部品Ｐ１を組付治具Ｗ上に載置固定される被組付部品Ｐ２に組み付ける組付方向とが一致する軸（この例では、Ｙ軸）と、他の２軸（この例では、Ｘ軸及びＺ軸）の中の１軸（この例では、Ｚ軸）との２次元関係だけを規定して制御するだけで、組付部品Ｐ１を、組み付け前の初期位置から、組み付け後の目的位置に動かすことができる。このように、この部品組付装置１では、組付中の組付部品Ｐ１と被組付部品Ｐ２との位置関係と、６軸力覚検出装置８の検出値との関係が簡単な２次元関係になっている。このため、組付ステップにおいて、ロボット手段、より特定的には、可動部２の組付軌跡の修正をする際には、ロボット手段、より特定的には、可動部２の位置及び姿勢を規定する２軸（この例では、Ｙ軸とＺ軸）の中の、ロボット手段、より特定的には、可動部２の、組付部品Ｐ１を被組付部品Ｐ２に組み付ける組付方向に一致する軸（この例では、Ｙ軸）以外の他の一軸（この例では、Ｚ軸）の教示点を修正するだけでよいので、組付部品Ｐ１を被組付部品Ｐ２に組み付ける際のロボット手段、より特定的には、可動部２の組付軌跡の修正を容易に行うことができる。
【０１１４】
ところで、組付部品を被組付部品に組み付ける組付ステップを、より最適化できるようにする方法には、組付部品Ｐ１の被組付部品Ｐ２への組み付けを失敗した場合や、何とか組み付けることができたものの改善が必要な場合等に、そのような失敗例や、改善が必要な例を参考にして、次回の組付作業を、より最適化できるようにする方法と、作業を継続しながら信頼性の高い部品組付状態最適化ステップを構築する方法とが考えられる。
【０１１５】
図１５は、組付部品Ｐ１の被組付部品Ｐ２への組み付けを失敗した場合や、何とか組み付けることができたものの改善が必要な場合等に、そのような失敗例や、改善が必要な例を参考にして、次回の組付作業を、より最適化できるようにする、信頼性の高い部品組付状態最適化ステップを構築できる方法を概略的に示すフローチャートである。
【０１１６】
図１５に示すフローチャートにおいて、ステップＳａ７、ステップＳａ１０及びステップＳａ１５の各々は、図６に示すフローチャートのステップＳａ７、ステップＳａ１０及びステップＳａ１５の各々に対応している。
このフローチャートでは、ロボット手段、より特定的には、可動部２は、制御手段３の制御テーブルに記憶させた動作パターンの各々を、教示点（この例では、教示点Ａ（Ａ０〜Ａｋ０）、教示点Ｂ（Ｂ０〜Ｂｋ０）及び教示点Ｃ（Ｃ０〜Ｃｋ０））に基づいて、実行するようにされており、また、制御手段３には、教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））での６軸力覚検出装置８が検出した検出値中、組付部品Ｐ１と被組付部品Ｐ２との組付けが成功した場合の検出値を設定値を記憶させておき、ステップＳｇ１７において、６軸力覚検出装置８が教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））で検出した検出値とを対比して、大きな差が認められる軸があるか否かを判定し、大きな差がある場合には、軸大きな差がある軸方向の、ロボット手段、より特定的には、可動部２の位置及び姿勢を、６軸力覚検出装置８が検出した検出値と設定値との差が小さくなる方向に修正し（ステップＳｇ１８を参照）、その後、ステップＳｇ１９において、全教示点について、チェックと修正とを行うようにしている（この例では、教示点Ｂにｔついて、Ｂ０〜Ｂｋ０の全てについて、チェックと修正とを行うようにしている。
【０１１７】
そして、ステップＳｇ１９の作業が全部終了すれば、ステップＳｇ１６に戻り、次の、組付部品Ｐ１と被組付部品Ｐ２との組付けステップにおいて、上記と同様にことを繰り返す。
尚、ステップＳｇ１９の作業を全部終了しても、組付作業を最適化できない場合には、この工程に引き続く工程で、上記と同様に作業を繰り返す（ステップＳｇ２０を参照）。
【０１１８】
このフローチャートでは、部品組付状態最適化ステップを、組付ステップの所定の工程（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０）とする）において、６軸力覚検出装置８が検出した検出値（Ｆｘ、Ｆｙ、Ｆｚ、Ｍｘ、Ｍｙ、Ｍｚ）から、組付中の組付部品Ｐ１と被組付部品Ｐ２との間の位置ずれ方向を推察し、組付作業終了後に、組付ステップの所定の工程の教示点を修正するようにした。
【０１１９】
したがって、このフローチャートにしたがって、部品組付装置１を運転すれば、６軸力覚検出装置８が検出した検出値から、組付中の組付部品Ｐ１と被組付部品Ｐ２との間の位置ずれ方向を推察し、組付作業終了後に、組付ステップの所定の工程の教示点を修正できるので、前回の組付ステップの検証を、次の組付ステップに生かすことができ、これにより、信頼性の高い部品組付状態最適化ステップを構築することができる。
【０１２０】
図１６は、作業を継続しながら信頼性の高い部品組付状態最適化ステップを構築する方法を概略的に示すフローチャートである。
図１６に示すフローチャートにおいて、ステップＳａ７及びステップＳａ１０の各々は、図６に示すフローチャートのステップＳａ７及びステップＳａ１０の各々に対応している。
【０１２１】
このフローチャートでは、ロボット手段、より特定的には、可動部２は、制御手段３の制御テーブルに記憶させた動作パターンの各々を、教示点（この例では、教示点Ａ（Ａ０〜Ａｋ０）、教示点Ｂ（Ｂ０〜Ｂｋ０）及び教示点Ｃ（Ｃ０〜Ｃｋ０））に基づいて、実行するようにされており、また、制御手段３には、教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））での６軸力覚検出装置８が検出した検出値中、組付部品Ｐ１と被組付部品Ｐ２との組付けが成功した場合の検出値を設定値を記憶させておき、ステップＳｈ１５において、６軸力覚検出装置８が教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））で検出した検出値とを対比して（ステップＳｈ１６を参照）、大きな差が認められる軸があるか否かを判定し、大きな差がある場合には、大きな差がある軸方向の、ロボット手段、より特定的には、可動部２の位置及び姿勢を規定する教示点を、６軸力覚検出装置８が検出した検出値と設定値との差が小さくなる方向に修正し（ステップＳｈ１７を参照）、その後、ステップＳｈ１８において、修正した教示点にしたがって、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御して動かした後、変更後の教示点に従ってロボット手段の位置及び姿勢を制御した後、６軸力覚検出装置が検出した検出値と設定値とを比較して、検出値と設定値とが一致すれば、引き続き、次の教示点（この例では、Ｃ（Ｃ０〜Ｃｋ０））にしたがって、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御して動かして、組付部品Ｐ１を被組付部品Ｐ２に取り付けるようにしている（ステップＳｈ１９及びステップＳｈ２０を参照）。
【０１２２】
一方、ステップＳｈ１６において、６軸力覚検出装置８が教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））で検出した検出値の各軸成分と、制御手段３に記憶させた、組付部品Ｐ１と被組付部品Ｐ２との組付けが成功した場合に、教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））で、６軸力覚検出装置８が検出した検出値の設定値の各軸成分とを対比して、大きな差が認められる軸が存在しない場合には、可動部２の位置及び姿勢を規定する教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０））にしたがって、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御して動かした後、引き続き、次の教示点（この例では、Ｃ（Ｃ０〜Ｃｋ０））にしたがって、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御して動かして、組付部品Ｐ１を被組付部品Ｐ２に取り付けるようにしている（ステップＳｈ１９及びステップＳｈ２０を参照）。
【０１２３】
このフローチャートのしたがって、部品組付装置１を運転すれば、組付ステップの所定の工程において、６軸力覚検出装置８が検出した検出値が設定値と異なっている場合には、組付中の組付部品Ｐ１と被組付部品Ｐ２との間の位置ずれ方向を推察し、所定の工程における、ロボット手段、より特定的には、可動部２の教示点を変更し、変更後の教示点に従って、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御した後、６軸力覚検出装置が検出した検出値と設定値とを比較して、検出値と設定値とが一致すれば、次の教示点にしたがって、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御して、組付部品Ｐ１を被組付部品Ｐ２に組み付けるようにしているので、作業を継続しながら、信頼性の高い部品組付状態最適化ステップを構築することができる。
【０１２４】
また、図１７は、組付部品Ｐ１と被組付部品Ｐ２との接触状態をより正確に判定し、且つ、組付ステップに要する時間を短縮できるようにする方法を概略的に示すフローチャートである。
このフローチャートでは、ステップＳａ７において、組付部品Ｐ１を被組付部品Ｐ２に組み付ける組付け作業を開始して、ステップＳｉ１２において、組付けステップが終了した後、組付けステップにおいて、選択メニュー（この例では、図９に示す選択メニュー（０〜ｋ０）中、初期値（デフォルト値）０以外の他の選択メニューが選択された場合には、最新に選択された動作パターンを複数回記憶し、ステップＳｉ１３において、しきい値と比較して、選択メニューが選択されたり、教示点（この例では、教示点Ｂ（Ｂ０〜Ｂｋ０）の修正が頻繁に行われるようになったと判断される場合には、記憶された複数回の動作パターン中、最も選択の多かった動作パターンに対応する設定値を最適値に変更するようにしている。
【０１２５】
例えば、選択メニューとして、最新の複数回において、選択メニュー１の選択頻度が高い場合には、制御テーブル１２を、選択メニュー１に対応する、６軸力覚検出装置の設定値（この例では、（Ｆｘ１、Ｆｙ１、Ｆｚ１、Ｍｘ１、Ｍｙ１、Ｍｚ１）を最適値、即ち、初期値（デフォルト値）、この例では、選択メニュー０として、（Ｆｘ１、Ｆｙ１、Ｆｚ１、Ｍｘ１、Ｍｙ１、Ｍｚ１）から、（Ｆｘｉ、Ｆｙｉ、Ｆｚｉ、Ｍｘｉ、Ｍｙｉ、Ｍｚｉ）、（Ｆｘ２、Ｆｙ２、Ｆｚ２、Ｍｘ２、Ｍｙ２、Ｍｚ２）、・・・の各々までの、ユークリッドの距離又はマハラノビスの汎距離を求めた制御テーブルに書き換え、これを制御手段３に記憶させるようにする（ステップＳｉ１４及びステップＳｉ１５を参照）。
【０１２６】
以下、新たに作成した制御テーブルに基づいて、組付部品Ｐ１と被組付部品Ｐ２との接触状態を判断して、組付部品Ｐ１の被組付部品Ｐ２への取付けを行うようにする（ステップＳｉ１６及びステップＳｉ１７を参照）。
このように、最新の複数回において、選択頻度が高い、選択メニュー１を最適値、即ち、初期値（デフォルト値）とすれば、以後、選択メニューは、殆どの場合、初期値（デフォルト値）となるため、初期値（デフォルト値）を別の選択メニューに変更する信号を発令する頻度が極めて低くなる。
【０１２７】
したがって、このフローチャートにしたがって、部品組付装置１を運転するようにすれば、接触状態判別ステップの選択ステップにおいて、最適値に対応する動作パターン以外の動作パターンの選択が頻繁に行われるようになった場合には、初期値（デフォルト値）を、記憶した最新の複数回の動作パターン中、最も選択の多かった動作パターンに対応する設定値に変更しているので、最適値を、最も選択の多かった動作パターンに対応する設定値に変更した後においては、初期値（デフォルト値）から変更する変更信号を出力する頻度が少なくなる。これにより、組付ステップにおいて、殆どの場合は、初期値（デフォルト値）から変更する変更信号を出力することなく、初期値（デフォルト値）で、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御することができるようになるため、初期値（デフォルト値）から変更する変更信号を出力しなくてよくなった分だけ、組付ステップに要する時間を短縮できるようになる。
【０１２８】
また、図１８は、組付部品の被組付部品への組み付けが成功したか失敗したかを、少ない計算で判定できる方法を概略的に示すフローチャートである。
このフロチャートにおいて、ステップＳａ１は、図６に示すフローチャートのステップＳａ１に対応している。
このフローチャートでは、ステップＳｊ２において、組付部品Ｐ１の被組付部品Ｐ２への組付けステップにおいて、６軸力覚検出装置８が検出した検出値を６軸成分（この例では、Ｆｘ、Ｆｙ、Ｆｚ、Ｍｘ、Ｍｙ、Ｍｚ）の各々について検出しているが、ステップＳｊ３において、６軸成分（この例では、Ｆｘ、Ｆｙ、Ｆｚ、Ｍｘ、Ｍｙ、Ｍｚ）の中、特定の１軸成分についてのみ、制御手段４に、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の変化を経時的の記憶させておき、制御手段４に記憶させた、特定の１軸成分についての、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の経時的な変化と、特定の１軸に対応する１軸成分についての、組付部品Ｐ１の被組付部品Ｐ２への組付け中の経時的な変化とを対比して、その相関度を評価している。
【０１２９】
次いで、ステップＳｊ４において、相関度が良いか否かを、あるしきい値と比較することで、判定し、相関度が良いと判断した場合には、ステップＳｊ５において、組付部品Ｐ１の被組付部品Ｐ２への組付けは成功した、判定し、ステップＳｊ４において、相関度が悪いと判断した場合には、ステップＳｊ６において、組付部品Ｐ１の被組付部品Ｐ２への組付けは失敗した、判定するようにしている。
【０１３０】
本発明者等の、実験に基づく知見によれば、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功したかあるいは失敗したかは、取付治具Ｗに取り付けた６軸力覚検出装置８の６軸の検出値の全てに表れる。
したがって、このことを利用すれば、６軸力覚検出装置８の検出値を６軸全てに見る必要は無い。このフローチャートでは、６軸力覚検出装置８の検出値の６軸成分の中、任意の一軸成分に着目し、ロボット手段の制御手段３に、予め、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の、６軸力覚検出装置８が検出した検出値の一軸の変化を記憶させておき、組付部品Ｐ１を被組付部品Ｐ２へ実際に組み付ける際に、６軸力覚検出装置８が検出した検出値の６軸の検出値の中から、対応する一軸の変化と、ロボット手段の制御手段３に記憶させた、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の、６軸力覚検出装置８が検出した検出値の一軸の変化とを対比して、相関度を評価することで、失敗か成功かを判定するようにしているので、６軸成分の全てについて、相関度を評価する場合に比べ、少ない計算量で、正確に、組付部品の被組付部品への組み付けが成功したか失敗したかを、判定できる。
【０１３１】
また、図１９は、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功したか失敗したかを、正確に判定できる方法を概略的に示すフローチャートである。
このフロチャートにおいて、ステップＳａ１及びステップＳｊ２の各々は、図１８に示すフローチャートのステップＳａ１及びステップＳｊ２の各々に対応している。
【０１３２】
このフロチャートでは、ステップＳｋ３において、６軸力覚検出装置８が検出した検出値を６軸成分（この例では、Ｆｘ、Ｆｙ、Ｆｚ、Ｍｘ、Ｍｙ、Ｍｚ）の各々について検出しているが、ステップＳｊ３において、６軸成分（この例では、Ｆｘ、Ｆｙ、Ｆｚ、Ｍｘ、Ｍｙ、Ｍｚ）の中、特定の１軸成分についてのみ、制御手段４に、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の変化を経時的の記憶させておき、制御手段４に記憶させた、特定の１軸成分についての、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の経時的な変化と、特定の１軸に対応する１軸成分についての、組付部品Ｐ１の被組付部品Ｐ２への組付け中の経時的な変化とを対比して、その相関度の評価を、相互相関関数値により評価している。
【０１３３】
次いで、ステップＳｋ４において、相互相関関数値が良いか否かを、あるしきい値と比較することで、判定し、相互相関関数値が良いと判断した場合には、ステップＳｋ５において、組付部品Ｐ１の被組付部品Ｐ２への組付けは成功した、判定し、ステップＳｋ４において、相互相関関数値が悪いと判断した場合には、ステップＳｋ６において、組付部品Ｐ１の被組付部品Ｐ２への組付けは失敗した、判定するようにしている。
【０１３４】
ここに、相互相関関数値は、ｘ（ｔ）とｙ（ｔ）の信号波形間の相互相関関数値として表すと、下記に示す数４で表される。
【０１３５】
【数４】

【０１３６】
この例では、位相の差は無く、τ＝０となる。また、実際は、サンプリング計測による離散値によって演算を行うので、有限個Ｎ個のサンプルがある場合は、下記に示す数５により、相互相関関数の値（相互相関関数値）が求まる。
【０１３７】
【数５】

【０１３８】
さらに、下記に示す数６により規格化され、関数値が、−１〜１の値をとる規格化相互相関関数値：Ｒｎｘｙとなる。
【０１３９】
【数６】

【０１４０】
また、図２０は、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功したか失敗したかを、正確に判定できる方法を概略的に示すフローチャートである。
このフロチャートにおいて、ステップＳａ１及びステップＳｊ２の各々は、図１８に示すフローチャートのステップＳａ１及びステップＳｊ２の各々に対応している。
【０１４１】
このフロチャートでは、ステップＳｌ３において、６軸力覚検出装置８が検出した検出値を６軸成分（この例では、Ｆｘ、Ｆｙ、Ｆｚ、Ｍｘ、Ｍｙ、Ｍｚ）の各々について検出しているが、ステップＳｌ３において、６軸成分（この例では、Ｆｘ、Ｆｙ、Ｆｚ、Ｍｘ、Ｍｙ、Ｍｚ）の中、特定の１軸成分についてのみ、制御手段４に、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の変化を経時的の記憶させておき、制御手段４に記憶させた、特定の１軸成分についての、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の経時的な変化と、特定の１軸に対応する１軸成分についての、組付部品Ｐ１の被組付部品Ｐ２への組付け中の経時的な変化とを対比して、その相関度の評価を、相関係数値により評価している。
【０１４２】
次いで、ステップＳｌ４において、相関係数の値が良いか否かを、あるしきい値と比較することで、判定し、相関係数の値が良いと判断した場合には、ステップＳｋ５において、組付部品Ｐ１の被組付部品Ｐ２への組付けは成功した、判定し、ステップＳｌ４において、相関係数の値が悪いと判断した場合には、ステップＳｋ６において、組付部品Ｐ１の被組付部品Ｐ２への組付けは失敗した、判定するようにしている。
【０１４３】
ここに、相関度を比較する２つの力又はモーメントの波形を、ｘ（ｔ）とｙ（ｔ）として表すと、サンプリング計測によって、各々、有限個Ｎ個の離散値データが得られたとき、２つの波形間の相関係数：ｒは、下記に示す数７により求まる。
【０１４４】
【数７】

【０１４５】
また、図２１は、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功したか失敗したかを、正確に判定できる方法を概略的に示すフローチャートである。
このフローチャトでは、ステップＳｍ１において、組付部品Ｐ１の被組付部品Ｐ２への取付けが成功した時の、６軸力覚検出装置８の検出値の経時的な変化（３軸の任意の１軸の力又は３軸の任意の１軸まわりのモーメントの波形）に基づいて、相関度を評価する比較区間（比較幅（比較時間））を、予め、決定する。
【０１４６】
次に、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御して、組付部品Ｐ１を被組付部品Ｐ２に取付ける取付ステップを開始し（ステップＳｍ２を参照）、６軸力覚検出装置８が検出する検出値の６軸成分の中、ある特定の１軸成分について、ステップＳｍ１において、６軸力覚検出装置８の検出値の経時的な変化（３軸の任意の１軸の力又は３軸の任意の１軸まわりのモーメントの波形）に基づいて決定した、比較区間（比較幅（比較時間））毎に、特定の１軸成分についての、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の経時的な変化と、特定の１軸に対応する１軸成分についての、組付部品Ｐ１の被組付部品Ｐ２への組付け中の経時的な変化とを対比して、その相関度の評価を、相関係数により評価し、ステップＳｍ５において、相関係数の値が良いか否かを、あるしきい値と比較することで、判定し、相関係数の値が良いと判断した場合には、ステップＳｍ６において、組付部品Ｐ１の被組付部品Ｐ２への組付けは成功した、判定し、ステップＳｍ７において、相関係数の値が悪いと判断した場合には、ステップＳｋ６において、組付部品Ｐ１の被組付部品Ｐ２への組付けは失敗した、判定するようにしている。
【０１４７】
取付治具Ｗに取り付けられた６軸力覚検出装置８が検出する検出値の各軸に表れる経時的な変化には、変化量の大きい所と、小さい所とがある。
変化量の小さい所で、制御手段３に記憶させた、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の６軸力覚検出装置８が検出した一軸の変化と、６軸力覚検出装置８が検出した、制御手段に記憶させた一軸に対応する一軸の変化とを比較すると、この部分では、ノイズの影響が大きいため、変化量の小さい所で、相関度を評価しても、評価を正しく行うことができない。組付部品の被組付部品への組付けが成功したか否かの判定は、組み付け作業開始から組み付け作業の終了までの全体について、制御手段に記憶させた、組付部品の被組付部品への組付けが成功した場合の６軸力覚検出装置が検出した一軸の変化と、６軸力覚検出装置が検出した、制御手段に記憶させた一軸に対応する一軸の変化とを比較するより、比較区間を限定して、変化量の大きいところ同士で、比較を行うようにした方が、正確に行える。
【０１４８】
このフローチャートにしたがって部品組付装置１を運転すれば、一軸の変化の波形に基づいて、比較区間を限定して、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かの判定が行えるので、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かの判定が、正確に行える。
また、図２２は、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かの判定をリアルタイムで行えるようにする方法を概略的に示すフローチャートである。
【０１４９】
リアルタイムに、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かの判定を行うためには、６軸力覚検出装置が検出した６軸成分を検出する毎に、相関度の評価を行う必要がある。このような場合、６軸力覚検出装置の検出が開始された時点から現時点までの６軸成分のいずれか一つの波形で、相関度を評価すると、時間経過と伴に、処理しなければならないデータ量が増加し、このため、組付部品Ｐ１の被組付部品Ｐ２への組付けを失敗した場合であっても、増加したデータ量により、組付部品Ｐ１の被組付部品Ｐ２への組付けを失敗した場合に現れる波形が、マスクされてしまい、相関度が低下し難く、その結果、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かの判定の精度が悪くなる。
【０１５０】
かかる問題を解決するため、このフローチャートでは、相関度を評価する比較区間を限定し、比較区間の始期と終期とを経時的にともに移動させるようにし、経時的に、データ量が増えないようにしている。
より詳しく説明すると、このフローチャートにおいて、ステップＳａ７及びステップＳａ１０の各々は、図６に示すフローチャートのステップＳａ７及びステップＳａ１０の各々に対応している。
【０１５１】
このフローチャートでは、ステップＳｎ１１において、６軸力覚検出装置の検出開始からの所定の経過時間が、しきい値として、制御手段３に記憶されており、６軸力覚検出装置の検出開始から実際に経過した時間が、このしきい値（相関度比較区間として規定した時間）と比較される。
そして、６軸力覚検出装置８の検出開始から実際に経過した時間が、このしきい値以上と判断されると、ステップＳｎ１２において、６軸力覚検出装置８が現時点から、しきい値（相関度比較区間として規定した時間）だけ前の比較区間において検出した検出値の中から、特定の１軸成分の検出量の変化について、組付部品Ｐ１の被組付部品への組付けが成功した場合の特定の１軸成分の検出量の変化と、実際に、組付部品Ｐ１を被組付部品Ｐ２に組付けた際に、６軸力覚検出装置８が検出した特定の１軸成分の検出量の変化とを比較して、相関度の評価を行い、ステップＳｎ１４において、相関度がよいか否かを、あるしきい値と対比して、相関度が良いと判断した場合には、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したと判断し、組付けステップを終了する（ステップＳｎ１５及びステップＳｎ１６を参照）。
【０１５２】
一方、ステップＳｎ１４において、相関度がよいか否かを、あるしきい値と対比して、相関度が悪いと判断した場合には、組付部品Ｐ１の被組付部品Ｐ２への組付けが失敗したと判断する（ステップＳｎ１７を参照）。
また、ステップＳｎ１１において、６軸力覚検出装置８の検出開始から実際に経過した時間が、このしきい値以下と判断されると、ステップＳｎ１３において、
６軸力覚検出装置８が検出開始から現時点までの比較区間において検出した検出値の中から、特定の１軸成分の検出量の変化について、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の特定の１軸成分の検出量の変化と、実際に、組付部品Ｐ１を被組付部品Ｐ２に組付けた際に、６軸力覚検出装置８が検出開始をしてから現時点迄に検出した特定の１軸成分の検出量の変化とを比較して、相関度の評価を行い、ステップＳｎ１４において、相関度がよいか否かを、あるしきい値と対比して、相関度が良いと判断した場合には、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したと判断し、組付けステップを終了する（ステップＳｎ１５及びステップＳｎ１６を参照）。
【０１５３】
一方、ステップＳｎ１４において、相関度がよいか否かを、あるしきい値と対比して、相関度が悪いと判断した場合には、組付部品Ｐ１の被組付部品Ｐ２への組付けが失敗したと判断する（ステップＳｎ１７を参照）。
このフローチャトにしたがって、部品組付装置１を運転するようにづれば、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の６軸力覚検出装置８からの一軸の検出値として制御手段３に記憶させた一軸の変化と、組付部品Ｐ１を被組付部品Ｐ２へ組付ける組み付け作業の開始から作業の終了までに、６軸力覚検出装置８からの一軸の検出値とを、比較区間を時間と共に移動させるようにしているので、組付部品Ｐ１の被組付部品Ｐ２への組付中において、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かの判定が可能となる。また、これにより、組付部品Ｐ１の被組付部品Ｐ２への組付けが失敗した場合には、組付ステップのどの工程において、不具合があったかを、容易に特定できるので、組付ステップにおけるロボット手段の組付軌跡の修正が容易に行える。
【０１５４】
また、図２３は、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功したか失敗したかを、正確に判定できる方法を概略的に示すフローチャートである。
このフローチャートでは、相関度の評価を行う比較区間を、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の、６軸力覚検出装置８が、経時的に検出した、特定の１軸の軸成分の波形に応じて変化させることにより、相関度の計算精度の向上を図っている。
【０１５５】
即ち、組付部品Ｐ１の被組付部品Ｐ２への組付けの失敗が、６軸力覚検出装置８が検出した波形に表れた際に、比較区間が長い場合には、相関度が低下し難く、逆に、比較区間が短い場合には、相関度は素早く低下する。しかしながら、逆に、組付部品Ｐ１の被組付部品Ｐ２への組付けを失敗していないにもかかわらず、 このフローチャートでは、ステップＳｏ１において、まず、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の、６軸力覚検出装置８が、経時的に検出した、特定の１軸の軸成分の波形に基づいて、比較区間を決定している。次に、ステップＳｏ２において、ロボット手段、より特定的には、可動部２の位置及び姿勢を制御して、組付部品Ｐ１の被組付部品Ｐ２への組付けステップを開始し、この組付けステップの開始から、６軸力覚検出装置８の検出を開始をし、ステップＳｏ３において、６軸力覚検出装置８が検出した検出値を６軸の各々に検出する。
【０１５６】
次に、ステップＳｏ４において、特定の１軸成分について、相関度比較区間の、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の特定の１軸成分の検出量の変化と、実際に、組付部品Ｐ１を被組付部品Ｐ２に組付けた際に、６軸力覚検出装置８が検出開始をしてから現時点迄に検出した特定の１軸成分の検出量の変化とを比較して、相関度の評価を行い、ステップＳｏ５において、相関度がよいか否かを、あるしきい値と対比して、相関度が良いと判断した場合には、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したと判断し、組付けステップを終了する（ステップＳｏ６及びステップＳｏ７を参照）。
【０１５７】
一方、ステップＳｏ５において、相関度がよいか否かを、あるしきい値と対比して、相関度が悪いと判断した場合には、組付部品Ｐ１の被組付部品Ｐ２への組付けが失敗したと判断する（ステップＳｏ８を参照）。
また、図２４は、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功したか失敗したかを、正確に、判定できるようにした方法を概略的に示フローチャートである。
【０１５８】
このフローチャートにおいて、ステップＳａ７及びステップＳａ１０の各々は、図６に示すステップのステップＳａ７及びステップＳａ１０の各々に対応する。
このフローチャートでは、ステップＳｐ１１において、組付部品Ｐ１の被組付部品Ｐ２への取付けが成功したか否かを、相関度の評価等により判定し、ステップＳｐ１１において、組付部品Ｐ１の被組付部品Ｐ２への取付けが成功したと判断した場合には、この取付けステップにおいて、６軸力覚検出装置８が検出した検出値を、制御手段３に記憶する。
【０１５９】
一方、ステップＳｐ１１において、組付部品Ｐ１の被組付部品Ｐ２への取付けが成功したか否かを、相関度の評価等により判定し、ステップＳｐ１１において、組付部品Ｐ１の被組付部品Ｐ２への取付けが失敗した判断した場合には、この取付けステップにおいて、６軸力覚検出装置８が検出した検出値を、制御手段３に記憶しない（ステップＳｐ１６を参照）。
【０１６０】
次に、ステップＳｐ１３において、組付部品Ｐ１の被組付部品Ｐ２への取付けが成功したと判断した場合に、６軸力覚検出装置８が検出した検出値を、何件、制御手段３に記憶したかが判断される。
そして、ステップＳｐ１３において、実際に、制御手段３に記憶された組付部品Ｐ１の被組付部品Ｐ２への取付けが成功したと判断した場合に、６軸力覚検出装置８が検出した検出値の件数が、制御手段３に記憶すべき件数として規定されたしきい値以上になると、ステップＳｐ１４において、測定毎の６軸力覚検出装置８からの検出値の変化加算された後、測定回数でわり算されて、制御手段３に記憶された組付部品Ｐ１の被組付部品Ｐ２への取付けが成功したと判断した場合に、６軸力覚検出装置８が検出した検出値の平均値の変化が求められ、これが、ロボット手段、より特定的には、可動部２の制御手段３に、予め、記憶させる、組付部品の被組付部品への組み付けが成功した場合の、６軸力覚検出装置が検出した検出値の一軸の変化として用いられる。
【０１６１】
組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の、６軸力覚検出装置８が検出した検出値の一軸の変化は、一回だけのデータでは、６軸力覚検出装置８が検出した検出値には、ノイズ等の外乱が重畳している場合があり、一回だけのデータに基づいて、制御手段３の制御テーブル１２に、６軸力覚検出装置の一軸の変化の、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の設定値を、記憶させると、設定値がおかしいために、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かを、常に、誤判定するという虞れがある。これに対して、制御手段３の制御テーブル１２に記憶させる、６軸力覚検出装置８の一軸の変化の、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の設定値を、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の、６軸力覚検出装置８が検出した検出値を複数回取り、複数回の検出値の平均値とするようにすれば、ノイズ等の外乱の影響が小さくなっている。このように、このフローチャートにしたっがて部品組付装置１を運転するようにすれば、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かを、６軸力覚検出装置８が検出した、制御手段に記憶させた一軸に対応する一軸の変化を、制御手段３に記憶させた、精度の高い、組付部品Ｐ１の被組付部品Ｐ２への組み付けが成功した場合の一軸の変化の設定値と比較できるので、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かを正確に判定することができる。
【０１６２】
図２５は、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かを、しきい値に基づいて判定できるようにする方法を概略的に示すフローチャートである。
このフローチャートにおいて、ステップＳａ７及びステップＳａ１０の各々は、図６に示すフローチャートのステップＳａ７及びステップＳａ１０の各々に対応している。
【０１６３】
このフローチャートでは、ステップＳｑ１１において、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かを、相関度の評価等により判断し、成功と判断した場合には、その時に、６軸力覚検出装置８が検出した検出値の波形を制御手段３に記憶させる。
一方、ステップＳｑ１１において、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かを、相関度の評価等により判断し、失敗と判断した場合には、その時に、６軸力覚検出装置８が検出した検出値の波形を制御手段３に記憶させない（ステップＳｑ１４を参照）。
【０１６４】
次に、ステップＳｑ１３において、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合に、６軸力覚検出装置８が検出した検出値の波形を、所定回数分、制御手段３に記憶したかどうかが判定される。
そして、ステップＳｑ１３において、制御手段３に記憶した、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合に、６軸力覚検出装置８が検出した検出値の波形の数が、制御手段３に記憶させる、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合に、６軸力覚検出装置８が検出した検出値の波形の数として規定されたしきい値以上になった場合には、ステップＳｑ１５において、６軸力覚検出装置８が検出した検出値の波形を合計し、これを、測定回数でわり算し、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合に、６軸力覚検出装置８が検出した検出値の波形の平均波形を作成する。
【０１６５】
次に、ステップＳｑ１５において求めた、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合に、６軸力覚検出装置８が検出した検出値の波形の平均波形と、測定し、制御手段３に記憶した、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合に、６軸力覚検出装置８が検出した検出値の波形の各々との相関度を算出する。
【０１６６】
次いで、ステップＳｑ１７において、ステップＳｑ１５において求めた、相関度、及び、ステップＳｑ１５において作成した、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功した場合の、６軸力覚検出装置８が検出した検出値の波形の平均波形に基づいて、平均波形と各計測波形との相関度の平均と分散とを算出する。
【０１６７】
次いで、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かのしきい値を、次式より求め、これを、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かのしきい値として用いる。
しきい値＝相関度の平均−３×相関度の分散
上記方法によれば、しきい値が一義的に定まってしまう。
【０１６８】
一方、組付部品Ｐ１の被組付部品Ｐ２への組み付けは、組付部品Ｐ１及び／又は被組付部品Ｐ２へ少々の無理な力が加わっても、例えば、機械的な破壊が生じない範囲であれば、成功と判断しても何等問題が無い場合がある。
図２６は、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かを実際面を考慮して正確に判定できるようにした方法を概略的に示すフローチャートである。
【０１６９】
このフローチャートにおいて、ステップＳａ７及びステップＳａ１０の各々は、図６に示すステップＳａ７及びステップＳａ１０の各々に対応している。
このフローチャートでは、ステップＳｒ１１において、６軸力覚検出装置８が検出した検出値から、特定の１軸成分について、予め、制御手段３に記憶された、組付部品Ｐ１の被組付部品Ｐ２への取付けが成功した場合の検出値の変化と、組付部品Ｐ１を被組付部品Ｐ２へ実際に取り付けた際に、６軸力覚検出装置８が検出した検出値の特定の１軸成分についての検出値の変化とについて、相互相関関数値を評価して、ステップＳｒ１２において、この相互相関関数値をしきい値として、組付部品Ｐ１を被組付部品Ｐ２へ実際に取り付けた際に、６軸力覚検出装置８が検出した検出値の特定の１軸成分についての検出値の変化が、このしきい値以上の場合は、組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したと判断し（ステップＳｒ１３を参照）、他方、組付部品Ｐ１を被組付部品Ｐ２へ実際に取り付けた際に、６軸力覚検出装置８が検出した検出値の特定の１軸成分についての検出値の変化が、このしきい値以下の場合は、組付部品Ｐ１の被組付部品Ｐ２への組付けが失敗したと判断するようにしている（ステップＳｒ１４を参照）。
【０１７０】
図２７は、６軸力覚検出装置８が、実際に計測した、６軸力覚量の中、Ｘ軸まわりのモーメントによって、組付部品Ｐ１と被組付部品Ｐ２との組付けの成否判定を相関度を求め、実際に行った例を示している。
相関度は、現計測時より、０．３秒以前のデータについて計算を行っている。この例では、１．１秒以上１．２秒以下の付近で、発生モーメントが小さくなり、波形中に含まれるノイズ成分同士を比較する形となっているため、相関度が、０．５程度まで落ち込んでいる。この現象による、組付部品Ｐ１と被組付部品Ｐ２との組付けの成否判定の誤判定を防止するため、この例では、組付部品Ｐ１と被組付部品Ｐ２との組付けの成否判定を行う比較区間を、０．３秒以上０．９秒以下に設定している。
【０１７１】
これにより、図２７より明らかなように、組付部品Ｐ１と被組付部品Ｐ２との組付けの成否判定の判定しきい値を、０．８程度の高い値に設定できている。
また、この例では、相関度の計算区間を０．３秒の一定値にしているが、波形の形状によって相関度の計算区間を変化させれば、波形中に含まれるノイズ成分による相関度の低下を防ぐことができる。
【０１７２】
【発明の効果】
以上、詳細に説明したように、請求項１に記載の部品組付装置では、ロボット手段側ではなく、組付治具に６軸力覚検出装置を設けている。組付治具に載置された被組付部品に組付部品が接触すると、組付部品と被組付部品が接触することによって生じる力学的な変化は、組付治具に伝わり、６軸力覚検出装置へと伝わる。したがって、この部品組付装置では、センサをロボット手段側にだけ設けた部品組付装置では検出できなかった、組付部品と被組付部品との接触状態を、リアルタイムに直接的に知ることができる。これにより、組付部品と被組付部品との接触状態に応じて、ロボット手段の位置及び姿勢を制御して、組付部品を被組付部品に組み付けるのに最適な接触状態にしてから、組付部品を被組付部品に組み付けることができるので、組付部品の被組付部品への組み付けを効率良く行うことができるようになる。
【０１７３】
また、視覚認識装置によって認識された組付部品と被組付部品の位置及び姿勢情報に基づいて、ロボット手段の位置及び姿勢を制御して、被組付部品に組付部品を接触させた後は、視覚認識装置によらず、組付治具に設けた６軸力覚検出装置が検出した検出値に基づいて、組付部品の被組付部品への組み付けを行っているので、従来の視覚認識装置では検出できなかった、組付部品及び被組付部品の、視覚認識装置（図示せず）からは見えない側の情報や、組付部品及び被組付部品の奥行きに関する情報を得ることができるので、２次元情報では無く、３次元情報に基づいて、ロボット手段の位置及び姿勢を制御して、組付部品を被組付部品に組み付けることができるので、組付部品の被組付部品への組み付けをより正確に行うことができる。
【０１７４】
更に、この部品組付装置では、被組付部品に組付部品を接触させた後は、視組付治具に設けた６軸力覚検出装置により、組付部品及び被組付部品の、視覚認識装置（図示せず）からは見えない側の情報や、組付部品及び被組付部品の奥行きに関する情報といった、視覚認識装置が検出することができる情報以上の情報を検出できるので、被組付部品に組付部品を接触させた後は、視覚認識装置の検出情報の解析が不要となる。これにより、少ない情報処理に基づいて、ロボット手段の位置及び姿勢を制御して、組組付部品の被組付部品への組み付けができるので、組付部品の被組付部品への組み付けをより速く行うことができる。
【０１７５】
また、この部品組付装置では、組付部品を被組付部品に組み付けるのに最適な接触状態にしてから、組付部品を被組付部品に組み付けるようにしているので、組付部品を被組付部品に組み付ける際の、ロボット手段の位置及び姿勢を制御は、ルーチンの制御を行えば十分であるため、ロボット手段の位置及び姿勢を制御する運転プログラムは、ロボット手段の位置及び姿勢を制御する教示点を、選択される動作パターン毎に設けるといったような簡単な運転プログラムとすることができる。このように、この部品組付装置では、ロボット手段の位置及び姿勢を制御する運転プログラムを簡単なものとすることができるので、これに伴って、情報処理の時間も短くてすむので、その結果、組付作業ロボットの動作が速くなり、組付部品の被組付部品への組み付けをより速く行うことができる。また、運転プログラムの修正も簡単に行える。
その上、この部品組付装置では、接触状態判別ステップにおいて、ユークリッドの距離に基づいて、組付部品と被組付部品との接触状態を判別できるようにしているので、制御手段に於ける計算量が少なくて済む。これにより、部品組付装置の動作が速くなり、組付部品の被組付部品への組み付けをより速く行うことができる。
【０１７６】
請求項２に記載の部品組付装置は、接触状態判別ステップにおいて、平均値計測ステップにおいて、一定時間に於ける６軸力覚検出装置が検出した検出値の６成分の各々の平均値を、６軸力覚検出装置が検出した検出値として用いるようにしているので、接触状態判別ステップにおいて、組付部品と被組付部品との接触状態を正確に判定することができる。
【０１７７】
請求項３に記載の部品組付装置では、６軸力覚検出ステップ、接触状態判別ステップ及びロボット手段制御ステップを繰り返して行うようにしているので、ロボット手段の位置及び姿勢の変更を少しずつ行うように設定することで、組付部品と被組付部品との接触状態を、より一層、組み付けに最適な接触状態にすることができる。
【０１７９】
請求項４に記載の部品組付装置では、接触状態判別ステップの選択ステップにおいて、最適値に対応する動作パターン以外の動作パターンの選択が頻繁に行われるようになった場合には、初期値（デフォルト値）を、記憶した最新の複数回の動作パターン中、最も選択の多かった動作パターンに対応する設定値に変更しているので、最適値を、最も選択の多かった動作パターンに対応する設定値に変更した後においては、初期値（デフォルト値）から変更する変更信号を出力する頻度が少なくなる。これにより、組付ステップにおいて、殆どの場合は、初期値（デフォルト値）から変更する変更信号を出力することなく、初期値（デフォルト値）で、ロボット手段の位置及び姿勢を制御することができるようになるため、初期値（デフォルト値）から変更する変更信号を出力しなくてよくなった分だけ、組付ステップに要する時間を短縮できる。
【０１８０】
請求項５に記載の部品組付装置は、制御手段の制御テーブルに記憶させる、６軸力覚検出装置の設定値を、組付部品と被組付部品とを同じ状態で、複数回、接触させた検出値の平均値としているので、ノイズ等の外乱の影響が小さくなっている。このように、この部品組付装置では、接触状態判別ステップにおいて、６軸力覚検出装置が検出した検出値を、精度の高い設定値と比較しているので、組付部品と被組付部品との接触状態を正確に判定することができる。
【０１８１】
請求項６に記載の部品組付装置では、ロボット手段側ではなく、組付治具に６軸力覚検出装置を設けている。組付治具に載置された被組付部品に組付部品が接触すると、組付部品と被組付部品が接触することによって生じる力学的な変化は、組付治具に伝わり、６軸力覚検出装置へと伝わる。したがって、この部品組付装置では、センサをロボット手段側にだけ設けた部品組付装置では検出できなかった、組付部品と被組付部品との接触状態を、リアルタイムに直接的に知ることができる。これにより、組付部品と被組付部品との接触状態に応じて、ロボット手段の位置及び姿勢を制御して、組付部品を被組付部品に組み付けるのに最適な接触状態にしてから、組付部品を被組付部品に組み付けることができるので、組付部品の被組付部品への組み付けを効率良く行うことができるようになる。
また、視覚認識装置によって認識された組付部品と被組付部品の位置及び姿勢情報に基づいて、ロボット手段の位置及び姿勢を制御して、被組付部品に組付部品を接触させた後は、視覚認識装置によらず、組付治具に設けた６軸力覚検出装置が検出した検出値に基づいて、組付部品の被組付部品への組み付けを行っているので、従来の視覚認識装置では検出できなかった、組付部品及び被組付部品の、視覚認識装置（図示せず）からは見えない側の情報や、組付部品及び被組付部品の奥行きに関する情報を得ることができるので、２次元情報では無く、３次元情報に基づいて、ロボット手段の位置及び姿勢を制御して、組付部品を被組付部品に組み付けることができるので、組付部品の被組付部品への組み付けをより正確に行うことができる。
更に、この部品組付装置では、被組付部品に組付部品を接触させた後は、視組付治具に設けた６軸力覚検出装置により、組付部品及び被組付部品の、視覚認識装置（図示せず）からは見えない側の情報や、組付部品及び被組付部品の奥行きに関する情報といった、視覚認識装置が検出することができる情報以上の情報を検出できるので、被組付部品に組付部品を接触させた後は、視覚認識装置の検出情報の解析が不要となる。これにより、少ない情報処理に基づいて、ロボット手段の位置及び姿勢を制御して、組組付部品の被組付部品への組み付けができるので、組付部品の被組付部品への組み付けをより速く行うことができる。
また、この部品組付装置では、組付部品を被組付部品に組み付けるのに最適な接触状態にしてから、組付部品を被組付部品に組み付けるようにしているので、組付部品を被組付部品に組み付ける際の、ロボット手段の位置及び姿勢を制御は、ルーチンの制御を行えば十分であるため、ロボット手段の位置及び姿勢を制御する運転プログラムは、ロボット手段の位置及び姿勢を制御する教示点を、選択される動作パターン毎に設けるといったような簡単な運転プログラムとすることができる。このように、この部品組付装置では、ロボット手段の位置及び姿勢を制御する運転プログラムを簡単なものとすることができるので、これに伴って、情報処理の時間も短くてすむので、その結果、組付作業ロボットの動作が速くなり、組付部品の被組付部品への組み付けをより速く行うことができる。また、運転プログラムの修正も簡単に行える。
その上、この部品組付装置では、接触状態判別ステップにおいて、６軸力覚検出ステップにおいて、ユークリッドの距離ではなく、データのばらつきをも考慮した、マハラノビスの汎距離を用い、ばらつきを考慮した判定を行っているので、組付部品と被組付部品との接触状態をより正確に判定できる。請求項７に記載の部品組付装置では、接触状態判別ステップの選択ステップにおいて、最適値に対応する動作パターン以外の動作パターンの選択が頻繁に行われるようになった場合には、初期値（デフォルト値）を、記憶した最新の複数回の動作パターン中、最も選択の多かった動作パターンに対応する設定値に変更しているので、最適値を、最も選択の多かった動作パターンに対応する設定値に変更した後においては、初期値（デフォルト値）から変更する変更信号を出力する頻度が少なくなる。これにより、組付ステップにおいて、殆どの場合は、初期値（デフォルト値）から変更する変更信号を出力することなく、初期値（デフォルト値）で、ロボット手段の位置及び姿勢を制御することができるようになるため、初期値（デフォルト値）から変更する変更信号を出力しなくてよくなった分だけ、組付ステップに要する時間を短縮できる。
【０１８２】
請求項８に記載の部品組付装置では、６軸力覚検出装置の座標軸と、ロボット手段が、組付部品を組付治具上に載置される被組付部品に組み付ける組付方向とが一致するように設定しているので、組付ステップにおいて、ロボット手段の位置及び姿勢を３次元に動かすのではなく、３次元を規定する３軸の中、６軸力覚検出装置の座標軸と、ロボット手段の位置及び姿勢を、組付部品を組付治具上に載置される被組付部品に組み付ける組付方向とが一致する軸と、他の２軸の中の１軸との２次元関係だけを規定して制御するだけで、組付部品を、組み付け前の初期位置から、組み付け後の目的位置に動かすことができる。このように、この部品組付装置では、組付中の組付部品と被組付部品との位置関係と、６軸力覚検出装置の検出値との関係が簡単な２次元関係になっている。このため、組付ステップにおいて、ロボット手段の組付軌跡の修正をする際には、ロボット手段位置及び姿勢を規定する２軸の中の、ロボット手段の、組付部品を被組付部品に組み付ける組付方向に一致する軸以外の他の一軸の教示点を修正するだけでよいので、組付部品を被組付部品に組み付ける際のロボット手段の組付軌跡の修正を容易に行うことができる。
【０１８３】
請求項９に記載の部品組付装置では、組付ステップ中のある所定の工程において、６軸力覚検出装置が検出した検出値に基づいて、組付部品と被組付部品との接触状態が、組付ステップの所定の工程に於ける組み付けに最適な接触状態にしているので、組付部品を被組付部品に組み付ける組付ステップを、より最適化できる。
【０１８４】
請求項１０に記載の部品組付装置では、６軸力覚検出装置が検出した検出値から、組付中の組付部品と被組付部品との間の位置ずれ方向を推察し、組付作業終了後に、組付ステップの所定の工程の教示点を修正するようにし、前回の組付ステップの検証を、次の組付ステップに生かしているので、信頼性の高い部品組付状態最適化ステップを構築することができる。
【０１８５】
請求項１１に記載の部品組付装置では、組付ステップの所定の工程において、６軸力覚検出装置が検出した検出値が設定値と異なっている場合には、組付中の組付部品と被組付部品との間の位置ずれ方向を推察し、所定の工程における、ロボット手段の教示点を変更し、変更後の教示点に従ってロボット手段の位置及び姿勢を制御した後、６軸力覚検出装置が検出した検出値と設定値とを比較して、検出値と設定値とが一致すれば、組付ステップの所定の工程を行うようにしているので、作業を継続しながら、信頼性の高い部品組付状態最適化ステップを構築することができる。
【０１８６】
請求項１２に記載の部品組付装置では、このことを利用して、６軸力覚検出装置の検出値を６軸の全てに見るのではなく、６軸力覚検出装置の検出値の任意の一軸成分に着目し、ロボット手段の制御手段に、予め、組付部品の被組付部品への組み付けが成功した場合の、６軸力覚検出装置が検出した検出値の一軸の変化を記憶させておき、組付部品を被組付部品へ実際に組み付ける際に、６軸力覚検出装置が検出した検出値の６軸の検出値の中から、対応する一軸の変化と、ロボット手段の制御手段に記憶させた、組付部品の被組付部品への組み付けが成功した場合の、６軸力覚検出装置が検出した検出値の一軸の変化とを対比して、相関度を評価することで、失敗か成功かを判定するようにしているので、６軸成分の全てについて、相関度を評価する場合に比べ、少ない計算量で、正確に、組付部品の被組付部品への組み付けが成功したか失敗したかを、判定できる。
【０１８７】
請求項１３に記載の部品組付装置では、制御手段の制御テーブルに記憶させる、６軸力覚検出装置の一軸の変化の、組付部品の被組付部品への組み付けが成功した場合の設定値を、組付部品の被組付部品への組み付けが成功した場合の、６軸力覚検出装置が検出した検出値を複数回取り、複数回の検出値の平均値としているので、ノイズ等の外乱の影響が小さくなっている。このように、この部品組付装置では、組付部品の被組付部品への組付けが成功したか否かを、６軸力覚検出装置が検出した、制御手段に記憶させた一軸に対応する一軸の変化を、制御手段に記憶させた、精度の高い、組付部品の被組付部品への組み付けが成功した場合の一軸の変化の設定値と比較しているので、組付部品の被組付部品への組付けが成功したか否かを正確に判定することができる。
【０１８８】
請求項１４に記載の部品組付装置では、比較区間を限定して、組付部品の被組付部品への組付けが成功したか否かの判定を行っているので、組付部品の被組付部品への組付けが成功したか否かの判定が、正確に行える。請求項１５に記載の部品組付装置では、組付部品の被組付部品への組付けが成功した場合の６軸力覚検出装置からの一軸の検出値として制御手段に記憶させた一軸の変化と、組付部品を被組付部品へ組付ける組み付け作業の開始から作業の終了までに、６軸力覚検出装置からの一軸の検出値とを、比較区間を時間と共に移動させるようにしているので、組付部品の被組付部品への組付中において、組付部品の被組付部品への組付けが成功したか否かの判定が可能となる。また、これにより、組付部品の被組付部品への組付けが失敗した場合には、組付ステップのどの工程において、不具合があったかを、容易に特定できるので、組付ステップにおけるロボット手段の組付軌跡の修正が容易に行える。
【０１８９】
請求項１６に記載の部品組付装置では、比較区間は、組付部品の被組付部品への組み付けが成功した場合の、６軸力覚検出装置が検出した検出値の一軸の変化の波形によって変化させるようにしたので、組付部品の被組付部品への組付けが成功したか否かの判定を正確に行える。請求項１７に記載の部品組付装置では、組付部品を被組付部品へ実際に組み付ける際に、６軸力覚検出装置が検出した一軸の検出値と、組付部品の被組付部品への組み付けが成功した場合の、６軸力覚検出装置が検出した検出値の一軸の変化との相関度の評価値が、組付部品の被組付部品への組み付けが成功した場合の一軸の変化の波形群により決定される相関度のしきい値以下となった時点で、失敗と判定するようにしたので、組付部品の被組付部品への実際の組み付けが成功したか否かの判定を、正確且つ容易に行える。
【０１９０】
請求項１８に記載の部品組付装置では、組付部品の被組付部品への組み付けが成功した場合の一軸の変化の波形群により決定される相関度のしきい値にある値を加減乗除した値をしきい値としているので、この部品組付装置を実際的な使用にあうように設定することができる。請求項１９に記載の部品組付装置では、相関度の評価を、組付部品を被組付部品へ実際に組み付ける際に、６軸力覚検出装置が検出した検出値の対応する一軸の変化と、ロボット手段の制御手段に、予め、記憶させた、組付部品の被組付部品への組み付けが成功した場合の、６軸力覚検出装置が検出した検出値の一軸の変化との相互相関関数値によって評価するようにしたので、組付部品を被組付部品へ実際に組み付ける際に、組付部品の被組付部品への取付けの成否を正確に判定できる。
【０１９１】
請求項２０に記載の部品組付装置では、相関度の評価を、組付部品を被組付部品へ実際に組み付ける際に、６軸力覚検出装置が検出した検出値の対応する一軸の変化と、ロボット手段の制御手段に、予め、記憶させた、組付部品の被組付部品への組み付けが成功した場合の、６軸力覚検出装置が検出した検出値の一軸の変化との相関係数の値によって評価するようにしたので、組付部品を被組付部品へ実際に組み付ける際に、組付部品の被組付部品への取付けの成否を正確に判定できる。
【図面の簡単な説明】
【図１】本発明に係る部品組付装置の一例を概略的に示す斜視図である。
【図２】図１に示す部品組付装置に設けられた６軸力覚検出装置の座標軸と、組付部品の被組付部品への組付け方向との関係を概略的に説明する説明図である。
【図３】図１に示す部品組付装置を用いて組み付けられる製品を例示的に示す分解斜視図である。
【図４】図３に示す製品中、図１に示す部品組付装置を用を中心に概略的に示す、分解斜視図である。
【図５】図１に示す部品組付装置を用いて、組付部品を被組付部品に組み付ける工程を概略的に説明する工程図である。
【図６】図１に示す部品組付装置の組付動作を概略的に示すフローチャートである。
【図７】図１に示す部品組付装置を用いて、その視覚認識手段により、組付部品を被組付部品に接触させるまでの動作を模式的に説明するフローチャートである。
【図８】ユークリッドの距離を用いた判別方法を概略的に示すフローチャートである。
【図９】図１に示す部品組付装置の制御手段に記憶された制御テーブルを模式的に説明する説明図である。
【図１０】組付部品を被組付部品に接触させた際に、６軸力覚検出装置が検出するある軸に発生する力を経時的にとったグラフである。
【図１１】組付部品と被組付部品との接触状態を誤判定を有効に防止できる方法を概略的に示すフローチャートである。
【図１２】マハラノビスの汎距離を用いた判別方法を概略的に示すフローチャートである。
【図１３】組付部品と被組付部品との接触状態を、組み付けに最適な接触状態になるように修正できるように修正する方法を概略的に示すフローチャートである。
【図１４】可動部の組付軌跡の修正を容易にできるようにする方法を概略的に示すフローチャートである。
【図１５】組付部品の被組付部品への組み付けを失敗した場合等に、そのような失敗例等を参考にして、次回の組付作業を、より最適化できるようにする、信頼性の高い部品組付状態最適化ステップを構築できる方法を概略的に示すフローチャートである。
【図１６】作業を継続しながら信頼性の高い部品組付状態最適化ステップを構築する方法を概略的に示すフローチャートである。
【図１７】組付部品と被組付部品との接触状態をより正確に判定し、且つ、組付ステップに要する時間を短縮できるようにする方法を概略的に示すフローチャートである。
【図１８】組付部品の被組付部品への組み付けが成功したか失敗したかを、少ない計算で判定できる方法を概略的に示すフローチャートである。
【図１９】組付部品の被組付部品への組み付けが成功したか失敗したかを、正確に判定できる方法を概略的に示すフローチャートである。
【図２０】組付部品の被組付部品への組み付けが成功したか失敗したかを、正確に判定できる方法を概略的に示すフローチャートである。
【図２１】組付部品の被組付部品への組み付けが成功したか失敗したかを、正確に判定できる方法を概略的に示すフローチャートである。
【図２２】組付部品Ｐ１の被組付部品Ｐ２への組付けが成功したか否かの判定をリアルタイムで行えるようにする方法を概略的に示すフローチャートである。
【図２３】組付部品の被組付部品への組み付けが成功したか失敗したかを、正確に判定できる方法を概略的に示すフローチャートである。
【図２４】組付部品の被組付部品への組み付けが成功したか失敗したかを、正確に、判定できるようにした方法を概略的に示フローチャートである。
【図２５】組付部品の被組付部品への組付けが成功したか否かを、しきい値に基づいて判定できるようにする方法を概略的に示すフローチャートである。
【図２６】組付部品の被組付部品への組付けが成功したか否かを実際面を考慮して正確に判定できるようにした方法を概略的に示すフローチャートである。
【図２７】６軸力覚検出装置が、実際に計測した、６軸力覚量の中、Ｘ軸まわりのモーメントによって、組付部品と被組付部品との組付けの成否判定を相関度を求め、実際に行った例を示している。
【図２８】従来の組付作業ロボットを概略的に示す斜視図である。
【符号の説明】
１ 部品組付装置
２ 可動部
３ 制御手段
７ 視覚認識手段
８ ６軸力覚検出装置
９ 画像解析装置
１０ ６軸力覚解析演算装置
Ｗ 組付治具[0001]
TECHNICAL FIELD OF THE INVENTION
The present invention relates to a component assembling apparatus, and more particularly to a component assembling apparatus capable of assembling an assembly component to an assembly target component with a small amount of information and an optimal operation.
[0002]
[Prior art]
2. Description of the Related Art Recently, in a factory, in order to automate a production line, an assembling work robot that automatically assembles parts to be assembled sequentially into parts to be assembled has been widely used.
FIG. 28 is a perspective view schematically showing such a conventional assembling work robot.
[0003]
The assembling work robot 101 includes a movable part 102 movable in six axial directions and a control means (generally referred to as a robot controller; hereinafter, simply referred to as a control means) 103 for controlling the movable part 102. Prepare.
The movable part 102 and the control means 103 are connected by a signal line L1 so that signals can be exchanged between the movable part 102 and the control means 103 via the signal line L1.
[0004]
The movable unit 102 includes an arm 104, a wrist 105 rotatably provided at the tip of the arm 104, and a grip 106 provided on the wrist 105.
The conventional assembling work robot 101 controls the position and posture of the movable part 102 so that the assembling part P1 can be assembled to the to-be-assembled part P2 so as to assemble the gripper 106, the arm 104 and the wrist 105. A large number of sensors (not shown) are mounted between the robots, and a visual recognition device (not shown) such as a camera for monitoring the position and posture of the assembling work robot 101 is mounted as necessary. Or
[0005]
Conventionally, when the assembling work robot 101 assembles the assembling component P1 to the to-be-assembled component P2, the assembling work robot 101 according to the operation program stored in the control unit 103, the arm unit 104, the wrist unit 105, and the grip unit. 106, the information detected by a sensor (not shown) or, in some cases, the information recognized by a visual recognition device (not shown) such as a camera, every time the position and orientation are changed. The control means 103 determines the information detected by a sensor (not shown) or the information recognized by a visual recognition device (not shown) by a driving program. For example, the to-be-attached part P2 is gripped by the holding unit 106, and the to-be-attached part P2 is placed on an assembling jig W such as a work table. Grasp To, so that assembling the assembly jig W parts with the set that has been placed on the P2 two sets with parts P1.
[0006]
[Problems to be solved by the invention]
However, in such an assembling work robot 101, in order to perform the work accurately and as the work becomes more complicated, a large number of sensors are provided on the arm 104, the wrist 105, the grip 106, and the like. The arm unit 104, the wrist unit 105, the grip unit 106, and the like can accurately extract specific information from detection values of many sensors and information recognized by a visual recognition device (not shown) such as a camera. In order to move, it is necessary to create a complicated operation program, and the structure of the assembling work robot 101 becomes complicated. In addition, since it is necessary to process a complicated program, the operation of the assembling work robot 101 becomes slow, and it takes time to correct the operation program by changing the assembling parts. There is a problem that the correction requires advanced and specialized knowledge.
[0007]
Further, conventionally, every time the position or posture of the arm unit 104, the wrist unit 105, the grip unit 106, or the like is changed, information detected by a sensor or, in some cases, a visual recognition device (not shown) such as a camera is used. Since the information recognized by each is sent to the control means 102 one by one and the control means 102 makes a determination, the operation program is complicated and the information becomes large, and accordingly, it takes time for information processing. As a result, there is a problem that the operation of the assembling work robot 101 becomes slow.
[0008]
In addition, in the assembly work robot 101, when a visual recognition device (not shown) such as a camera is used in order to perform the work accurately, an image captured by the visual recognition device (not shown) is analyzed. In order to obtain necessary information therefrom, complicated processing must be performed, and the position and orientation of the assembling work robot 101 are always determined based on information detected by a visual recognition device (not shown). Is controlled, it takes a long time to organize a huge amount of information, and this also causes a problem that the work operation of the assembling work robot 101 is slowed down.
[0009]
Further, even if a visual recognition device (not shown) such as a camera is used in combination with information detected by a sensor (not shown), a subject (in this example, Since only two-dimensional information of the assembled component P1 and the assembled component P2) can be obtained, information on the side invisible from the visual recognition device (not shown) of the subject and information on the depth of the subject cannot be obtained. However, although the control program becomes complicated, there is also a problem that the position and orientation of the assembling work robot 101 are merely controlled based on the two-dimensional information and cannot be set to the target position and orientation. is there.
[0010]
The present invention has been made in order to solve the above-described problems, and without particularly increasing the number of sensors, based on a small amount of information, based on an optimal operation, allows an assembled part to be an assembled part. It is an object of the present invention to provide a component assembling apparatus that can be assembled.
[0011]
[Means for Solving the Problems]
In order to solve the above-mentioned problems, the present inventors need not only provide a sensor on the movable part side of the assembling work robot, but provide a sensor on the assembling jig side and mount the sensor on the assembling jig. By detecting the contact state of the assembled component to the mounted component, even if the detection information is small, the assembled component can be optimally operated based on the detected information. They came to the conclusion that they could be assembled into parts, and as a result of earnest and diligent efforts, they completed the present invention.
[0012]
That is, in the component assembling apparatus according to the first aspect, a robot means for sequentially assembling the assembled component to the component to be mounted placed on the assembly jig, and the assembly component and the component to be assembled. A component assembling device comprising a visual recognition device provided for recognizing a position and a posture of the component, and a six-axis force sense detection device attached to an assembling jig. And a recognition step of recognizing the position and orientation of the part to be mounted placed on the mounting jig; and, in the recognition step, the position and posture of the part to be mounted and the part to be mounted recognized by the visual recognition device. A contacting step of controlling the position and orientation of the robot means based on the information to bring the part to be assembled into contact with the part to be assembled; and a contact state when the part to be assembled comes into contact with the part to be assembled in the contacting step. 6-axis force that is detected using a 6-axis force sense detection device A contact state determination step of determining a contact state between the assembled component and the assembled component based on a detection value detected by the six-axis force sense detection device in the detection step and the six-axis force sense detection step; A robot means control step for controlling the position and orientation of the robot means in accordance with the result of the determination of the contact state between the assembled part and the part to be assembled in the state determination step, and the robot part control step comprises the steps of: After the contact state optimizing step and the contact state optimizing step for bringing the contact state with the assembled parts into the optimal contact state for the assembling, the assembled parts and the parts to be assembled are brought into the optimal contact state. And an assembling step of assembling the attached component to the attached component, and automatically assembling the assembled component to the attached component mounted on the assembly jig.The robot means has a control means for operating the robot means in a plurality of operation patterns, the control means has a plurality of set values stored in advance as detection values detected by the six-axis force sense detection device, Provided to correspond to each of the plurality of set values, a plurality of operation patterns for controlling the position and orientation of the robot means, provided to correspond to each of the plurality of set values, among a plurality of set values, A control table including Euclidean distances from the set value set as the optimum value to each of the plurality of values is stored, and the contact state determination step is performed by the six-axis force sense detection step. Distance calculation that calculates the Euclidean distance from the detection value actually detected when the assembled part comes into contact with the assembled part to the optimum set value among the multiple set values stored in the control table. Comparing the Euclidean distance calculated in the step and the distance calculation step with the Euclidean distance stored in the control table, and among the Euclidean distances stored in the control table, the value having the smallest difference And selecting a motion pattern corresponding to the Euclidean distance, wherein the position and posture of the robot means are controlled in accordance with the motion pattern selected in the contact state determination step in the contact state optimization step.It is characterized by doing so.
[0013]
Here, the term "robot means" used in the present specification means a conventionally known robot means usually used as an industrial robot. More specifically, the movable part controls the position and orientation of the movable part. Control means, a sensor attached to the movable part, and, in some cases, a visual recognition means such as a camera for monitoring the movable part. The control means stores an operation program, and the control means includes a sensor, In some cases, it means a device that determines information obtained from the visual recognition means, moves the movable part to the teaching point by learning by a driving program, and performs a predetermined operation.
[0014]
In addition, the “six-axis force sense detection device” detects, for example, an external force having six degrees of freedom (a force in each of the three axes and a moment around each of the three axes) by a strain detecting unit such as a strain gauge. Force sensor.
In this component assembling apparatus, the 6-axis force sense detection device is provided not on the robot means but on an assembling jig. When the component to be mounted comes into contact with the component to be mounted placed on the mounting jig, the resulting mechanical change is transmitted to the mounting jig and transmitted to the six-axis force sense detection device. Therefore, in this component assembling apparatus, it is possible to directly know, in real time, the contact state between the assembled component and the component to be assembled, which cannot be detected by the component assembling device provided only on the robot means side. it can. Thereby, according to the contact state between the assembly part and the part to be assembled, the position and the posture of the robot means are controlled, and after the assembly part is brought into the optimal contact state for assembling to the part to be assembled, Since the part to be assembled can be assembled to the part to be assembled, the part to be assembled can be efficiently assembled to the part to be assembled.
[0015]
Further, based on the position and orientation information of the assembly component and the component to be assembled recognized by the visual recognition device, the position and orientation of the robot means are controlled to bring the assembly component into contact with the assembly component. Does not rely on the visual recognition device, but assembles the assembled component to the component to be assembled based on the detection value detected by the six-axis force sense detection device provided on the assembly jig. Obtains information on the side of the assembled part and the part to be assembled that cannot be detected by the visual recognition device and that cannot be seen from the visual recognition device (not shown), and information on the depth of the assembled part and the part to be assembled. be able to. Therefore, it is possible to control the position and orientation of the robot means based on the three-dimensional information instead of the two-dimensional information and to assemble the assembling component into the assembling component. Can be assembled more accurately.
[0016]
Further, in this component assembling apparatus, after the assembled component is brought into contact with the to-be-assembled component, the six-axis force sense detecting device provided on the assembling jig visually detects the assembled component and the assembled component. Since information beyond the information that can be detected by the visual recognition device, such as information on the side invisible from a recognition device (not shown) and information on the depth of the assembled component and the component to be assembled, can be detected, After the assembled component is brought into contact with the attached component, it becomes unnecessary to analyze the detection information of the visual recognition device. This makes it possible to control the position and orientation of the robot means based on a small amount of information processing and to assemble the assembled parts to the assembled parts, so that the assembled parts can be quickly assembled to the assembled parts. It can be carried out.
[0017]
Also, in this component assembling apparatus, the assembled component is assembled to the component to be assembled after the optimal contact state is established for assembling the component to the component to be assembled. Since the control of the position and orientation of the robot means at the time of assembling to the assembled parts requires only routine control, the operation program for controlling the position and orientation of the robot means controls the position and orientation of the robot means. A simple operation program such as providing a teaching point to be performed for each selected operation pattern can be provided. In this way, in this component assembling apparatus, the operation program for controlling the position and orientation of the robot means can be simplified, and accordingly, the time for information processing can be shortened. The operation of the robot becomes faster, and the assembly of the assembled parts to the assembled parts can be performed more quickly. In addition, the operation program can be easily modified.
In addition, in the state determination step, the contact state between the assembled component and the assembled component can be determined based on the Euclidean distance, so that the amount of calculation in the control means can be reduced. As a result, the operation of the component assembling apparatus becomes faster, and the assembly of the assembled component to the component to be assembled can be performed more quickly..
[0018]
The component assembling apparatus according to claim 2 proposes a component assembling apparatus that can prevent an erroneous determination of a contact state between an assembled component and a component to be assembled in a contact state determining step. 1. The six-axis force sense detecting step of the component assembling device according to 1, wherein the assembling component is held in a state where the to-be-assembled component is in contact with the fixed time, An average value measuring step of calculating an average value of the detected values detected by each of the six components. In the contact state determining step, the 6-axis force sense detection device detected in the average value measuring step for a predetermined period of time is detected. The average value of each of the six components of the detected values was used as the detected value detected by the six-axis force sense detection device.
[0019]
Since the detection value detected by the six-axis force sense detection device fluctuates with time, a single sampling has a large measurement error. On the other hand, in this part assembling apparatus, in the contact state determining step, the average value of each of the six components of the detection values detected by the six-axis force sense detection apparatus over a certain period of time, obtained in the average value measuring step, is calculated. , And the six-axis force sense detection device is used as the detection value, so that the contact state between the assembled component and the assembled component can be accurately determined in the contact state determination step.
[0020]
A component assembling apparatus according to a third aspect of the present invention proposes a component assembling apparatus capable of correcting a contact state between an assembly part and a part to be assembled so that the contact state is optimal for assembly. The contact state optimizing step of the component assembling apparatus according to claim 1 or 2, until the contact state between the assembled part and the part to be assembled becomes an optimal contact state for assembly. It is characterized in that a force sense detecting step, a contact state determining step, and a robot means controlling step are repeatedly performed.
[0021]
In this component assembling apparatus, since the six-axis force sense detection step, the contact state determination step, and the robot means control step are repeatedly performed, the position and orientation of the robot means must be changed little by little. Thus, the contact state between the assembly component and the component to be assembled can be made even more optimal for the assembly.
[0022]
A component assembling apparatus according to a fourth aspect proposes a component assembling apparatus capable of reducing a time required for an assembling step.One of 1-3Among the plurality of set values stored in advance as detection values detected by the six-axis force sense detection device in the selection step of the contact state determination step of the component assembling device described in the above, other than the operation pattern corresponding to the optimum value. When an operation pattern is frequently selected, the most recently selected operation pattern is stored a plurality of times, and the operation pattern corresponding to the most selected operation pattern among the plurality of stored operation patterns is stored. Changed the setting value to the optimal value.
[0023]
In this component assembling apparatus, when an operation pattern other than the operation pattern corresponding to the optimal value is frequently selected in the selection step of the contact state determination step, the initial value (default value) is set to: Since the setting value corresponding to the most selected operation pattern is changed among the latest stored multiple operation patterns, the optimum value is changed to the setting value corresponding to the most selected operation pattern. In, the frequency of outputting a change signal for changing from the initial value (default value) is reduced. Thereby, in the assembling step, in most cases, the position and orientation of the robot means can be controlled with the initial value (default value) without outputting a change signal for changing from the initial value (default value). As a result, the time required for the assembling step can be reduced by the amount that the change signal for changing from the initial value (default value) need not be output.
[0024]
Claim5The component assembling apparatus according to claim 1 proposes a component assembling apparatus capable of preventing erroneous determination of a contact state between an assembled part and a part to be assembled.Any of items 1-4In the component assembling apparatus described in the above, each of a plurality of set values stored in advance as detection values detected by the 6-axis force sense detection device stored in the control table of the control means, in the contact step, It is characterized in that it is the average value of the detection values detected by the six-axis force sense detection device when the part to be assembled is brought into contact with the same state a plurality of times in the same state.
[0025]
Since the Euclidean distance can be obtained from only one measurement data, the detection value of the 6-axis force sense detection device stored in the control table of the control means is set as the set value based on the single measurement data. It is possible to store, in the control table, each of the Euclidean distances from the set value set as the optimum value to the set value other than the set value set as the optimum value among the detected values of the six-axis force sense detecting device.
[0026]
However, even if the assembled component and the assembled component are brought into contact in the same state, disturbance such as noise is superimposed on the detection value detected by the six-axis force sensor in only one data. In some cases, when the set value of the 6-axis force sense detection device to be stored in the control table of the control means based on the data only once is determined, the set value is incorrect. There is a possibility that the contact state with the attached component may be erroneously determined. On the other hand, this part assembling apparatus sets the setting value of the six-axis force sense detecting device stored in the control table of the control means a plurality of times in a state where the assembled part and the part to be assembled are in the same state. Since the average value of the detected values is used, the influence of disturbance such as noise is reduced. As described above, in the component assembling apparatus, in the contact state determination step, the detection value detected by the six-axis force sense detection device is compared with the highly accurate set value, so that the assembly component and the component to be assembled are compared. The contact state with the can be accurately determined.
[0027]
Claim6The component assembling apparatus described in is to propose a component assembling apparatus that can more accurately determine the state of contact between the assembled parts and the parts to be assembled,Robot means for sequentially assembling parts to be mounted on a mounting jig on a mounting jig, and visual recognition provided for recognizing the positions and postures of the parts to be mounted and the parts to be mounted. What is claimed is: 1. A component assembling apparatus comprising a device and a 6-axis force sense detection device attached to an assembling jig, wherein the visual recognition device assembles the assembling component and an assembling object mounted on the assembling jig A recognition step of recognizing the position and orientation of the attached component; and, in the recognition step, controlling the position and orientation of the robot means based on the position and orientation information of the assembled component and the assembled component recognized by the visual recognition device. A contacting step of bringing the part to be assembled into contact with the part to be assembled; and, in the contacting step, detecting a contact state when the part to be assembled comes into contact with the part to be assembled by using a six-axis force sense detection device. Axial force sense detection step and 6-axis force sense detection step A contact state determining step of determining a contact state between the assembled component and the component to be assembled based on a detection value detected by the six-axis force sense detection device; A robot means control step for controlling the position and orientation of the robot means according to the result of determination of the contact state with the part to be assembled, and a robot means control step for assembling the contact state between the part to be assembled and the part to be assembled. A contact state optimizing step for making an optimal contact state and a contact state optimizing step, after the assembled parts and the parts to be assembled are brought into an optimal contact state, and then assembling the assembled parts to the parts to be assembled. And an assembling step, wherein the assembling part is automatically assembled to the to-be-attached part placed on the assembling jig,The robot means includes control means for operating the robot means in a plurality of operation patterns, the control means comprising: a plurality of set values stored in advance as detection values detected by the six-axis force sense detection device; Are provided so as to correspond to each of the plurality of operation patterns for controlling the position and orientation of the robot means, and are provided so as to correspond to each of the plurality of set values. A control table including a Mahalanobis's general distance from the set value to each of the plurality of values is stored, and the contact state determination step is performed by the 6-axis force sense detection device. A distance calculation step for calculating a Mahalanobis general distance from a detection value actually detected when the touch panel comes into contact with an assembling part to an optimum setting value among a plurality of setting values stored in a control table. And the Mahalanobis general distance calculated in the distance calculation step and the Mahalanobis general distance stored in the control table are compared, and among the Mahalanobis general distances stored in the control table, the difference is the most. Selecting a motion pattern corresponding to the Mahalanobis' general distance having a small value, wherein in the contact state optimizing step, the position and posture of the robot means are controlled in accordance with the motion pattern selected in the contact state determining step. I did it.
[0028]
In this component assembling apparatus, in the contact state determination step, in the six-axis force sense detection step, not the Euclidean distance but also the variation of data, which considers the variation of data, and the Mahalanobis' general distance is used, and the determination is performed in consideration of variation. Therefore, the contact state between the assembled component and the assembled component can be more accurately determined. Claim7The component assembling apparatus described in (1) proposes a component assembling apparatus that can more accurately determine a contact state between an assembling part and a to-be-attached part and reduce a time required for an assembling step. And claims6Among the plurality of set values stored in advance as detection values detected by the six-axis force sense detection device in the selection step of the contact state determination step of the component assembling device described in the above, other than the operation pattern corresponding to the optimum value. When an operation pattern is frequently selected, the most recently selected operation pattern is stored a plurality of times, and the operation pattern corresponding to the most selected operation pattern among the plurality of stored operation patterns is stored. Changed the setting value to the optimal value.
[0029]
In this component assembling apparatus, when an operation pattern other than the operation pattern corresponding to the optimal value is frequently selected in the selection step of the contact state determination step, the initial value (default value) is set to: Since the setting value corresponding to the most selected operation pattern is changed among the latest stored multiple operation patterns, the optimum value is changed to the setting value corresponding to the most selected operation pattern. In, the frequency of outputting a change signal for changing from the initial value (default value) is reduced. Thereby, in the assembling step, in most cases, the position and orientation of the robot means can be controlled with the initial value (default value) without outputting a change signal for changing from the initial value (default value). As a result, the time required for the assembling step can be reduced by the amount that the change signal for changing from the initial value (default value) need not be output.
[0030]
Claim8The component assembling apparatus according to claim 1 proposes a component assembling apparatus that can easily correct an assembling trajectory of a robot means when assembling an assembling part to an assembling part. ~7The coordinate axes of the six-axis force sense detection device, and the assembling direction in which the robot means assembles the assembling component to the assembling component mounted on the assembling jig. Was made to match.
[0031]
In this component assembling apparatus, the coordinate axes of the six-axis force sense detecting device and the assembling direction in which the robot means assembles the to-be-attached part mounted on the assembling jig with the robot means coincide with each other. In the assembling step, the position and posture of the robot means are not moved three-dimensionally in the assembling step, but the coordinate axes of the six-axis force sense detection device and the position of the robot means among the three axes defining the three dimensions are set. And the posture, the two-dimensional relationship only between the axis whose assembly direction matches the assembly direction of assembling the component to be mounted on the mounting jig and one of the other two axes. The assembly component can be moved from the initial position before the assembly to the target position after the assembly only by the prescribed control. As described above, in this component assembling apparatus, the relationship between the positional relationship between the component to be assembled and the component to be assembled and the detection value of the six-axis force sense detection device is a simple two-dimensional relationship. I have. For this reason, in the assembling step, when correcting the assembling trajectory of the robot means, the assembling parts of the robot means in the two axes defining the position and the posture of the robot means are assembled to the assembling parts. Since it is only necessary to correct the teaching point of one axis other than the axis coinciding with the mounting direction, it is possible to easily correct the mounting locus of the robot means when mounting the mounted part to the mounted part. .
[0032]
Claim9The present invention proposes a component assembling apparatus in which an assembling step of assembling an assembling part to an assembling part can be further optimized.8In the part assembling apparatus according to any one of the above, in a predetermined process during the assembling step, the position and orientation of the robot means are controlled based on the detection value detected by the six-axis force sense detection apparatus, and In the predetermined step of the assembling step, the method further includes a component assembling state optimizing step of setting a contact state between the assembled part and the to-be-attached part to an optimal contact state for assembling in the predetermined step of the assembling step. .
[0033]
In this component assembling apparatus, in a predetermined process during the assembling step, the contact state between the assembling component and the assembling component is determined based on the detection value detected by the six-axis force sense detecting device. Since the contact state is optimal for the assembling in the predetermined process, the assembling step of assembling the assembling component to the assembling component can be further optimized. Claim10The component assembling apparatus according to the present invention proposes a highly reliable component assembling apparatus capable of constructing a component assembling state optimizing step.9The robot means of the component assembling device according to the above, is configured to execute each of the operation patterns stored in the control table of the control means based on the teaching point, the component assembling state optimization step In the predetermined step of the assembling step, the direction of displacement between the part to be assembled and the part to be assembled is inferred from the detection values detected by the six-axis force sense detection device, and the assembling work is completed. Later, the teaching point of the predetermined process of the assembling step is corrected.
[0034]
In this component assembling apparatus, the direction of misalignment between the component to be assembled and the component to be assembled is estimated from the detection values detected by the six-axis force sense detection device. Since the teaching point of the predetermined process of the attaching step is corrected and the verification of the previous assembling step is utilized in the next assembling step, a highly reliable component assembling state optimizing step should be constructed. Can be.
[0035]
Claim11A component assembling apparatus according to Claim 1 proposes a component assembling apparatus capable of constructing a highly reliable component assembling state optimizing step while continuing work.9The robot means of the component assembling device according to the above, is configured to execute each of the operation patterns stored in the control table of the control means based on the teaching point, the component assembling state optimization step In the predetermined step of the assembling step, the direction of misalignment between the part to be assembled and the part to be assembled is estimated from the detection value detected by the six-axis force sense detection device, The teaching point in the predetermined process is corrected, the position and orientation of the robot means are controlled by the corrected teaching point, and after the detection value detected by the six-axis force sense detection device reaches a predetermined setting value, A predetermined process of the attaching step is performed.
[0036]
In this part assembling apparatus, in a predetermined process of the assembling step, if the detected value detected by the six-axis force sense detection device is different from the set value, the assembling part being assembled and the assembling part After the teaching point of the robot means is changed in a predetermined process, and the position and orientation of the robot means are controlled according to the changed teaching point, the six-axis force sense detection device detects The detected value and the set value are compared with each other. If the detected value and the set value match, a predetermined process of the assembling step is performed. A state optimization step can be constructed.
[0037]
Claim12The component assembling apparatus according to claim 1 proposes a component assembling apparatus capable of determining whether the assembling of an assembled part to a part to be assembled has succeeded or failed with a small calculation. Item 111In the component assembling apparatus according to any one of the above, the control means of the robot means, in advance, when the assembly of the assembled part to the part to be assembled is successful, the detection value detected by the six-axis force sense detection device The change of one axis is stored, and it is determined whether or not the actual assembly of the assembled part to the part to be assembled is successful. The six-axis force is used when the assembled part is actually assembled to the part to be assembled. A change in one axis corresponding to the detected value detected by the sense detection device and a six-axis force sense when the assembly of the assembled component to the component to be assembled, which is stored in advance in the control means of the robot means, is successful. The detection is performed by evaluating the degree of correlation between the detection value detected by the detection device and a change in one axis.
[0038]
Whether or not the assembly of the assembled component to the assembled component has succeeded or failed appears in all of the detected values of the six axes of the six-axis force sense detection device attached to the attachment jig.
In this component assembling device, utilizing this fact, the detection value of the six-axis force sensor is not observed for all six axes, but attention is paid to an arbitrary one-axis component of the detection value of the six-axis force sensor. The control means of the robot means stores in advance the change of one axis of the detection value detected by the six-axis force sense detection device when the assembly of the assembly component to the assembly target component is successful. At the time of actually assembling the attached component to the to-be-attached component, the corresponding one-axis change is detected from the detected values of the six axes detected by the six-axis force sense detection device and stored in the control means of the robot means. In addition, when the assembling part is successfully assembled to the to-be-assembled part, by comparing the uniaxial change in the detection value detected by the six-axis force sense detection device and evaluating the degree of correlation, it is determined whether the failure has occurred. Since the success is determined, the degree of correlation is evaluated for all six axis components. When compared to, with a small amount of calculation, the exact, or failure assembled to the assembly parts assembled part is successful, it can be determined.
[0039]
ClaimThirteenA component assembling apparatus according to claim 1 proposes a component assembling apparatus that can accurately and accurately determine whether the assembling of an assembled part to a part to be assembled has succeeded or failed.12Of the detection value detected by the 6-axis force sense detection device when the assembling part is successfully assembled to the to-be-attached part, which is stored in advance in the control means of the robot means of the component assembling apparatus according to In the case where the change of one axis is a case in which the assembly of the assembly component to the assembly target component is successful, the detection value detected by the 6-axis force sense detection device is taken a plurality of times, and is an average value of the detection values of the plurality of times. Features.
[0040]
One-axis change in the detection value detected by the 6-axis force sense detection device when the assembly of the assembled component to the assembly target component is successful is detected by the 6-axis force sense detection device only once. In some cases, disturbance such as noise is superimposed on the detected value. Based on the data obtained only once, a change in one axis of the six-axis force sense detection device in the control table of the control means is determined based on the data. If the set value in the case where the assembling to the assembling part succeeds is stored, the setting value is incorrect. Therefore, it is always erroneously determined whether or not the assembling of the assembling part to the assembling part succeeds. There is a risk of making a decision. On the other hand, in this component assembling apparatus, the setting of the change of one axis of the six-axis force sense detection device, which is stored in the control table of the control means, when the assembling part to the assembling part succeeds Since the value detected by the 6-axis force sense detection device is taken a plurality of times when the assembling of the assembled component to the to-be-assembled component is successful and the average value of the detected values is used multiple times, noise and the like The influence of disturbance is reduced. As described above, in this component assembling apparatus, whether or not the assembling of the assembled component to the to-be-assembled component has succeeded is determined by the six-axis force sense detecting device corresponding to one axis stored in the control means. Is compared with the set value of the uniaxial change in the case where the assembly of the assembled part to the part to be assembled is highly accurate, which is stored in the control means. It is possible to accurately determine whether or not the mounting to the part to be mounted has been successful.
[0041]
Claim14The present invention proposes a component assembling apparatus capable of accurately determining whether or not the assembling of a part to be assembled to a part to be assembled is successful. Term12Or claimsThirteenWhen the assembling component is actually assembled to the to-be-assembled component using the component assembling device according to (1), a change in one axis corresponding to the detection value detected by the six-axis force sense detection device and control means of the robot means The evaluation of the degree of correlation with the uniaxial change of the detection value detected by the six-axis force sense detection device when the assembly of the assembled component to the assembled component is successfully stored in advance in the comparison section Was performed with a limitation.
[0042]
The comparison section is a unit of time.
The change with time of the detected value detected by the 6-axis force sense detection device attached to the mounting jig on each axis includes a portion where the amount of change is large and a portion where the amount of change is small.
A change in one axis detected by the 6-axis force sense detection device when the assembling of the assembled part to the to-be-attached part is successful, and the detection of the 6-axis force sense stored in the control means at a place where the change amount is small. Comparing with the change in one axis corresponding to the one axis stored in the control means detected by the device, the influence of noise is large in this part. Can not be done correctly. The determination as to whether or not the assembly of the assembled component to the assembled component was successful is performed by the control unit storing the entire process from the start of the assembly operation to the end of the assembly operation. The comparison between the change in one axis detected by the six-axis force sense detection device and the change in one axis corresponding to the one axis stored in the control means detected by the six-axis force sense detection device when the assembling is successful is If the comparison section is limited and the comparison is performed between places where the amount of change is large, accurate comparison can be performed.
[0043]
In this component assembling apparatus, the comparison section is limited and it is determined whether or not the assembly of the assembled component to the assembled component is successful. It is possible to accurately determine whether or not the assembly is successful. ClaimFifteenThe present invention proposes a component assembling apparatus in which it is possible to determine in real time whether or not the assembling of an assembling part to an assembling part has succeeded.14The comparison section of the component assembling apparatus described in (1) is moved with time.
[0044]
In this component assembling apparatus, the change of one axis stored in the control means as the detected value of one axis from the six-axis force sense detection device when the assembly of the assembled part to the part to be assembled succeeds, From the start of the assembling work to assemble the part to the part to be assembled to the end of the work, the detection value of one axis from the six-axis force sense detection device is moved in the comparison section with time, so the assembling is performed. During the assembly of the component to the part to be assembled, it is possible to determine whether or not the assembly of the part to the part to be assembled was successful. Further, by this, when the assembly of the assembly component to the component to be assembled fails, it is possible to easily identify in which step of the assembly step the defect has occurred, so that the robot unit in the assembly step can be easily identified. Correction of the assembly locus can be easily performed.
[0045]
Claim16The present invention proposes a component assembling apparatus capable of accurately determining whether or not the assembling of a component to be attached to a component to be assembled is successful.14Or claimsFifteenThe width of the comparison section of the component assembling apparatus described in the above section is determined by the waveform of the uniaxial change of the detected value detected by the 6-axis force sense detection device when the assembling part is successfully assembled to the to-be-assembled part. I changed it.
[0046]
The change with time of the detected value detected by the 6-axis force sense detection device attached to the mounting jig on each axis includes a portion where the amount of change is large and a portion where the amount of change is small.
Assuming that the width of the comparison section is the same between a place where the change amount is large and a place where the change amount is small, the 6-axis force sense detection device, which is stored in the control means when the assembling part to the assembling part succeeds, is detected. Even if the change in one axis and the change in one axis corresponding to the one axis stored in the control means detected by the six-axis force sense detection device are compared to evaluate the degree of correlation, the evaluation cannot be performed correctly. .
[0047]
For example, if the width of the comparison section is set to be short at a place where the amount of change is small, it is not possible to correctly evaluate the degree of correlation due to disturbance such as noise. On the other hand, if the width of the comparison section is set to be long, disturbance such as noise The offset is offset by the width of the section, and the correlation degree can be correctly evaluated.
If the width of the comparison section is set to be long at a place where the amount of change is large, the information of the place where the amount of change is large is offset by the width of the comparison section, and the correlation degree can be correctly evaluated. When set, the places where the amount of change is large are compared, so that the correlation degree can be correctly evaluated.
[0048]
In this component assembling apparatus, the comparison section is changed according to the waveform of the uniaxial change of the detected value detected by the six-axis force sense detecting device when the assembling part is successfully assembled to the to-be-assembled part. Therefore, it can be accurately determined whether or not the assembly of the assembled component to the assembled component has been successful. Claim17The present invention proposes a component assembling apparatus capable of accurately and easily determining whether or not actual assembling of an assembling part to an assembling part has succeeded. , Claims12-16In the component assembling apparatus according to any one of the above, it is determined whether or not the assembling of the assembled component to the to-be-attached component has succeeded. The degree of correlation between the detected value of one axis detected by the axial force sensor and the change of the detected value of one axis detected by the six-axis force sensor when the assembly part is successfully assembled to the part to be assembled. When the evaluation value becomes equal to or less than the threshold value of the degree of correlation determined by the waveform group of the uniaxial change when the assembly of the assembled component to the assembled component is successful, the failure is determined. did.
[0049]
When the assembling component is successfully assembled to the to-be-attached component, the waveform of the one-axis change in the detection value detected by the six-axis force sense detection device has a certain range, so the six-axis force sense detection device detects the value. The change of one axis of the detected value detected by the 6-axis force sense detection device and the change of one axis of the detected value to the part If the evaluation value of the degree of correlation with the uniaxial change of the detection value detected by the six-axis force sense detection device when the assembly of the component is successful deviates from a certain value, the component to be assembled of the assembled component must be transferred to the component to be assembled. Can be determined to have failed.
[0050]
In this component assembling apparatus, when the assembling component is actually assembled into the to-be-assembled component by utilizing this principle, the detected value of one axis detected by the six-axis force sense detecting device and the assembling of the assembling component are determined. When the evaluation value of the degree of correlation with the uniaxial change of the detection value detected by the 6-axis force sense detection device when the assembly to the attached component is successful, the assembly of the assembled component to the assembled component is successful Was determined to be a failure when the correlation value was equal to or less than the threshold value of the degree of correlation determined by the waveform group of the uniaxial change, so that the actual assembly of the assembled component to the assembled component was successful. The determination as to whether or not to do so can be made accurately and easily.
[0051]
Claim18The component assembling apparatus described in (1) above is capable of accurately and easily determining whether or not the actual assembling of the assembled component to the to-be-attached component has succeeded so as to correspond to the actual assembling work. The proposed component assembling device12-16In the component assembling apparatus according to any one of the above, it is determined whether or not the assembling of the assembled component to the to-be-attached component has succeeded. The degree of correlation between the detected value of one axis detected by the axial force sensor and the change of the detected value of one axis detected by the six-axis force sensor when the assembly part is successfully assembled to the part to be assembled. At the time when the evaluation value becomes less than or equal to a value obtained by multiplying a threshold value of the degree of correlation determined by the waveform group of uniaxial change when the assembly of the assembled component to the assembled component is successful. , And failed.
[0052]
Claim17In the component assembling apparatus described in the above, since the assembling component is based on the threshold value of the degree of correlation determined by the waveform group of uniaxial change when the assembling of the component to the component to be assembled is successful, The determination as to whether or not the assembling to the part to be assembled has succeeded is uniquely determined. On the other hand, the assembling of the assembled part to the assembled part can be performed, even if a small unreasonable force is applied to the assembled part and / or the assembled part, for example, as long as the mechanical destruction does not occur. There may be no problem even if it is determined to be successful.
[0053]
In this part assembling apparatus, a value obtained by adding, subtracting, multiplying, and dividing a value of a threshold value of a degree of correlation determined by a group of waveforms of uniaxial changes when the assembling part is successfully assembled to a part to be assembled is a threshold. Since the value is a value, it is possible to set this component assembling apparatus so as to be suitable for practical use. Claim19The component assembling apparatus described in (1) proposes a component assembling apparatus capable of accurately determining whether or not the assembling of the assembled part to the to-be-assembled part has succeeded in consideration of an actual surface. Yes, Claim12-18The one-axis change of the detection value detected by the six-axis force sense detection device and the control of the robot means when the assembling component is actually assembled to the to-be-assembled component. Means for storing, in advance, an evaluation of the degree of correlation between the detected value detected by the six-axis force sense detection device and a change in one axis when the assembly of the assembled component to the assembled component is successful. When the attached part is actually assembled to the part to be assembled, a change in the corresponding one axis of the detection value detected by the six-axis force sense detection device and the control part of the robot means are stored in advance in the control part of the robot part. The evaluation is made based on the cross-correlation function value of the detection value detected by the six-axis force sense detection device and a change in one axis when the assembly to the part to be assembled is successful.
[0054]
Claim20The present invention proposes a component assembling apparatus capable of accurately determining whether or not the assembling of a component to be attached to a component to be assembled is successful. 19. In the component assembling apparatus according to any one of the items 19, when the assembled part is actually assembled to the part to be assembled, a change in the corresponding one axis of the detection value detected by the six-axis force sense detection device and the robot means In the control means, in advance, the evaluation of the degree of correlation with the uniaxial change of the detection value detected by the six-axis force sense detection device, in the case where the assembly of the assembled component to the assembled component is successful, When the assembling part is actually assembled to the to-be-assembled part, the change in one axis corresponding to the detection value detected by the six-axis force sense detection device and the assembling part stored in advance in the control means of the robot means. Value detected by the 6-axis force sense detection device when assembling to the part to be assembled was successful It was to evaluate the value of the correlation coefficient between uniaxial change.
[0055]
BEST MODE FOR CARRYING OUT THE INVENTION
Hereinafter, preferred examples of the component assembling apparatus according to the present invention will be described in more detail with reference to the drawings.
FIG. 1 is a perspective view schematically showing an example of a component assembling apparatus according to the present invention.
The component assembling apparatus 1 includes a movable unit 2 movable in six axial directions, and a control unit (robot controller) 3 for controlling the movable unit 2.
[0056]
The movable part 2 and the control means 3 are connected by a signal line L1 so that signals can be exchanged between the movable part 2 and the control means 3 via the signal line L1.
The movable section 2 includes an arm section 4, a wrist section 5 rotatably provided at a tip of the arm section 4, and a grip section 6 provided on the wrist section 5.
[0057]
A sensor (not shown) for controlling the position and posture of the movable unit 2 is attached to the movable unit 2.
Further, the component assembling apparatus 1 includes a visual recognition unit 7 such as a CCD camera.
The visual recognition means 7 is connected to the image analysis device 9 via a signal line L2, and the image analysis device 9 is connected to the control means 3 via a signal line L3.
[0058]
Then, information detected by a sensor (not shown) provided in the movable part 2 and the visual recognition means 7 is sent to the control means 3.
The control unit 3 stores an operation program.
When assembling the component P1 to the component P2 to be assembled, the component assembling apparatus 1 holds the component P2 to be gripped in accordance with the operation program stored in the control means 3, for example, by using the gripper 6. The mounting target component P2 is placed on the mounting jig W such as a work table, and then the mounting component P1 is gripped by the holding portion 6 and placed on the mounting jig W. The assembling part P1 is automatically and sequentially assembled to the to-be-assembled part P2.
[0059]
In FIG. 1, a member device indicated by 11 is a component fixing device to be mounted, which is provided as necessary to securely fix the component P1 on the mounting jig W. The component fixing devices 11 and 11 are vertically movable synchronously by hydraulic means or the like.
The configuration described above is the same as that of the assembling work robot 101 shown in FIG. 28, but this component assembling apparatus 1 is newly provided with an assembling jig W using a six-axis force sense detecting device (this example). Then, a six-axis force sense detection device 8 (manufactured by Nitta Corporation) is attached.
[0060]
In this example, the six-axis force sense detection device 8 is fixedly attached to the back surface of the assembly jig W, and the mechanical change that has occurred on the assembly jig W is Can be detected.
In the component assembling apparatus 1, the six-axis force sense detecting device 8 is provided not on the robot means, more specifically, on the assembly jig W but on the movable part 2 side. When the assembly component P1 comes into contact with the assembly component P2 placed on the assembly jig W, the mechanical change caused by the contact between the assembly component P1 and the assembly component P2 is determined by the assembly jig. And transmitted to the six-axis force sense detection device 8. Therefore, in the component assembling apparatus 1, the sensor cannot be detected by the robot means, more specifically, the assembling work robot 101 provided only on the movable portion 102 side. The contact state with the user can be directly known in real time. Thereby, according to the contact state between the assembly component P1 and the assembly target component P2, the position and posture of the robot means, more specifically, the movable unit 2 are controlled, and the assembly component P1 is assembled. Since the assembled component can be assembled to the component to be assembled after the contact state is optimal for assembling to the component P2, it is possible to efficiently assemble the assembled component to the component to be assembled. .
[0061]
Further, based on the position and orientation information of the assembly component P1 and the assembly target component P2 recognized by the visual recognition device 7, the robot unit, more specifically, the position and orientation of the movable unit 2 is controlled, After the assembly component P1 is brought into contact with the assembly component P2, the assembly is performed based on the detection value detected by the 6-axis force sense detection device 8 provided on the assembly jig W without using the visual recognition device 7. Since the attached component P1 is assembled to the to-be-attached component P2, the assembled component P1 and the to-be-attached component P2 cannot be detected by the visual recognition device 7, which cannot be detected by the conventional visual recognition device 7. Side information and information on the depths of the assembly part P1 and the assembly target part P2, so that the robot means, more specifically, the movable part, is not based on the two-dimensional information but on the three-dimensional information. Control the position and orientation of No. 2 to assemble the assembled part P1 It is possible to assemble the parts P2, it is possible to perform the assembling to the assembly parts P2 of assembly parts P1 more accurately.
[0062]
Further, in this component assembling apparatus 1, after the component P1 is brought into contact with the component P2 to be assembled, the component P1 and the component P1 are attached by the six-axis force sense detection device 8 provided in the assembly jig W. Information beyond the information that can be detected by the visual recognition device 7, such as information on the side of the assembled component P2 that is not visible from the visual recognition device 7 and information on the depths of the assembled component P1 and the mounted component P2. Since the detection can be performed, the analysis of the detection information of the visual recognition device 7 becomes unnecessary after the assembly component P1 is brought into contact with the assembly component P2. Thereby, based on a small amount of information processing, the position and posture of the robot unit, more specifically, the movable unit 2 can be controlled to assemble the assembling part P1 into the to-be-assembled part P2. Assembling of P1 to the to-be-assembled part P2 can be performed faster.
[0063]
In addition, in the component assembling apparatus 1, since the assembled component P1 is brought into an optimal contact state for assembling the component to be assembled P2, the assembled component P1 is assembled to the component to be assembled P2. When assembling the assembled part P1 to the to-be-assembled part P2, the robot means, more specifically, the position and the attitude of the movable part 2 are controlled by routine control. Specifically, the operation program for controlling the position and orientation of the movable unit 2 provides a robot unit, more specifically, a teaching point for controlling the position and orientation of the movable unit 2 for each selected operation pattern. A simple operation program such as As described above, in the component assembling apparatus 1, the operation program for controlling the position and posture of the robot unit, more specifically, the movable unit 2 can be simplified. Processing time is short. As a result, the operation of the movable part 2 of the component assembling apparatus 1 is accelerated, and the assembly of the assembled component P1 to the component to be assembled P2 can be performed more quickly. In addition, the operation program can be easily modified.
[0064]
The six-axis force sense detection device 8 is connected to the six-axis force sense analysis operation device 10 via a signal line L4, and the six-axis force sense analysis operation device 10 is connected to the control means 3 via a signal line L5. It is connected to the. Then, the detection value detected by the 6-axis force sense detection device 8 is output by the 6-axis force sense analysis calculation device 10 to a force of three axes (in this example, X axis, Y axis, and Z axis) (in this example, Fx , Fy, Fz) and moments about each of the three axes (in this example, Mx, My, Mz). Is sent to the control means 3.
[0065]
Further, in the component assembling apparatus 1, the arbitrary axial directions of the three axes of the six-axis force sense detecting device 8 and the assembling direction of the assembling component P1 to the to-be-assembled component P2 of the movable portion 2 are matched. Like that.
In this example, as shown in FIG. 2, the three-axis Y-axis directions of the six-axis force sense detecting device 8 and the mounting direction of the mounting component P1 to the mounting target component P2 of the movable unit 2 are matched. (See the bent arrow in FIG. 2).
[0066]
This will be described in more detail. The three axes of the six-axis force sense detecting device 8 are set to the direction in which the visual recognition means 7 images the subject (in this example, the assembled component P1 and the assembled component P2) in the Y-axis direction. First, the direction orthogonal to the horizontal direction in the Y-axis direction is set to the X-axis, and the direction orthogonal to the vertical direction to the Y-axis direction is set to the Z-axis. Then, the side e2 of the assembled part P1 which is closer to the visual recognition means 7 is brought into contact with the assembled part P2, and the assembled part P1 is assembled to the assembled part P2. Thus, the assembling direction of the assembling component P1 is made to coincide with the three Y-axis directions of the six-axis force sense detecting device. That is, in this example, when the side e1 of the assembled component P1 close to the visual recognition means 7 is brought into contact with the correct position of the assembled component P2, the teaching provided on the surface defined by the YZ plane is thereafter performed. By controlling the position and orientation of the movable part 2 according to the points, the assembled component P1 can be assembled to the assembled component P2.
[0067]
In the following embodiments, the assembly component P1 and the assembly target component P2 will be described using more specific examples for ease of explanation.
FIG. 3 is an exploded perspective view exemplarily showing a product P assembled using the component assembling apparatus 1.
In this product P, an electrical component in which a push switch P1b is provided on a resin case body P1a is used as an assembly component P1, and a frame body to which the assembly component P1 is attached is used as an assembly component P2. After assembling the three assembling parts P1 into the fitting holes h,..., H provided in the assembling parts P2, the makeup corresponding to each of the push switches P1b of the three assembling parts P1. FIG. 9 shows a switch device in which switch units P3, P3, and P3 are assembled.
[0068]
FIG. 4 shows the assembled part P1 and the part P2 to be assembled using the part assembling apparatus 1 in the product P shown in FIG. It is an exploded perspective view shown roughly.
In FIG. 4, each of the X axis, the Y axis, and the Z axis indicates three axes of the six-axis force sense detection device.
[0069]
FIG. 5 is a process diagram schematically illustrating a process of assembling the assembled component P1 to the to-be-assembled component P2 using the component assembling apparatus 1.
In this example, a pair of claws (a pair of claws n1 and n1 shown in FIG. 4) provided on one side surface of the assembled component P1 in the process shown in FIG. ) Is brought into contact with a pair of fitting holes (a pair of fitting holes h <b> 1 and h <b> 1 shown in FIG. 4) of the part to be assembled P <b> 2 (in this example, the position and posture of the movable part 2 at this time are defined). The teaching point is A).
[0070]
Thereafter, in a step shown in FIG. 5B, the pair of claws n1 and n1 are pushed into the pair of fitting holes h1 and h1 of the part to be assembled P2 (in this example, the position and posture of the movable portion 2 at this time). Is defined as B).
Finally, a pair of claws (a pair of claws n2 and n2 shown in FIG. 3) provided on the other side surface of the assembled component P1 are inserted into a pair of fitting holes (FIG. 4) of the assembled component P2. (In this example, the teaching point that defines the position and orientation of the movable part 2 at this time is C), and is assembled to the part P2 to be assembled. The parts P1 are automatically and sequentially assembled (see FIG. 5C).
[0071]
In this example, the assembling direction of the to-be-attached parts is made coincident with the Y-axis, and in the step shown in FIG. 5A, if the contact state between the to-be-attached parts P1 and the to-be-attached parts P2 is correct, If the position and orientation of the movable part 2 are controlled and moved according to the teaching points provided on the YZ plane, the assembled component P1 can be assembled to the assembled component P2.
[0072]
In FIGS. 3, 4, and 5, a member indicated by n3 indicates a fitting claw for fitting the decorative switch portion P3 to the assembled component P1 by fitting. Further, in FIG. 3, P1c denotes a groove formed in a substantially U-shape, and a region P1d partitioned by the groove P1c is a leaf spring body having a cantilever structure. When the region P1d is elastically deformed, the pair of claws n2 and n2 provided on the region P1d can move and return in the direction in which the plate spring body deforms.
[0073]
Next, an assembling method for assembling the assembling component P1 to the assembling component P2 using the component assembling apparatus 1 will be described.
FIG. 6 is a flowchart schematically showing an assembling operation of the component assembling apparatus 1.
First, the power of the component assembling apparatus 1 is turned on, and then the movable part 2 is operated by the predetermined operation program stored in the control means 3 to move the component to be mounted 2 on the mounting jig W. Is mounted at a predetermined position, and the mounted component 2 is fixed to a predetermined position on the mounting jig W by the mounted component fixing devices 11 and 11 as necessary. This stage is the same as that of the conventional assembling robot 101.
[0074]
Next, the visual recognition means 7 such as a CCD camera and the image analysis device 9 are turned on, and in step Sa1, the movable part 2 is moved to move the assembled component P1 to the visual recognition area R7 of the visual recognition means 7 such as the CCD camera. Then, in step Sa2 (recognition step), the visual recognition means 7 images the assembled component P1 and the assembled component P2 (see FIG. 7A). Further, in step Sa2, the six-axis force sense detection device 8 and the six-axis force sense analysis calculation device 10 are turned on.
[0075]
Next, the image captured by the visual recognition means 7 is analyzed by the image analysis device 10 (see FIG. 7B), and based on the analysis result of the image analysis device 10, the movable unit 2 is moved according to a predetermined operation program. By controlling the position and the posture, the assembled component P1 is brought into contact with the assembled component P2 (contact step).
Then, as shown in FIGS. 7 (c) and 5 (a), the movable part 2 is stopped for a certain period of time in a state where the assembly part P1 and the assembly target part P2 are in contact with each other, and The contact state between P1 and the part to be assembled P2 is detected using the six-axis force sense detection device 8. In this example, after the assembly component P1 is brought into contact with the assembly component P2, both the visual recognition means 7 and the image analysis device 9 are turned off.
[0076]
The detected value actually detected by the six-axis force sense detection device 8 is converted into a six-axis component, that is, a three-axis force (Fx, Fy, Fz in this example) by the six-axis force sense analysis calculation device 10. ) And moments about each of the three axes (in this example, Mx, My, Mz) are sent to the control means 3 (6-axis force sense detection step).
[0077]
Next, in the process shown in step Sa6, the control means 4 determines the assembled part P1 and the to-be-assembled part P2 based on the respective detected values of the six-axis components sent from the six-axis force sense analysis calculation device 10. Is determined (contact state determination step).
Here, in the contact state determination step, there are various methods for determining the contact state between the assembled component P1 and the to-be-attached component P2, but here, in order to speed up the operation of the component assembling apparatus 1. In addition, a contact state determination method that can determine the contact state between the assembled component P1 and the assembled component P2 with a small number of calculations, and a contact that can more accurately determine the contact state between the assembled component P1 and the assembled component P2 The state determination method will be described.
[0078]
First, a description will be given of a contact state determination method using a Euclidean distance with respect to a contact state determination method capable of determining the contact state between the assembled component P1 and the assembled component P2 with a small number of calculations.
FIG. 8 is a flowchart schematically illustrating a determination method using the Euclidean distance.
[0079]
In this determination method, in the process shown in step Sa6, the detected values (Fx, Fy, Fz, Mx, My, Mz) of the six-axis components sent from the six-axis force sense analysis calculation device 10 are controlled. This is compared with the control table 12 shown in FIG.
More specifically, as shown in FIG. 9, the control table 12 has a vertical axis on which a selection menu can be selected from 0 to kn.
[0080]
Further, corresponding to each of the selection menus 0 to kn, a plurality of set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to be stored in advance as detection values detected by the six-axis force sensor 8. Fxkn, Fykn, Fzkn, Mxkn, Mykn, Mzkn) and a plurality of set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to (Fxkn, Fykn, Fzkn, Mxkn, Mykn, Mzkn). And a plurality of operation patterns (in this control table, teaching points A (A0 to Ak0) and teaching points B (B0 to Bk0) ), Teaching points C (C0 to Ck0) and teaching points D (Dk1 to Dkn)) and a plurality of set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to Fxkn, Fykn, Fzkn, Mxkn, Mykn, Mzkn) are provided and correspond to each of a plurality of set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to (Fxkn, Fykn, Fzkn, Mxkn, Mykn). , Mzkn), each of a plurality of values (Fx1, Fy1, Fz1, Mx1, My1, Mz1) to (Fxkn, Fykn, from the set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) determined as the optimum values. Fzkn, Mxkn, Mykn, Mzkn) and the Euclidean distance (0 to Ukn).
[0081]
In this example, if the Euclidean distance is within the range of 0 to Uk0, it is determined that the assembling part P1 can be assembled to the to-be-assembled part P2, and the assembling operation is performed at the teaching point A (A0 to Ak0). ), Teaching point B (B0 to Bk0), and teaching point C (C0 to Ck0).
If the Euclidean distance is greater than Uk0, it is determined that the assembled component P1 cannot be assembled to the assembled component P2, and the contact state between the assembled component P1 and the assembled component P2 is corrected. The operating program to be executed is performed according to the teaching points D (Dk1 to Dkn). Each of the teaching point A (A0 to Ak0), the teaching point B (B0 to Bk0), the teaching point C (C0 to Ck0), and the teaching point D (Dk1 to Dkn) includes one or more teaching points. May be.
[0082]
Then, in the process shown in step Sa6, the detected values (Fx, Fy, Fz, Mx, My, Mz) of the six-axis components sent from the six-axis force sense analysis calculation device 10 are sent to the control means 4. (See step Sb1), in step Sb2, in the control means 4, from each of the detection values (Fx, Fy, Fz, Mx, My, Mz) actually detected by the six-axis force sense detection device 8, Among a plurality of setting values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to (Fxkn, Fykn, Fzkn, Mxkn, Mykn, Mzkn) stored in the control table 12, the setting value (Fxi) which is an optimum value. , Fyi, Fzi, Mxi, Myi, Mzi), the Euclidean distance Ui is calculated by the following equation (distance calculation step).
[0083]
Ui = (Fxi-Fx) 2+ (Fyi-Fy) 2+ (Fzi-Fz) 2+ (Mxi-Mx) 2+ (Myi-Fy) 2+ (Mzi-Fz) 2
Next, in step Sb3, a difference between the Euclidean distance Ui calculated in the distance calculation step in step Sb2 and the Euclidean distance (0 to Ukn) stored in the control table 12 is obtained, and the Euclidean distance calculated in the distance calculation step is obtained. Is replaced with the Euclidean distance Umin (the Euclidean distance Umin is one of the Euclidean distances (0 to Ukn) stored in the control table 12) (the contact state determination step). If the replaced Euclidean distance Umin is any of the Euclidean distances (0 to Ukn) stored in the control table 12, the robot means is used in accordance with the teaching point corresponding to the replaced Euclidean distance Umin. More specifically, controlling the position and orientation of the movable part 2 See step Sb4).
[0084]
In this example, when the Euclidean distance Umin is any one of the Euclidean distances 0 to Uk0, it is movable according to the teaching point Amin corresponding to the Euclidean distance Umin among the teaching points A (A0 to Ak0). The position and orientation of the unit 2 are controlled.
On the other hand, when the Euclidean distance Umin is one of Uk1 to Ukn, the position of the movable unit 2 and the position of the movable unit 2 are set according to the teaching point Dmin corresponding to the Euclidean distance Umin among the teaching points D (Dk1 to Dkn). The attitude is controlled.
[0085]
In this example, after controlling the position and orientation of the movable unit 2 in step Sb5, the detected values of each of the six-axis components are again detected using the six-axis force sense detection device 8 and the six-axis force sense analysis calculation device 10. (Fx, Fy, Fz, Mx, My, Mz) are sent to the control means 4 to control the position and orientation of the movable section 2 and each of the detected values (Fx, Fy, Fz, Mx, My, Mz) From among a plurality of set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to (Fxkn, Fykn, Fzkn, Mxkn, Mykn, Mzkn) stored in the control table 12, Fxi, Fyi, Fzi, Mxi, Myi, Mzi) Calculate the Euclid distance Ui to each of them, and if the Euclid distance Ui is any one of the Euclidean distances 0 to Uk0, P1 and determines that the state of contact between the assembly parts P2 are in the correct state (see step Sa6 shown in steps Sb6 and 6), so that the process proceeds to step Sa7.
[0086]
In this example, the difference between the Euclidean distance Ui and the Euclidean distance (0 to Ukn) stored in the control table 12 is obtained, and the Euclidean distance Ui calculated in the distance calculation step is calculated as the Euclidean distance having the smallest difference. The distance Umin (the Euclidean distance Umin is one of the Euclidean distances (0 to Ukn) stored in the control table 12) and the teaching point Bmin (Bmin is the teaching point) corresponding to the Euclidean distance Umin B0 to Bk0) and the teaching point Cmin (Cmin is one of the teaching points C0 to Ck0) corresponding to the Euclidean distance Umin, and controls the position and orientation of the movable unit 2. Then, the assembled component P1 is assembled to the assembled component P2.
[0087]
Further, in step Sb5, after controlling the position and orientation of the movable unit 2, the detected values (Fx) of the six-axis components are again detected using the six-axis force sense detection device 8 and the six-axis force sense analysis calculation device 10. , Fy, Fz, Mx, My, and Mz) to the control means 4 to control the position and orientation of the movable unit 2 and, from the detected values (Fx, Fy, Fz, Mx, My, and Mz), Among a plurality of set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to (Fxkn, Fykn, Fzkn, Mxkn, Mykn, Mzkn) stored in the control table 12, the set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) The Euclidean distance Ui to each is calculated, and the difference between the Euclidean distance Ui and the Euclidean distance (0 to Ukn) stored in the control table 12 is calculated. The Euclidean distance Ui calculated in the distance calculation step is calculated. If the Euclidean distance Umin with the smallest difference is one of the Euclidean distances (Uk1 to Ukn) stored in the control table 12, the Euclidean distance is calculated. The position and orientation of the movable part 2 are controlled in accordance with the teaching point Dmin (Dmin is one of the teaching points Dk1 to Dkn) corresponding to the distance Umin, and the process returns to step Sb2 again.
[0088]
Next, a plurality of set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to (Fxkn, Fykn, Fzkn, Mxkn, Mykn, Mzkn) stored in advance as detection values detected by the six-axis force sense detection device 8. A preferred example of the method of (2) will be described.
FIG. 10 is a graph showing, with time, a force generated on a certain axis detected by the six-axis force sense detection device 8 when the assembled component P1 is brought into contact with the assembled component P2.
[0089]
As is clear from FIG. 10, when the assembled component P1 is brought into contact with the to-be-assembled component P2, the force generated on a certain axis detected by the six-axis force sense detection device 8 varies with time.
In this example, the force of a certain axis is seen, but the moment around the axis of a certain axis is a graph that fluctuates with time, similarly to the graph shown in FIG.
Therefore, the force generated on a certain axis and the moment around the certain axis when the assembled part P1 is brought into contact with the to-be-assembled part P2 by a single sampling in a short time are stored in the control table 12 in the form of six times. When the detected values detected by the axial force sensor 8 are set, a plurality of set values (Fxi, Fyi, Fzi, Mxi, Myi, Mzi) to (Fxkn, Fykn, Fzkn, Mxkn, Mykn) of the control table 12 are set. , Mzkn) have extremely low credibility due to the temporal variation of the graph.
[0090]
In order to solve such a problem, as the set value of the detection value to be stored in the control table 12 and detected by the six-axis force sense detection device 8 used in the contact state determination step, the assembly component P1 and the assembly target If the part P2 is kept in contact with the component P2 for a certain period of time, and the average value of a certain section width (time width) is used, the 6-axis force sense detection device 8 detects a certain section width (time width). Since the fluctuations in the detected values are offset, the control table 12 can be made highly reliable.
[0091]
In addition, in a state where the assembled component P1 and the assembled component P2 are in contact with each other, the system is stationary for a certain period of time, and the 6-axis force sense detection device detects a certain section width (time width), that is, a certain period of time. The average value of each of the six components of the detection value is used as the detection value detected by the six-axis force sense detection device), so that the six-axis force sense detection device 8 has a certain section width (time width). Of the detected values detected by the six-axis force sensor, the detected values of the six components of the detected values detected by the six-axis force sense detecting device also have extremely small errors. The contact state between the part P1 and the part to be assembled P2 can be accurately determined.
[0092]
Further, since the Euclidean distance can be obtained from only one measurement data, the detection of the six-axis force sense detection device 8 stored in the control table 12 of the control means 3 based on the one measurement data is performed. Using the values as the set values, the optimum values (Fxi, Fyi, Fzi, Mxi, Mxi, The set values (Fx1, Fy1, Fz1, Mx1, My1, Mz1) to (Fxkn, Fykn, Fzkn, Mxkn, Mykn, Mzkn) other than the set values set as Myi, Mzi). Each of them can be stored in the control table 12.
[0093]
However, even if the assembled component P1 and the assembled component P2 are brought into contact in the same state, disturbance such as noise is superimposed on the detection value detected by the six-axis force sensor 8 only once. If the set value of the 6-axis force sense detection device 8 to be stored in the control table 12 of the control means 3 based on the data only once is determined, the set value is always wrong. There is a risk that the contact state between the assembled component P1 and the assembled component P2 may be erroneously determined.
[0094]
FIG. 11 is a flowchart showing an effective means for solving such a problem.
The flowchart illustrated in FIG. 11 is different from the flowchart illustrated in FIG. 6 in steps Sc4 to Sc8.
That is, the flow chart shown in FIG. 11 is the same as the flow chart shown in FIG. 6 from step Sa1 to step Sa3, but in steps Sc4 to Sc6, the parts to be mounted P1 and the parts to be mounted P2 are the same. In this state, the detection value of the contact is obtained a plurality of times until the predetermined number of measurements is reached, and when the predetermined number of measurements is reached in step Sc6, it is stored in the control table 12 of the control means 3 in step Sc7. The set value of the six-axis force sense detection device 8 is an average value of the detection values of the assembly component and the component to be assembled being contacted a plurality of times in the same state. Thereby, the influence of disturbance such as noise is reduced. As described above, according to the flowchart shown in FIG. 11, in the contact state determination step, the detection value detected by the six-axis force sense detection device 8 is compared with a highly accurate set value. It is possible to accurately determine the contact state between the component and the part to be assembled P2.
[0095]
Next, a description will be given of a contact state determination method that can more accurately determine the contact state between the assembled component P1 and the assembled component P2.
Regarding a contact state determination method that can more accurately determine the contact state between the assembled component P1 and the assembled component P2, a method using Mahalanobis' generalized distance will be described.
FIG. 12 is a flowchart schematically showing a discrimination method using Mahalanobis' generalized distance.
[0096]
This determination method differs from the determination method shown in FIG. 8 in that Steps Sd2 to Sd6 are not performed based on the Euclidean distance, but using Mahalanobis' generalized distance.
In the component assembling apparatus 1, since the six-axis force sense detection device 8 is used, the variables are three-axis forces (in this example, Fx, Fy, and Fz) and three axes. There are a total of six moments (Mx, My, Mz in this example).
[0097]
Therefore, assuming that the number of variables is six, the Mahalanobis' general distance D2i (a) from the current contact state i between the assembled component P1 and the assembled component P2 to the contact state a is obtained by Expression 1.
[0098]
(Equation 1)

[0099]
Where x_ij, X_ik: The j-th or k-th variable measured in the current contact state i between the part P1 and the part P2.
[0100]
[Outside 1]

[0101]
(Equation 2)

[0102]
S_{jk (h)}Is a variance / covariance matrix in the assumed state h, and is obtained by the following equation 3.
[0103]
(Equation 3)

[0104]
Here, mh is the number of data included in the sample group measured in the contact state h.
Where x_{lj (k)}, X_{lk (h)}: Value of the j-th or k-th variable of the l-th data in the sample group in the contact state h.
x_{j (h)},_{xk (h)}: The value of the j-th or k-th variable included in the sample group measured in the contact state h.
[0105]
According to the flowchart shown in FIG. 12, in the contact state determination step, in the 6-axis force sense detection step, not the Euclidean distance but the Mahalanobis' general distance that also takes into account the variation in data, taking into account the variation, Is performed, the contact state between the assembled component P1 and the assembled component P2 can be determined more accurately.
[0106]
FIG. 13 is a flowchart schematically showing a method of correcting the contact state between the assembled component P1 and the to-be-assembled component P2 so that the contact state can be corrected to be an optimal contact state for assembly.
In the flowchart shown in FIG. 13, steps Sa1 to Sa3 are the same as the flowchart shown in FIG. 6, but in this flowchart, steps Se4 to Se7 are different from the flowchart shown in FIG.
[0107]
That is, in this flowchart, the contact state optimizing step of Steps Se4 to Se7 is performed in a six-axis force sense until the contact state between the assembly component P1 and the assembly target component P2 becomes an optimal contact state for assembly. The detection step, the contact state determination step, and the robot means control step are repeatedly performed.
By repeating the 6-axis force sense detection step, the contact state determination step, and the robot means control step to change the position and posture of the robot means, more specifically, the movable part 2, gradually, The contact state between the attached component P1 and the to-be-attached component P2 can be further set to the optimal contact state for assembly.
[0108]
After the contact state between the assembled component P1 and the to-be-attached component P2 can be brought into a correct state by the method as described above, as shown in FIG. The assembly work with the assembly component P2 is started.
First, a robot means for assembling the assembling part P1 to the to-be-assembled part P2, more specifically, a method for easily correcting the assembling locus of the movable part 2 will be described.
[0109]
FIG. 14 is a flowchart schematically showing a method for easily correcting the assembling trajectory of the movable unit 2.
In this component assembling apparatus 1, as shown in FIGS. 6 and 14, even in the assembling step of assembling the assembling component P1 to the assembling component P2, the six-axis force sense is detected from the start to the end of the assembling operation. The device 8 monitors the contact state between the assembly component P1 and the assembly target component P2 (see steps Sa7 and Sa10).
[0110]
Also, as already described with reference to FIGS. 2 and 5, arbitrary directions of the three axes of the six-axis force sense detection device 8 and the direction of assembling the component P1 to the component P2 of the movable part 2 To match.
Specifically, in this example, as shown in FIG. 2, the three-axis Y-axis direction of the six-axis force sensor 8 and the assembly part P1 to the part P2 to be assembled of the movable part 2 are assembled. The directions are matched (see the bent arrow in FIG. 2).
[0111]
Further, in the component assembling apparatus 1, the control unit 3 sets the assembling component among the detection values detected by the six-axis force sense detection device 8 at the teaching point (in this example, the teaching point B (B0 to Bk0)). A set value is stored as a detection value when the assembling of P1 and the to-be-attached part P2 is successful, and in step Sf11, the six-axis force sense detecting device 8 sets the teaching point (in this example, the teaching point B In (B0 to Bk0)), when the assembling part P1 and the to-be-attached part P2 are successfully assembled, the detected values are compared for each axis to determine whether or not there is any axis that shows a large difference. It is determined (see step Sf12), and if there is an axis having a large difference, a teaching point for defining the position and orientation of the robot means, more specifically, the movable unit 2 in the axial direction having the large difference In the direction in which the difference between the detection value detected by the six-axis force sense detection device 8 and the set value becomes smaller. (Step Sf13), and thereafter, the position of the robot means, more specifically, the position and the posture of the movable unit 2 are assembled with the assembled part P1 and the assembled part P2 according to the corrected teaching points. (See step Sf14 and step Sf15).
[0112]
On the other hand, in step Sf12, the detection values detected by the six-axis force sense detection device 8 at the teaching points (in this example, at the teaching points B (B0 to Bk0)) are compared for each axis, and axes having a large difference are recognized. It is determined whether or not there is an axis, and if there is no axis having a large difference, the assembling part P1 and the assembling part P2 are assembled according to the teaching point without correcting the teaching point. (See step Sf14 and step Sf15).
[0113]
In this component assembling apparatus 1, a robot means, more specifically, a six-axis force sense detection device among three axes for defining the three-dimensional movement, rather than moving the position and orientation of the movable part 2 three-dimensionally, The coordinate axis 8 and the robot means, more specifically, the position and orientation of the movable part 2 are set in the assembling direction in which the assembling part P1 is mounted and fixed on the assembling jig W. Is the two-dimensional relationship between the axis (in this example, the Y axis) and one of the other two axes (the X axis and the Z axis in this example) (the Z axis in this example). The assembly part P1 can be moved from the initial position before the assembly to the target position after the assembly only by the prescribed control. As described above, in the component assembling apparatus 1, the two-dimensional relationship between the positional relationship between the assembling component P 1 and the to-be-assembled component P 2 and the detection value of the six-axis force sense detecting device 8 is simple. In a relationship. For this reason, in the assembling step, when correcting the assembling trajectory of the robot unit, more specifically, the movable unit 2, the position and posture of the robot unit, more specifically, the movable unit 2 are defined. Of the two axes (in this example, the Y axis and the Z axis) that correspond to the robot unit, more specifically, the mounting direction of the movable unit 2 for mounting the mounted component P1 to the mounted component P2. Since it is only necessary to correct the teaching point of one axis (in this example, the Z axis) other than the axis (in this example, the Y axis), robot means for assembling the assembling part P1 to the assembling part P2, More specifically, the assembling trajectory of the movable part 2 can be easily corrected.
[0114]
By the way, the method of making the assembling step of assembling the assembling part to the to-be-assembled part more optimizable includes a method of assembling the assembling part P1 to the assembling part P2 when the assembling fails or somehow In cases such as when it is necessary to improve what has been done, refer to such failures and examples that require improvement, and continue the work on how to optimize the next assembly work. However, a method of constructing a highly reliable component assembly state optimization step can be considered.
[0115]
FIG. 15 shows an example of such a failure or an example of the need for improvement when the assembling of the assembling component P1 to the to-be-assembled component P2 fails, or when it is necessary to improve what could be assembled. 9 is a flowchart schematically showing a method for constructing a highly reliable component assembly state optimizing step that enables the next assembly work to be further optimized with reference to FIG.
[0116]
In the flowchart shown in FIG. 15, each of steps Sa7, Sa10, and Sa15 corresponds to each of steps Sa7, Sa10, and Sa15 in the flowchart shown in FIG.
In this flowchart, the robot unit, more specifically, the movable unit 2 converts each of the operation patterns stored in the control table of the control unit 3 into teaching points (in this example, teaching points A (A0 to Ak0), The execution is performed based on the teaching point B (B0 to Bk0) and the teaching point C (C0 to Ck0), and the control unit 3 sends the teaching point (in this example, the teaching point B (B0 ＢBk0)), among the detection values detected by the six-axis force sense detection device 8, a detection value when the assembly of the assembly component P1 and the assembly component P2 is successful is stored as a set value, In step Sg17, a comparison is made between the detection values detected by the six-axis force sense detection device 8 at the teaching points (in this example, at the teaching points B (B0 to Bk0)), and whether or not there is any axis having a large difference is recognized. Is determined, and if there is a large difference, the axis with a large difference The direction and the robot means, more specifically, the position and orientation of the movable part 2 are corrected so that the difference between the detection value detected by the six-axis force sense detection device 8 and the set value becomes smaller (step Sg18 Then, in step Sg19, the check and the correction are performed for all the teaching points (in this example, the check and the correction are performed for all of B0 to Bk0 for the taught point B in this example. I have to.
[0117]
Then, when all the operations in step Sg19 are completed, the process returns to step Sg16, and in the next assembling step of the assembling component P1 and the to-be-assembled component P2, the same is repeated as above.
If the assembling work cannot be optimized even after all the work in step Sg19 is completed, the work is repeated in a step subsequent to this step in the same manner as described above (see step Sg20).
[0118]
In this flowchart, the component assembling state optimizing step is a detection value detected by the 6-axis force sense detection device 8 in a predetermined process of the assembling step (in this example, a teaching point B (B0 to Bk0)). From (Fx, Fy, Fz, Mx, My, Mz), the direction of misalignment between the part to be assembled P1 and the part to be assembled P2 is estimated, and after the end of the assembling work, the assembling step is performed. The teaching point of a predetermined process is modified.
[0119]
Therefore, if the component assembling apparatus 1 is operated according to this flowchart, the position between the to-be-assembled part P1 and the to-be-assembled part P2 is determined based on the detection value detected by the six-axis force sense detection device 8. Since the deviation direction can be inferred and the teaching point of the predetermined process of the assembling step can be corrected after the assembling work is completed, the verification of the previous assembling step can be utilized in the next assembling step, and as a result, A highly reliable component assembly state optimization step can be constructed.
[0120]
FIG. 16 is a flowchart schematically showing a method of constructing a highly reliable component assembly state optimizing step while continuing the operation.
In the flowchart shown in FIG. 16, steps Sa7 and Sa10 correspond to steps Sa7 and Sa10 in the flowchart shown in FIG.
[0121]
In this flowchart, the robot unit, more specifically, the movable unit 2 converts each of the operation patterns stored in the control table of the control unit 3 into teaching points (in this example, teaching points A (A0 to Ak0), The execution is performed based on the teaching point B (B0 to Bk0) and the teaching point C (C0 to Ck0), and the control unit 3 sends the teaching point (in this example, the teaching point B (B0 ＢBk0)), among the detection values detected by the six-axis force sense detection device 8, a detection value when the assembly of the assembly component P1 and the assembly component P2 is successful is stored as a set value, In step Sh15, a large difference is recognized by comparing the detection value detected by the 6-axis force sense detection device 8 at the teaching point (in this example, the teaching point B (B0 to Bk0)) (see step Sh16). Judge whether there is an axis or not, and if there is a big difference In the axial direction, there is a large difference, the robot means, more specifically, the teaching point that defines the position and orientation of the movable unit 2 is determined by the detected value detected by the 6-axis force sense detection device 8 and the set value. (Refer to step Sh17), and in step Sh18, the robot means, more specifically, the position and orientation of the movable unit 2 are controlled and moved in accordance with the corrected teaching point. Then, after controlling the position and orientation of the robot means according to the changed teaching point, the detection value detected by the 6-axis force sense detection device is compared with the set value, and if the detected value matches the set value, Then, in accordance with the next teaching point (in this example, C (C0 to Ck0)), the robot means, more specifically, the position and orientation of the movable unit 2 are controlled and moved to move the assembled part P1. Attach to assembled part P2 Unishi and has (see step Sh19 and step SH20).
[0122]
On the other hand, in step Sh16, each axis component of the detection value detected by the six-axis force sense detection device 8 at the teaching point (in this example, at the teaching point B (B0 to Bk0)) and the set stored in the control means 3 When the attachment component P1 and the assembly target component P2 are successfully assembled, the detected value of the detection value detected by the six-axis force sense detection device 8 at the teaching point (in this example, the teaching point B (B0 to Bk0)). If there is no axis that shows a large difference in comparison with each axis component of the set value, a teaching point (in this example, a teaching point B (B0 to Bk0) that defines the position and orientation of the movable unit 2) ), The robot means, more specifically, the position and orientation of the movable part 2 are controlled and moved, and then the robot is moved in accordance with the next teaching point (in this example, C (C0 to Ck0)). Means, more specifically, by controlling the position and orientation of the movable part 2 To, and to attach the assembled part P1 to the assembly parts P2 (see step Sh19 and step SH20).
[0123]
According to this flowchart, if the component assembling apparatus 1 is operated, if the detection value detected by the six-axis force sense detecting device 8 is different from the set value in a predetermined process of the assembling step, the assembling is performed. Of the misalignment between the assembled part P1 and the part P2 to be assembled is changed, and the teaching point of the robot means, more specifically, the movable part 2 in a predetermined process is changed, and the changed teaching is performed. After controlling the robot means, more specifically, the position and orientation of the movable part 2 according to the point, the detection value detected by the 6-axis force sense detection device is compared with a set value, and the detected value is compared with the set value. If they match, the robot unit, more specifically, the position and orientation of the movable unit 2 is controlled in accordance with the next teaching point to assemble the assembly part P1 with the assembly target part P2. Reliable parts assembly while continuing work It can be constructed optimization step.
[0124]
FIG. 17 is a flowchart schematically showing a method for more accurately determining the contact state between the assembly component P1 and the assembly target component P2 and shortening the time required for the assembly step. .
In this flowchart, in step Sa7, an assembling operation of assembling the assembling component P1 to the assembling component P2 is started, and in step Si12, after the assembling step is completed, in the assembling step, a selection menu (this example) is displayed. Then, when a selection menu other than the initial value (default value) 0 is selected from the selection menus (0 to k0) shown in FIG. 9, the latest selected operation pattern is stored a plurality of times, and When it is determined in Si13 that the selection menu is selected or the teaching point (in this example, the teaching point B (B0 to Bk0) is frequently corrected) as compared with the threshold value, The setting value corresponding to the most frequently selected operation pattern among the stored operation patterns is changed to the optimum value.
[0125]
For example, when the selection frequency of the selection menu 1 is high in the latest plural times as the selection menu, the control table 12 stores the setting values of the 6-axis force sense detection device corresponding to the selection menu 1 (in this example, (Fx1, Fy1, Fz1, Mx1, My1, Mz1) are optimal values, that is, initial values (default values). In this example, as a selection menu 0, (Fx1, Fy1, Fz1, Mx1, My1, Mz1,) (Fxi, Fyi, Fzi, Mxi, Myi, Mzi), (Fx2, Fy2, Fz2, Mx2, My2, Mz2),. It is rewritten and stored in the control means 3 (see step Si14 and step Si15).
[0126]
Hereinafter, based on the newly created control table, the contact state between the assembly part P1 and the assembly target part P2 is determined, and the assembly part P1 is attached to the assembly target part P2 ( (See step Si16 and step Si17).
As described above, if the selection menu 1 having the highest selection frequency in the latest plural times is set to the optimum value, that is, the initial value (default value), the selection menu is almost always the initial value (default value). Therefore, the frequency of issuing a signal for changing the initial value (default value) to another selection menu is extremely low.
[0127]
Therefore, if the component assembling apparatus 1 is operated according to this flowchart, an operation pattern other than the operation pattern corresponding to the optimum value is frequently selected in the selection step of the contact state determination step. In this case, the initial value (default value) is changed to the set value corresponding to the most frequently selected operation pattern among the stored latest operation patterns. After changing to a set value corresponding to a large number of operation patterns, the frequency of outputting a change signal for changing from an initial value (default value) decreases. Thereby, in the assembling step, in most cases, the robot means, more specifically, the movable unit 2 is used at the initial value (default value) without outputting a change signal for changing from the initial value (default value). Can be controlled, the time required for the assembling step can be shortened by the amount that the change signal for changing from the initial value (default value) need not be output.
[0128]
FIG. 18 is a flowchart schematically showing a method for determining whether the assembling of the assembled component to the assembled component has succeeded or failed with a small number of calculations.
In this flowchart, step Sa1 corresponds to step Sa1 in the flowchart shown in FIG.
In this flowchart, in step Sj2, in the step of assembling the assembling part P1 to the to-be-assembled part P2, the detection values detected by the six-axis force sense detection device 8 are converted into six-axis components (in this example, Fx, Fy, Fz, Mx, My, and Mz), but in step Sj3, a specific one-axis component among the six-axis components (in this example, Fx, Fy, Fz, Mx, My, and Mz) is detected. Only the control unit 4 stores the change over time when the assembly of the assembly component P1 to the assembly target component P2 succeeds, and stores the specific one-axis component stored in the control unit 4 with respect to time. Of the assembled part P1 over time when the assembly of the assembled part P1 to the assembled part P2 is successful, and the assembled part P2 of the assembled part P1 with respect to the one-axis component corresponding to the specific one axis. Change over time during assembly into , We are evaluating the degree of correlation.
[0129]
Next, in step Sj4, it is determined whether the degree of correlation is good by comparing it with a certain threshold value. If it is determined that the degree of correlation is good, in step Sj5, the assembled part P1 is assembled. It is determined that the assembling to the attached component P2 has succeeded. If it is determined in step Sj4 that the degree of correlation is poor, the assembling of the assembled component P1 to the to-be-attached component P2 has failed in step Sj6. , Is determined.
[0130]
According to the inventor's findings based on experiments, whether the assembly of the assembly part P1 to the assembly target part P2 was successful or failed was determined by a 6-axis force sense detection device attached to the attachment jig W. It appears in all of the detected values of 8 axes.
Therefore, if this is utilized, it is not necessary to look at the detection values of the six-axis force sense detection device 8 for all six axes. In this flowchart, attention is paid to an arbitrary one-axis component among the six-axis components of the detection value of the six-axis force sense detection device 8, and the control means 3 of the robot means previously sends the component P2 to the component P2 to be mounted. The change of the detected value of one axis detected by the six-axis force sense detecting device 8 in the case where the assembling is successful is stored, and when the assembling part P1 is actually assembled to the to-be-assembled part P2, the six-axis force is used. A change in the corresponding one axis from the detected values of the six axes of the detection values detected by the sense detection device 8 and the assembling of the assembling part P1 to the assembling part P2 stored in the control means 3 of the robot means. Is successful, the failure value or success is determined by comparing the change in the detected value detected by the six-axis force sense detection device 8 with one axis and evaluating the degree of correlation. For all axis components, less computational complexity than when evaluating the degree of correlation Exactly, or failure assembled to the assembling parts of the assembled part is successful, it can be determined.
[0131]
FIG. 19 is a flowchart schematically showing a method for accurately determining whether the assembly of the assembled component P1 to the assembled component P2 has succeeded or failed.
In this flowchart, each of steps Sa1 and Sj2 corresponds to each of steps Sa1 and Sj2 of the flowchart shown in FIG.
[0132]
In this flowchart, in step Sk3, the detection value detected by the 6-axis force sense detection device 8 is detected for each of the 6-axis components (Fx, Fy, Fz, Mx, My, Mz in this example). In step Sj3, among the six axis components (in this example, Fx, Fy, Fz, Mx, My, Mz), only the specific one axis component is transmitted to the control means 4 by the control unit 4 for the component to be mounted of the component P1. A change in the case where the assembling to P2 succeeds is stored over time, and the assembling part P1 to the assembling part P2 for a specific one-axis component stored in the control means 4 is stored. And the change with time during the assembly of the assembled component P1 to the assembled component P2 with respect to the one-axis component corresponding to the specific one axis, The evaluation of the degree of correlation is evaluated by a cross-correlation function value.
[0133]
Next, in step Sk4, it is determined whether or not the cross-correlation function value is good by comparing it with a certain threshold value. If it is determined that the cross-correlation function value is good, in step Sk5, the assembled component is determined. It is determined that the attachment of P1 to the to-be-attached part P2 is successful. If it is determined in step Sk4 that the cross-correlation function value is bad, in step Sk6, the assembling part P1 is attached to the to-be-attached part P2. Is determined to have failed.
[0134]
Here, the cross-correlation function value is expressed by the following Equation 4 when expressed as a cross-correlation function value between the signal waveforms of x (t) and y (t).
[0135]
(Equation 4)

[0136]
In this example, there is no phase difference, and τ = 0. Further, since the calculation is actually performed using discrete values obtained by sampling measurement, when there are a finite number N of samples, the value of the cross-correlation function (cross-correlation function value) is obtained by the following equation (5).
[0137]
(Equation 5)

[0138]
Further, the normalized cross-correlation function value is normalized by the following Equation 6, and the function value is a normalized cross-correlation function value: Rnxy which takes a value of -1 to 1.
[0139]
(Equation 6)

[0140]
FIG. 20 is a flowchart schematically showing a method for accurately determining whether the assembling of the assembling component P1 to the assembling component P2 has succeeded or failed.
In this flowchart, each of steps Sa1 and Sj2 corresponds to each of steps Sa1 and Sj2 of the flowchart shown in FIG.
[0141]
In this flowchart, the detection value detected by the six-axis force sense detection device 8 is detected for each of the six-axis components (Fx, Fy, Fz, Mx, My, and Mz in this example) in step S13. In step S13, among the six axis components (in this example, Fx, Fy, Fz, Mx, My, and Mz), only the specific one axis component is transmitted to the control means 4 by the control means 4 for the component to be mounted of the component P1. A change in the case where the assembling to P2 succeeds is stored over time, and the assembling part P1 to the assembling part P2 for a specific one-axis component stored in the control means 4 is stored. And the change with time during the assembly of the assembled component P1 to the assembled component P2 with respect to the one-axis component corresponding to the specific one axis, The evaluation of the degree of correlation is evaluated by a correlation coefficient value.
[0142]
Next, in step S14, it is determined whether or not the value of the correlation coefficient is good by comparing it with a certain threshold value. If it is determined that the value of the correlation coefficient is good, the process proceeds to step Sk5. It is determined that the attachment of the attachment component P1 to the attachment component P2 is successful. If it is determined in step S14 that the value of the correlation coefficient is bad, the attachment component P1 is attached in step Sk6. It is determined that the assembly to the component P2 has failed.
[0143]
Here, when the waveforms of the two forces or moments for comparing the correlations are expressed as x (t) and y (t), when a finite number N of discrete value data are obtained by sampling measurement, The correlation coefficient between the two waveforms: r is obtained by the following equation (7).
[0144]
(Equation 7)

[0145]
FIG. 21 is a flowchart schematically showing a method for accurately determining whether the assembly of the assembled component P1 to the assembled component P2 has succeeded or failed.
In this flowchart, the change over time of the detection value of the six-axis force sense detection device 8 (arbitrary one of the three axes) when the attachment of the assembly part P1 to the part P2 to be assembled succeeds in step Sm1. The comparison section (comparison width (comparison time)) for evaluating the degree of correlation is determined in advance based on the force of (1) or the waveform of the moment about any one of the three axes.
[0146]
Next, the robot means, more specifically, the position and orientation of the movable part 2 are controlled to start a mounting step of mounting the assembled component P1 to the assembled component P2 (see step Sm2), and the six axes In step Sm1, with respect to a specific one-axis component among the six-axis components of the detection value detected by the force sensor 8, a change with time of the detection value of the 6-axis force sensor For each comparison section (comparison width (comparison time)) determined based on the force of one axis or the waveform of the moment about any one of the three axes, the assembly part P1 for the specific one-axis component is determined. The change with time when the assembly to the part to be assembled P2 is successful and the lapse of time during the assembly of the part to be assembled P1 with respect to the one axis component corresponding to the specific one axis. The evaluation of the degree of correlation is evaluated by the correlation coefficient, In step Sm5, it is determined whether the value of the correlation coefficient is good or not by comparing it with a certain threshold value. If it is determined that the value of the correlation coefficient is good, in step Sm6, It is determined that the attachment of the component P1 to the component to be assembled P2 was successful, and if it is determined in step Sm7 that the value of the correlation coefficient is bad, the component P2 to be assembled of the component P1 is determined in step Sk6. Attachment to has failed, it is determined.
[0147]
The change with time of the detected value detected by the 6-axis force sense detection device 8 attached to the mounting jig W on each axis includes a portion where the amount of change is large and a portion where the amount of change is small.
The change in one axis detected by the 6-axis force sense detection device 8 when the assembling part P1 is successfully assembled to the to-be-assembled part P2 stored in the control means 3 at a place where the amount of change is small; When a change in one axis corresponding to one axis stored in the control means detected by the axial force sensor 8 is compared with the change in one axis corresponding to one axis, the degree of correlation is evaluated at a small change because the influence of noise is large in this part. Even so, evaluation cannot be performed correctly. The determination as to whether or not the assembly of the assembly component to the assembly component is successful is performed by the control unit storing the entire assembly from the start of the assembly operation to the end of the assembly operation. The change of one axis detected by the six-axis force sense detecting device when the assembling of the six-axis force sensor is successful and the change of one axis corresponding to the one axis stored in the control means detected by the six-axis force sense detecting device are compared. Thus, it is more accurate to limit the comparison section and perform comparison between places where the amount of change is large.
[0148]
If the component assembling apparatus 1 is operated according to this flowchart, it is determined whether or not the assembly of the assembled component P1 to the component to be assembled P2 has been successful by limiting the comparison section based on the waveform of the uniaxial change. Is determined, it is possible to accurately determine whether or not the assembly of the assembly component P1 to the assembly target component P2 is successful.
FIG. 22 is a flowchart schematically showing a method for enabling a determination as to whether or not the assembly of the assembly component P1 to the assembly target component P2 has been successful in real time.
[0149]
In order to determine in real time whether or not the assembling of the assembling part P1 to the assembling part P2 has succeeded, the correlation must be determined each time the six-axis force sense detecting device detects the six-axis component. It is necessary to evaluate the degree. In such a case, when the degree of correlation is evaluated using any one of the waveforms of the six-axis components from the time when the detection of the six-axis force sense detection device is started to the present time, the processing must be performed with the passage of time. The data amount increases, and therefore, even when the assembly of the assembly component P1 to the assembly component P2 fails, the assembly data of the assembly component P1 to the assembly component P2 is increased due to the increased data amount. The waveform that appears when the assembly fails is masked, and the degree of correlation is unlikely to decrease. As a result, the accuracy of determining whether the assembly of the assembly component P1 to the assembly target component P2 has succeeded is determined. Gets worse.
[0150]
In order to solve such a problem, in this flowchart, the comparison section for evaluating the degree of correlation is limited, the start and end of the comparison section are moved together with time, and the data amount is not increased with time. ing.
More specifically, in this flowchart, each of steps Sa7 and Sa10 corresponds to each of steps Sa7 and Sa10 in the flowchart shown in FIG.
[0151]
In this flowchart, in step Sn11, a predetermined elapsed time from the start of detection of the six-axis force sense detection device is stored in the control means 3 as a threshold, and the predetermined elapsed time has actually been counted from the start of detection of the six-axis force sense detection device. Is compared with this threshold value (time defined as a correlation degree comparison section).
If it is determined that the time that has actually elapsed from the start of the detection of the six-axis force sense detection device 8 is equal to or longer than the threshold value, in step Sn12, the six-axis force sense detection device 8 sets the threshold value ( Of the detected value of the specific one-axis component from the detection values detected in the comparison section preceding by the time period defined as the correlation degree comparison section), the assembly of the assembled component P1 to the assembled component succeeds. And the specific one-axis component detected by the six-axis force sensor 8 when the assembling part P1 is actually assembled to the to-be-assembled part P2. If the correlation is evaluated by comparing the change in the detection amount with the change in the detection amount, and it is determined in step Sn14 whether or not the correlation is good by comparing it with a certain threshold value, Determines that the assembly of the assembly component P1 to the assembly target component P2 is successful. Assembly completion of the step (see step Sn15 and step Sn16).
[0152]
On the other hand, in step Sn14, when it is determined whether the degree of correlation is good or not by comparing it with a certain threshold value, the degree of correlation is determined to be low. It is determined that it has failed (see step Sn17).
If it is determined in step Sn11 that the time that has actually elapsed since the start of the detection of the six-axis force sense detection device 8 is equal to or smaller than the threshold, in step Sn13,
From among the detection values detected by the 6-axis force sense detection device 8 in the comparison section from the start of detection to the current time, the change of the detected amount of the specific one-axis component is determined by assembling the assembling part P1 to the assembling part P2. The change in the detection amount of a specific one-axis component when the attachment is successful, and when the assembled part P1 is actually assembled to the assembled part P2, the six-axis force sense detection device 8 starts detection. After that, the degree of correlation is evaluated by comparing the change in the detected amount of the specific one-axis component detected up to the present time, and in step Sn14, whether or not the degree of correlation is good is compared with a certain threshold value. If it is determined that the degree of correlation is good, it is determined that the assembling of the assembled part P1 to the to-be-assembled part P2 has been successful, and the assembling step ends (see steps Sn15 and Sn16).
[0153]
On the other hand, in step Sn14, when it is determined whether the degree of correlation is good or not by comparing it with a certain threshold value, the degree of correlation is determined to be low. It is determined that it has failed (see step Sn17).
If the component assembling apparatus 1 is operated according to this flowchart, as a detection value of one axis from the six-axis force sense detection device 8 when the assembly of the assembled part P1 to the part to be assembled P2 is successful. The change of one axis stored in the control means 3 and the detected value of one axis from the six-axis force sense detection device 8 from the start of the assembling work to assembling the assembled part P1 to the to-be-assembled part P2 to the end of the work. Is moved with time in the comparison section. Therefore, during the assembling of the assembling part P1 to the assembling part P2, is the assembling of the assembling part P1 to the assembling part P2 successful? It is possible to determine whether or not it is. In addition, when the assembly of the assembly component P1 to the assembly target component P2 fails, it is possible to easily identify in which step of the assembly step the malfunction has occurred. It is possible to easily correct the assembling trajectory of the means.
[0154]
FIG. 23 is a flowchart schematically showing a method for accurately determining whether the assembly of the assembly component P1 to the assembly target component P2 has succeeded or failed.
In this flowchart, the six-axis force sense detection device 8 detects a comparison section in which the evaluation of the degree of correlation is detected over time when the assembling part P1 is successfully assembled to the to-be-assembled part P2. By changing the waveform in accordance with the waveform of one axis component, the accuracy of calculating the degree of correlation is improved.
[0155]
In other words, when the failure of assembling the assembling part P1 to the to-be-assembled part P2 appears in the waveform detected by the six-axis force sense detection device 8, if the comparison section is long, the degree of correlation decreases. Difficultly, conversely, when the comparison interval is short, the degree of correlation rapidly decreases. However, conversely, in spite of the fact that the assembling of the assembling part P1 to the assembling part P2 has not failed, in this flowchart, in step So1, first, the assembling part P1 first moves to the assembling part P2. Is successful, the six-axis force sense detection device 8 determines the comparison section based on the waveform of a specific one-axis component detected over time. Next, in step So2, the position of the robot means, more specifically, the position and orientation of the movable part 2 is controlled to start the step of assembling the assembled part P1 to the part P2 to be assembled. From the start of the step, the detection of the six-axis force sense detection device 8 is started, and in step So3, the detection value detected by the six-axis force sense detection device 8 is detected for each of the six axes.
[0156]
Next, in step So4, for the specific one-axis component, the change in the detected amount of the specific one-axis component when the assembling part P1 is successfully assembled to the to-be-assembled part P2 in the correlation degree comparison section. Actually, when the assembling part P1 is assembled to the to-be-assembled part P2, a change in the detection amount of the specific one-axis component detected from the start of detection by the six-axis force sense detection device 8 to the present time. And if the correlation is judged to be good in step So5 by comparing it with a certain threshold value in step So5, the assembled part P1 Is determined to have been successfully assembled to the part P2 to be assembled, and the assembling step ends (see steps So6 and So7).
[0157]
On the other hand, in step So5, when it is determined whether the degree of correlation is good or not by comparing it with a certain threshold value, the degree of correlation is determined to be low. It is determined that the process has failed (see step So8).
FIG. 24 is a flowchart schematically showing a method for accurately determining whether the assembly of the assembled component P1 to the assembled component P2 has succeeded or failed.
[0158]
In this flowchart, each of steps Sa7 and Sa10 corresponds to each of steps Sa7 and Sa10 of the steps shown in FIG.
In this flowchart, in step Sp11, it is determined whether or not the attachment of the assembled part P1 to the part to be assembled P2 is successful, by evaluating the degree of correlation or the like, and in step Sp11, the assembled part P1 is to be assembled. If it is determined that the attachment to the component P2 has been successful, the detection value detected by the six-axis force sense detection device 8 is stored in the control means 3 in this attachment step.
[0159]
On the other hand, in step Sp11, it is determined whether or not the attachment of the assembled part P1 to the part to be assembled P2 was successful, by evaluating the degree of correlation or the like, and in step Sp11, the part P2 to be assembled of the assembled part P1 is determined. If it is determined that the attachment to the sensor has failed, the detection value detected by the six-axis force sense detection device 8 is not stored in the control means 3 in this attachment step (see step Sp16).
[0160]
Next, in step Sp13, when it is determined that the attachment of the assembly component P1 to the assembly target component P2 is successful, the control unit 3 determines how many detection values detected by the six-axis force sense detection device 8 It is determined whether the information has been stored.
Then, in step Sp13, when it is determined that the mounting of the assembled component P1 stored in the control means 3 to the assembled component P2 is actually successful, the detection value detected by the six-axis force sense detection device 8 is detected. When the number of cases becomes equal to or greater than the threshold value defined as the number of cases to be stored in the control means 3, in step Sp14, after the change in the detection value from the six-axis force sensor 8 for each measurement is added, When it is determined that the attachment of the assembled component P1 stored in the control means 3 to the assembled component P2 is successful, the average value of the detection values detected by the six-axis force sense detection device 8 is calculated. A change is determined, which is stored in advance in the robot means, more specifically, in the control means 3 of the movable part 2, and the six-axis force when the assembly of the assembly component to the assembly target component is successful. Uniaxial change in the detection value detected by the Used as.
[0161]
When the assembling component P1 is successfully assembled to the to-be-assembled component P2, the change in one axis of the detection value detected by the 6-axis force sense detection device 8 is represented by a single-time data. In some cases, a disturbance such as noise is superimposed on the detection value detected by the control unit 8, and a change in one axis of the six-axis force sense detection device is stored in the control table 12 of the control unit 3 based on data obtained only once. When the set value when the assembly of the assembly component P1 to the assembly component P2 is successful is stored, the assembly value of the assembly component P1 is incorrect because the setting value is incorrect. There is a risk that erroneous determination of success or failure will always be made. On the other hand, the set value of the change of one axis of the six-axis force sense detection device 8 stored in the control table 12 of the control means 3 when the assembly of the assembly component P1 to the assembly target component P2 is successful is When the assembling part P1 is successfully assembled to the to-be-assembled part P2, the detection values detected by the six-axis force sense detection device 8 are taken a plurality of times, and the average value of the plurality of times of detection is taken. For example, the influence of disturbance such as noise is reduced. As described above, when the component assembling apparatus 1 is operated in accordance with the flowchart, it is determined whether or not the assembly of the assembled component P1 to the component to be assembled P2 is successful. When the change of one axis corresponding to the one axis stored in the control means detected by the device 8 is stored in the control means 3 and the highly accurate assembly of the mounted part P1 to the mounted part P2 is successful. Can be compared with the set value of the uniaxial change, so that it can be accurately determined whether or not the assembly of the assembled component P1 to the assembled component P2 has succeeded.
[0162]
FIG. 25 is a flowchart schematically showing a method for enabling determination as to whether or not the assembly of the assembled component P1 to the assembled component P2 has been successful, based on a threshold value.
In this flowchart, each of steps Sa7 and Sa10 corresponds to each of steps Sa7 and Sa10 in the flowchart shown in FIG.
[0163]
In this flowchart, in step Sq11, it is determined whether or not the assembly of the assembled component P1 to the assembled component P2 has been successful, by evaluating the degree of correlation or the like. The control means 3 stores the waveform of the detection value detected by the six-axis force sense detection device 8.
On the other hand, in step Sq11, it is determined whether or not the assembly of the assembled component P1 to the assembled component P2 has been successful, by evaluating the degree of correlation or the like. The control unit 3 does not store the waveform of the detection value detected by the force sensor 8 (see step Sq14).
[0164]
Next, in step Sq13, when the assembling part P1 is successfully assembled to the to-be-assembled part P2, the control unit 3 changes the waveform of the detection value detected by the six-axis force sense detecting device 8 by a predetermined number of times. Is determined.
Then, in step Sq13, when the assembling component P1 and the assembling component P2 are successfully assembled into the assembling component P2, the number of detection value waveforms detected by the six-axis force sensor 8 is stored in the controller 3. A threshold defined as the number of waveforms of the detection values detected by the six-axis force sense detection device 8 when the assembly component P1 is successfully assembled to the assembly target component P2 and stored in the control means 3. If the value is equal to or greater than the value, in step Sq15, the waveforms of the detection values detected by the six-axis force sense detection device 8 are totaled, divided by the number of measurements, and the part P2 to be mounted of the part P1 to be mounted. When the assembling of the six-axis force sense detector 8 is successful, an average waveform of the waveform of the detection value detected by the six-axis force sense detection device 8 is created.
[0165]
Next, when the assembling part P1 is successfully assembled to the to-be-assembled part P2 obtained in step Sq15, the average waveform of the waveform of the detection value detected by the six-axis force sense detection device 8 is measured. Calculating the degree of correlation between each of the waveforms of the detection values detected by the six-axis force sense detection device 8 when the assembling part P1 is successfully assembled to the to-be-assembled part P2, stored in the control means 3. I do.
[0166]
Next, in step Sq17, the correlation degree obtained in step Sq15 and the six-axis force sense detection device 8 when the assembly of the assembly component P1 to the assembly target component P2 created in step Sq15 is successful. Calculates the average and variance of the degree of correlation between the average waveform and each measured waveform based on the average waveform of the detected value detected by the control unit.
[0167]
Next, a threshold value for determining whether or not the assembly of the assembly component P1 to the assembly component P2 is successful is obtained from the following equation, and this is determined by assembling the assembly component P1 to the assembly component P2. Is used as a threshold value for determining whether or not was successful.
Threshold = average of correlation degree−3 × variance of correlation degree
According to the above method, the threshold value is uniquely determined.
[0168]
On the other hand, the assembling of the assembling part P1 to the assembling part P2 is performed, for example, in a range in which even if a little unreasonable force is applied to the assembling part P1 and / or the assembling part P2, mechanical destruction does not occur. If so, there may be no problem even if it is determined to be successful.
FIG. 26 is a flowchart schematically showing a method for accurately determining whether or not the assembly of the assembly component P1 to the assembly target component P2 has succeeded in consideration of an actual surface.
[0169]
In this flowchart, each of steps Sa7 and Sa10 corresponds to each of steps Sa7 and Sa10 shown in FIG.
In this flowchart, in step Sr11, a specific one-axis component is detected from the detection value detected by the six-axis force sense detection device 8 and is stored in the control unit 3 in advance to the component P2 to be mounted of the component P1. Of the detection value in the case where the attachment is successful, and a specific one-axis component of the detection value detected by the six-axis force sense detection device 8 when the assembly component P1 is actually attached to the assembly target component P2. The cross-correlation function value is evaluated with respect to the change in the detected value of..., And in step Sr12, when this cross-correlation function value is used as a threshold value, If the change in the detection value of the detection value detected by the six-axis force sensor 8 for a specific one-axis component is equal to or greater than this threshold value, the assembly of the assembly component P1 to the assembly target component P2 is performed. It is determined that it succeeded (step Sr13 On the other hand, when the assembling part P1 is actually attached to the to-be-assembled part P2, the change in the detection value of the specific one-axis component of the detection value detected by the six-axis force sense detection device 8 indicates this change. If the value is equal to or smaller than the threshold value, it is determined that the assembly of the assembled component P1 to the assembled component P2 has failed (see step Sr14).
[0170]
FIG. 27 shows the success or failure of the assembly of the part P1 and the part P2 to be assembled based on the moment about the X axis in the six-axis force sense amount actually measured by the six-axis force sense detection device 8. Is obtained by calculating the degree of correlation.
The correlation is calculated for data 0.3 seconds before the current measurement. In this example, the generated moment becomes small in the vicinity of 1.1 seconds or more and 1.2 seconds or less, and the noise components included in the waveform are compared with each other. Depressed until. In this example, in order to prevent erroneous determination of the success / failure of the assembling of the assembled part P1 and the to-be-attached part P2 due to this phenomenon, in this example, the success / failure determination of the assembling of the assembling part P1 and the to-be-assembled part P2 is performed. Is set to 0.3 seconds or more and 0.9 seconds or less.
[0171]
As a result, as is clear from FIG. 27, the judgment threshold value for judging the success or failure of assembling the assembled part P1 and the to-be-assembled part P2 can be set to a high value of about 0.8.
Further, in this example, the calculation section of the correlation is set to a constant value of 0.3 second. However, if the calculation section of the correlation is changed depending on the shape of the waveform, the correlation of the noise component included in the waveform is calculated. Drop can be prevented.
[0172]
【The invention's effect】
As described above in detail, in the component assembling apparatus according to the first aspect, the six-axis force sense detecting device is provided not on the robot means but on the assembling jig. When the part to be mounted comes into contact with the part to be mounted placed on the mounting jig, the mechanical change caused by the contact between the part to be mounted and the part to be mounted is transmitted to the mounting jig, and the six axes are moved. It is transmitted to the force sensor. Therefore, in this component assembling apparatus, it is possible to directly know, in real time, the contact state between the assembled component and the component to be assembled, which cannot be detected by the component assembling device provided only on the robot means side. it can. Thereby, according to the contact state between the assembly part and the part to be assembled, the position and the posture of the robot means are controlled, and after the assembly part is brought into the optimal contact state for assembling to the part to be assembled, Since the part to be assembled can be assembled to the part to be assembled, the part to be assembled can be efficiently assembled to the part to be assembled.
[0173]
Further, based on the position and orientation information of the assembly component and the component to be assembled recognized by the visual recognition device, the position and orientation of the robot means are controlled to bring the assembly component into contact with the assembly component. Does not rely on the visual recognition device, but assembles the assembled component to the component to be assembled based on the detection value detected by the six-axis force sense detection device provided on the assembly jig. Obtains information on the side of the assembled part and the part to be assembled that cannot be detected by the visual recognition device and that cannot be seen from the visual recognition device (not shown), and information on the depth of the assembled part and the part to be assembled. Since the position and orientation of the robot means can be controlled based on three-dimensional information instead of two-dimensional information, the assembled component can be assembled to the assembled component. Can be more accurately assembled to attached parts
[0174]
Furthermore, in this component assembling apparatus, after the assembled component is brought into contact with the to-be-assembled component, the six-axis force sense detection device provided on the visual assembling jig detects the assembled component and the to-be-assembled component. Since more information than the information that can be detected by the visual recognition device, such as information on the side invisible from the visual recognition device (not shown) and information on the depth of the assembled component and the mounted component, can be detected, After the assembly component is brought into contact with the assembly component, it is not necessary to analyze the detection information of the visual recognition device. This makes it possible to control the position and orientation of the robot means based on a small amount of information processing and to assemble the assembling parts to the assembling parts, thereby improving the assembling of the assembling parts to the assembling parts. Can be done fast.
[0175]
Also, in this component assembling apparatus, the assembled component is assembled to the component to be assembled after the optimal contact state is established for assembling the component to the component to be assembled. Since the control of the position and orientation of the robot means at the time of assembling to the assembled parts requires only routine control, the operation program for controlling the position and orientation of the robot means controls the position and orientation of the robot means. A simple operation program such as providing a teaching point to be performed for each selected operation pattern can be provided. As described above, in this component assembling apparatus, the operation program for controlling the position and orientation of the robot means can be simplified, and accordingly, the time for information processing can be shortened. In addition, the operation of the assembling work robot becomes faster, and the assembling parts can be assembled to the to-be-attached parts more quickly. In addition, the operation program can be easily modified.
In addition, in this component assembling apparatus, in the contact state determination step, the contact state between the assembled component and the component to be assembled can be determined based on the Euclidean distance. The amount is small. Accordingly, the operation of the component assembling apparatus is accelerated, and the assembly of the assembled component to the component to be assembled can be performed more quickly.
[0176]
In the component assembling apparatus according to claim 2, in the contact state determination step, in the average value measurement step, the average value of each of the six components of the detection values detected by the six-axis force sense detection device over a certain period of time, Since it is used as the detection value detected by the six-axis force sense detection device, the contact state between the assembled component and the assembled component can be accurately determined in the contact state determination step.
[0177]
In the component assembling apparatus according to the third aspect, since the six-axis force sense detection step, the contact state determination step, and the robot means control step are repeatedly performed, the position and orientation of the robot means are changed little by little. With this setting, the contact state between the assembled component and the component to be assembled can be further improved to the optimal contact state for assembly.
[0179]
Claim4In the component assembling apparatus described in (1), when the operation pattern other than the operation pattern corresponding to the optimum value is frequently selected in the selection step of the contact state determination step, the initial value (default value) Is changed to the setting value corresponding to the most selected operation pattern from the latest stored multiple operation patterns, so the optimal value is changed to the setting value corresponding to the most selected operation pattern. After that, the frequency of outputting the change signal for changing from the initial value (default value) decreases. Thereby, in the assembling step, in most cases, the position and orientation of the robot means can be controlled with the initial value (default value) without outputting a change signal for changing from the initial value (default value). As a result, the time required for the assembling step can be reduced by the amount that the change signal for changing from the initial value (default value) need not be output.
[0180]
Claim5In the component assembling apparatus described in (1), the setting value of the 6-axis force sense detection device stored in the control table of the control means is detected by contacting the assembled component and the component to be assembled a plurality of times in the same state. Since the average value is used, the influence of disturbance such as noise is reduced. As described above, in the component assembling apparatus, in the contact state determination step, the detection value detected by the six-axis force sense detection device is compared with the highly accurate set value, so that the assembly component and the component to be assembled are compared. The contact state with the can be accurately determined.
[0181]
Claim6In the component assembling device described inThe 6-axis force sense detection device is provided not on the robot means but on the assembly jig. When the part to be mounted comes into contact with the part to be mounted placed on the mounting jig, the mechanical change caused by the contact between the part to be mounted and the part to be mounted is transmitted to the mounting jig, and the six axes are moved. It is transmitted to the force sensor. Therefore, in this component assembling apparatus, it is possible to directly know, in real time, the contact state between the assembled component and the component to be assembled, which cannot be detected by the component assembling device provided only on the robot means side. it can. Thereby, according to the contact state between the assembly part and the part to be assembled, the position and the posture of the robot means are controlled, and after the assembly part is brought into the optimal contact state for assembling to the part to be assembled, Since the part to be assembled can be assembled to the part to be assembled, the part to be assembled can be efficiently assembled to the part to be assembled.
Further, based on the position and orientation information of the assembly component and the component to be assembled recognized by the visual recognition device, the position and orientation of the robot means are controlled to bring the assembly component into contact with the assembly component. Does not rely on the visual recognition device, but assembles the assembled component to the component to be assembled based on the detection value detected by the six-axis force sense detection device provided on the assembly jig. Obtains information on the side of the assembled part and the part to be assembled that cannot be detected by the visual recognition device and that cannot be seen from the visual recognition device (not shown), and information on the depth of the assembled part and the part to be assembled. Since the position and orientation of the robot means can be controlled based on three-dimensional information instead of two-dimensional information, the assembled component can be assembled to the assembled component. Can be more accurately assembled to attached parts
Furthermore, in this component assembling apparatus, after the assembled component is brought into contact with the to-be-assembled component, the six-axis force sense detection device provided on the visual assembling jig detects the assembled component and the to-be-assembled component. Since more information than the information that can be detected by the visual recognition device, such as information on the side invisible from the visual recognition device (not shown) and information on the depth of the assembled component and the mounted component, can be detected, After the assembly component is brought into contact with the assembly component, it is not necessary to analyze the detection information of the visual recognition device. This makes it possible to control the position and orientation of the robot means based on a small amount of information processing and to assemble the assembling parts to the assembling parts, thereby improving the assembling of the assembling parts to the assembling parts. Can be done fast.
Also, in this component assembling apparatus, the assembled component is assembled to the component to be assembled after the optimal contact state is established for assembling the component to the component to be assembled. Since the control of the position and orientation of the robot means at the time of assembling to the assembled parts requires only routine control, the operation program for controlling the position and orientation of the robot means controls the position and orientation of the robot means. A simple operation program such as providing a teaching point to be performed for each selected operation pattern can be provided. As described above, in this component assembling apparatus, the operation program for controlling the position and orientation of the robot means can be simplified, and accordingly, the time for information processing can be shortened. In addition, the operation of the assembling work robot becomes faster, and the assembling parts can be assembled to the assembling parts more quickly. In addition, the operation program can be easily modified.
In addition, in this part assembling device,In the contact state determination step, in the six-axis force sense detection step, not the Euclidean distance, but also the variation of data is taken into consideration using the Mahalanobis general distance in consideration of the variation of data. The contact state with the part to be assembled can be determined more accurately. Claim7In the component assembling apparatus described in (1), when the operation pattern other than the operation pattern corresponding to the optimum value is frequently selected in the selection step of the contact state determination step, the initial value (default value) Is changed to the setting value corresponding to the most selected operation pattern from the latest stored multiple operation patterns, so the optimal value is changed to the setting value corresponding to the most selected operation pattern. After that, the frequency of outputting the change signal for changing from the initial value (default value) decreases. Thereby, in the assembling step, in most cases, the position and orientation of the robot means can be controlled with the initial value (default value) without outputting a change signal for changing from the initial value (default value). As a result, the time required for the assembling step can be reduced by the amount that the change signal for changing from the initial value (default value) need not be output.
[0182]
Claim8In the component assembling apparatus described in (1), the coordinate axis of the six-axis force sense detecting device coincides with the assembling direction in which the robot unit assembles the assembling part with the to-be-assembled part mounted on the assembling jig. In the assembling step, the position and posture of the robot means are not moved three-dimensionally, but the coordinate axes of the six-axis force sense detection device are selected from among the three axes defining the three dimensions. The two-dimensional relationship between the position and the posture of the axis in which the assembling direction for assembling the assembling part to the assembling part to be mounted on the assembling jig and one of the other two axes. By simply defining and controlling only the components, the assembled component can be moved from the initial position before the assembly to the target position after the assembly. As described above, in this component assembling apparatus, the relationship between the positional relationship between the component to be assembled and the component to be assembled and the detection value of the six-axis force sense detection device is a simple two-dimensional relationship. I have. For this reason, in the assembling step, when correcting the assembling trajectory of the robot means, the assembling parts of the robot means in the two axes defining the position and the posture of the robot means are assembled to the assembling parts. Since it is only necessary to correct the teaching point of one axis other than the axis coinciding with the mounting direction, it is possible to easily correct the mounting locus of the robot means when mounting the mounted part to the mounted part. .
[0183]
Claim9In the component assembling apparatus described in the above, in a predetermined process during the assembling step, the contact state between the to-be-assembled part and the to-be-attached part is determined based on the detection value detected by the six-axis force sense detection device. Since the contact state is optimal for assembling in the predetermined process of the assembling step, the assembling step of assembling the assembling component to the assembling component can be further optimized.
[0184]
Claim10According to the component assembling apparatus described in the above, the direction of misalignment between the to-be-assembled part and the to-be-assembled part is estimated from the detection value detected by the six-axis force sense detection device, and after the assembling work is completed. Since the teaching point of the predetermined process of the assembling step is corrected and the verification of the previous assembling step is utilized in the next assembling step, a highly reliable component assembling state optimizing step is constructed. can do.
[0185]
Claim11In the part assembling apparatus described in the above, in a predetermined process of the assembling step, if the detected value detected by the six-axis force sense detecting device is different from the set value, the assembling part being assembled and the assembling target are After estimating the direction of misalignment with the attached part, changing the teaching point of the robot means in a predetermined process, controlling the position and orientation of the robot means according to the changed teaching point, a 6-axis force sense detection device Is compared with the set value, and if the detected value and the set value match, the predetermined process of the assembling step is performed. A component assembly state optimization step can be constructed.
[0186]
Claim12In the component assembling apparatus described in the above, utilizing this fact, the detection value of the six-axis force sense detection device is not viewed in all six axes, but an arbitrary one-axis component of the detection value of the six-axis force sense detection device is used. The control means of the robot means stores in advance the change of one axis of the detection value detected by the six-axis force sense detection device when the assembly of the assembly component to the assembly component is successful. When the assembling part is actually assembled to the to-be-assembled part, the corresponding one-axis change is selected from among the six-axis detection values detected by the six-axis force sense detection device and the control means of the robot means. When the stored component is successfully assembled to the component to be assembled, the correlation is evaluated by comparing the change in the detected value detected by the six-axis force sense detection device with one axis, and the degree of correlation. Since it is determined whether failure or success, the degree of correlation is evaluated for all six axis components. Compared to case, with a small amount of calculation, accurate, or failure assembled to the assembly parts assembled part is successful, it can be determined.
[0187]
ClaimThirteenIn the component assembling device described in the above, stored in the control table of the control means, the change of one axis of the six-axis force sense detection device, the set value when the assembly of the assembled component to the component to be assembled is successful, Since the detected values detected by the 6-axis force sense detection device are taken multiple times and the average value of the multiple detected values is used when the assembly component is successfully assembled to the assembly target component. The effect is smaller. As described above, in this component assembling apparatus, whether or not the assembling of the assembled component to the to-be-assembled component has succeeded is determined by the six-axis force sense detecting device corresponding to one axis stored in the control means. Is compared with the set value of the uniaxial change in the case where the assembly of the assembled part to the part to be assembled is highly accurate, which is stored in the control means. It is possible to accurately determine whether or not the mounting to the part to be mounted has been successful.
[0188]
Claim14In the component assembling apparatus described in the above, the comparison section is limited to determine whether or not the assembly of the assembled component to the component to be assembled is successful. It is possible to accurately determine whether or not the assembling was successful. ClaimFifteenIn the component assembling apparatus described in the above, the change of one axis stored in the control means as a detection value of one axis from the six-axis force sense detection device when the assembly of the assembled part to the part to be assembled is successful, From the start of the assembling work for assembling the assembling part to the assembling part to the end of the assembling work, the detection value of one axis from the six-axis force sense detection device and the comparison section are moved with time, During the assembling of the assembled component to the assembled component, it is possible to determine whether or not the assembly of the assembled component to the assembled component is successful. Further, by this, when the assembly of the assembly component to the component to be assembled fails, it is possible to easily identify in which step of the assembly step the defect has occurred, so that the robot unit in the assembly step can be easily identified. Correction of the assembly locus can be easily performed.
[0189]
Claim16In the component assembling device described in the above, the comparison section is changed by a waveform of a uniaxial change of a detection value detected by the six-axis force sense detection device when the assembly of the assembled component to the component to be assembled is successful. With this configuration, it is possible to accurately determine whether or not the assembly of the assembly component to the assembly component has succeeded. Claim17In the component assembling apparatus described in (1), when the assembled part is actually assembled to the part to be assembled, the detected value of one axis detected by the six-axis force sense detection device and the assembly of the assembled part to the part to be assembled are described. Is successful, the evaluation value of the degree of correlation with the change in one axis of the detection value detected by the 6-axis force sense detection device is the change in the one axis when the assembly of the assembled part to the part to be assembled is successful. Since the failure was determined when the correlation value became equal to or less than the threshold value of the correlation degree determined by the waveform group, it was determined whether or not the actual assembly of the assembled component to the assembled component was successful. Accurate and easy.
[0190]
Claim18In the component assembling apparatus described in the above, the value obtained by adding, subtracting, multiplying, and dividing the value of the threshold value of the degree of correlation determined by the waveform group of uniaxial change when the assembly of the assembled component to the component to be assembled is successful. Since the threshold value is set, the component assembling apparatus can be set so as to be suitable for practical use. Claim19In the component assembling apparatus described in (1), the evaluation of the degree of correlation is based on a change in one axis corresponding to the detected value detected by the six-axis force sense detection device when the assembled part is actually assembled into the part to be assembled, and The cross-correlation function value with the detected value detected by the 6-axis force sense detecting device when the assembling of the assembling component to the assembling component succeeds, which is stored in advance in the control means of the means. Therefore, when the assembled component is actually assembled to the component to be assembled, the success or failure of the attachment of the assembled component to the component to be assembled can be accurately determined.
[0191]
Claim20In the component assembling apparatus described in (1), the evaluation of the degree of correlation is based on a change in one axis corresponding to the detected value detected by the six-axis force sense detection device when the assembled part is actually assembled into the part to be assembled, and When the assembling of the assembling part to the assembling part succeeds, the correlation coefficient of the correlation value with the uniaxial change of the detection value detected by the six-axis force sense detecting device, which is stored in advance in the control means of the means, is successfully measured. Since the evaluation is made based on the value, when the assembly component is actually assembled to the assembly component, the success or failure of the attachment of the assembly component to the assembly component can be accurately determined.
[Brief description of the drawings]
FIG. 1 is a perspective view schematically showing an example of a component assembling apparatus according to the present invention.
FIG. 2 is an explanatory diagram schematically illustrating a relationship between coordinate axes of a six-axis force sense detection device provided in the component assembling device shown in FIG. 1 and an assembling direction of the assembling component to an assembling component; It is.
FIG. 3 is an exploded perspective view exemplarily showing a product assembled using the component assembling apparatus shown in FIG.
FIG. 4 is an exploded perspective view schematically showing the part assembling apparatus shown in FIG. 1 in the product shown in FIG.
FIG. 5 is a process diagram schematically illustrating a process of assembling the assembled component to the component to be assembled using the component assembling apparatus illustrated in FIG. 1;
FIG. 6 is a flowchart schematically showing an assembling operation of the component assembling apparatus shown in FIG. 1;
FIG. 7 is a flowchart schematically illustrating an operation of bringing the assembled component into contact with the component to be assembled by the visual recognition means using the component assembling apparatus illustrated in FIG. 1;
FIG. 8 is a flowchart schematically showing a determination method using a Euclidean distance.
9 is an explanatory diagram schematically illustrating a control table stored in a control unit of the component assembling apparatus shown in FIG. 1. FIG.
FIG. 10 is a graph showing, with time, a force generated on a certain axis detected by a six-axis force sense detection device when an assembled component is brought into contact with an assembled component.
FIG. 11 is a flowchart schematically showing a method for effectively preventing erroneous determination of a contact state between an assembled component and a component to be assembled.
FIG. 12 is a flowchart schematically showing a discrimination method using Mahalanobis' generalized distance.
FIG. 13 is a flowchart schematically showing a method of correcting a contact state between an assembly component and a component to be assembled so that the contact state is optimal for assembly.
FIG. 14 is a flowchart schematically showing a method for facilitating the correction of the assembling trajectory of the movable part.
FIG. 15 is a diagram showing a reliability in which the next assembling work can be further optimized by referring to such a failure example when the assembling of the assembled part to the to-be-attached part fails. 9 is a flowchart schematically showing a method capable of constructing a component assembling state optimizing step having a high level.
FIG. 16 is a flowchart schematically showing a method of constructing a highly reliable component assembly state optimizing step while continuing the operation.
FIG. 17 is a flowchart schematically showing a method for more accurately determining a contact state between an assembly component and a component to be assembled and shortening a time required for an assembly step.
FIG. 18 is a flowchart schematically showing a method for determining whether the assembling of the assembled component to the assembled component has succeeded or failed with a small number of calculations.
FIG. 19 is a flowchart schematically showing a method for accurately determining whether the assembling of the assembled component to the assembled component has succeeded or failed.
FIG. 20 is a flowchart schematically illustrating a method for accurately determining whether the assembly of the assembled component to the assembled component has succeeded or failed.
FIG. 21 is a flowchart schematically showing a method for accurately determining whether the assembly of the assembled component to the assembled component has succeeded or failed.
FIG. 22 is a flowchart schematically showing a method for enabling real-time determination of whether or not the assembly of the assembly component P1 to the assembly target component P2 has been successful.
FIG. 23 is a flowchart schematically showing a method for accurately determining whether the assembly of the assembled component to the assembled component has succeeded or failed.
FIG. 24 is a flowchart schematically illustrating a method for accurately determining whether the assembly of the assembled component to the assembled component has succeeded or failed.
FIG. 25 is a flowchart schematically showing a method for determining whether or not the assembly of the assembled component to the assembled component is successful, based on a threshold value.
FIG. 26 is a flowchart schematically showing a method for accurately determining whether or not the assembly of the assembled component to the assembled component has succeeded in consideration of an actual surface.
FIG. 27 shows the degree of correlation between the success and failure of assembling the part to be assembled and the part to be assembled based on the moment about the X-axis in the six-axis force sense actually measured by the six-axis force sense detection device. Is obtained, and an example of actual execution is shown.
FIG. 28 is a perspective view schematically showing a conventional assembling work robot.
[Explanation of symbols]
1 Parts assembly equipment
2 Moving parts
3 control means
7 Visual recognition means
8 6-axis force sense detection device
9 Image analysis device
10 6-axis force sense analysis calculation device
W assembly jig

Claims (20)

Robot means for sequentially assembling the assembling parts to the assembling parts to be mounted on the assembling jig;
A visual recognition device provided for recognizing the position and orientation of the assembly component and the assembly target component,
A six-axis force sense detection device attached to the assembly jig,
By the visual recognition device, a recognition step of recognizing the position and orientation of the component to be mounted and the component to be mounted placed on the mounting jig,
In the recognition step, based on the position and orientation information of the assembled component and the component to be assembled recognized by the visual recognition device, controlling the position and orientation of the robot means, the assembled component is A contact step of contacting the part to be assembled;
In the contacting step, a contact state when the assembly component is brought into contact with the assembly target, a 6-axis force sense detection step of detecting using the 6-axis force sense detection device,
In the 6-axis force sense detection step, based on a detection value detected by the 6-axis force sense detection device, a contact state determination step of determining a contact state between the assembly component and the assembly target component,
In the contact state determination step, a robot means control step of controlling the position and orientation of the robot means, according to a determination result of a contact state between the assembly part and the assembly target part,
A contact state optimizing step of setting the contact state between the assembled component and the assembled component to a contact state optimal for assembly by the robot means control step;
The contact state optimizing step, after the assembly component and the component to be assembled are in an optimal contact state, after the assembly step of assembling the assembly component to the component to be assembled,
The assembling part is configured to be automatically attached to the to-be-attached part placed on the assembling jig ,
The robot means includes control means for operating the robot means in a plurality of operation patterns,
The control means includes:
A plurality of set values stored in advance as detection values detected by the six-axis force sense detection device;
A plurality of operation patterns provided to correspond to each of the plurality of set values and controlling a position and a posture of the robot means;
A control table, which is provided so as to correspond to each of the plurality of setting values and includes a Euclidean distance from each of the plurality of setting values to an optimum setting value and each of the plurality of values, is stored. Yes,
The contact state determining step includes:
In the six-axis force sense detecting step, a plurality of settings stored in the control table from detected values actually detected when the assembled part comes into contact with the part to be assembled in the six-axis force sense detection step. A distance calculation step of calculating a Euclidean distance to a set value determined as an optimum value among the values,
The Euclidean distance calculated in the distance calculation step is compared with the Euclidean distance stored in the control table, and the difference between the Euclid distances stored in the control table is the smallest value. Selecting an operation pattern corresponding to the distance of Euclidean
In the contact state optimizing step, a position and a posture of the robot unit are controlled according to the operation pattern selected in the contact state determining step . The 6-axis force sense detecting step includes: holding the assembled component in contact with the assembled component for a fixed time; and detecting a value detected by the 6-axis force sense detection device during the fixed time. An average value measuring step of calculating an average value for each of the six components. The component assembling device according to claim 1, wherein an average value of each of the six components of the detected value is used as a detected value detected by the six-axis force sense detecting device. The six-axis force sense detection step, the contact state determination step, and the robot are performed until the contact state between the assembly component and the component to be assembled reaches an optimal contact state for assembly. 3. The component assembling apparatus according to claim 1, wherein the means controlling step is repeatedly performed. In the selection step of the contact state determination step, among a plurality of setting values stored in advance as detection values detected by the six-axis force sense detection device, an operation pattern other than the operation pattern corresponding to the optimum value is frequently selected. When the operation is started, the most recently selected operation pattern is stored multiple times, and the set value corresponding to the most selected operation pattern among the stored multiple operation patterns is changed to the optimum value. The component assembling apparatus according to any one of claims 1 to 3, wherein: Each of the plurality of set values stored in advance in the control table of the control means and stored as detection values detected by the six-axis force sense detection device in the contacting step includes the mounting part and the mounting target part. The component assembling device according to any one of claims 1 to 4, wherein the component assembling device is an average value of detection values detected by the six-axis force sense detection device when the device is contacted a plurality of times in the same state. Robot means for sequentially assembling the assembling parts to the assembling parts to be mounted on the assembling jig
A visual recognition device provided for recognizing the position and orientation of the assembly component and the assembly target component,
A six-axis force sense detection device attached to the assembly jig,
By the visual recognition device, a recognition step of recognizing the position and orientation of the component to be mounted and the component to be mounted placed on the mounting jig,
In the recognition step, based on the position and orientation information of the assembled component and the component to be assembled recognized by the visual recognition device, controlling the position and orientation of the robot means, the assembled component is A contacting step of contacting the part to be assembled;
In the contacting step, a 6-axis force sense detection step of detecting a contact state when the assembly component is brought into contact with the assembly target component using the 6-axis force sense detection device,
In the 6-axis force sense detection step, based on a detection value detected by the 6-axis force sense detection device, a contact state determination step of determining a contact state between the assembly component and the assembly target component,
In the contact state determination step, a robot means control step of controlling the position and orientation of the robot means, according to a determination result of a contact state between the assembly part and the assembly target part,
A contact state optimizing step of setting the contact state between the assembly part and the assembly target part to an optimal contact state for assembly by the robot means control step;
The contact state optimizing step, after the assembly component and the component to be assembled are in an optimal contact state, after the assembly step of assembling the assembly component to the component to be assembled,
The assembly part is configured to be automatically assembled to a part to be mounted placed on the assembly jig,
The robot means includes control means for operating the robot means in a plurality of operation patterns,
The control means includes:
A plurality of set values stored in advance as detection values detected by the six-axis force sense detection device;
A plurality of operation patterns provided to correspond to each of the plurality of set values and controlling a position and a posture of the robot means;
A control table, which is provided so as to correspond to each of the plurality of set values and includes a Mahalanobis general distance from each of the plurality of set values to an optimum set value to each of the plurality of values, is stored. And
The contact state determination step,
In the six-axis force sense detecting step, a plurality of set values stored in the control table from detected values actually detected when the assembled part comes into contact with the part to be assembled in the six-axis force sense detection step. A distance calculation step of obtaining a Mahalanobis's general distance up to the optimal set value;
The Mahalanobis general distance calculated in the distance calculation step is compared with the Mahalanobis general distance stored in the control table, and the difference between each of the Mahalanobis general distances stored in the control table is calculated. Selecting a motion pattern corresponding to the Mahalanobis' generalized distance that is the smallest value,
Wherein the contact state optimization step, according to the operation pattern selected by the contact determination step, the position and the parts assembly and wherein the controlling the posture of the robot means. In the selection step of the contact state determination step, among a plurality of setting values stored in advance as detection values detected by the six-axis force sense detection device, an operation pattern other than the operation pattern corresponding to the optimum value is frequently selected. When the operation is started, the most recently selected operation pattern is stored multiple times, and the set value corresponding to the most selected operation pattern among the stored multiple operation patterns is changed to the optimum value. The component assembling apparatus according to claim 6 , wherein The coordinate axis of the 6-axis force sense detection device and the assembly direction in which the robot unit assembles the assembly component to the assembly component mounted on the assembly jig. Item 10. The component assembling apparatus according to any one of Items 1 to 7 . In a certain step of the assembling step, based on a detection value detected by the six-axis force sense detection device, controlling the position and orientation of the robot means, in the predetermined step of the assembling step, 2. The component assembling state optimizing step further comprising a part assembling state optimizing step of setting a contact state between the assembling part and the to-be-attached part to an optimal contact state for assembling in a predetermined process of the assembling step. 9. The component assembling apparatus according to any one of 8 . The robot means is configured to execute each of the operation patterns stored in the control table of the control means based on a teaching point, and perform the component assembling state optimizing step in the assembling step. In a predetermined step, the direction of misalignment between the part to be assembled and the part to be assembled is estimated from the detection value detected by the six-axis force sensor, and The component assembling apparatus according to claim 9 , wherein a teaching point of a predetermined process of the attaching step is corrected. The robot means is configured to execute each of the operation patterns stored in the control table of the control means based on a teaching point, and perform the component assembling state optimizing step in the assembling step. In a predetermined step, a direction of a positional shift between the part to be mounted and the part to be mounted is estimated from a detection value detected by the six-axis force sense detection device, and the predetermined step of the mounting step is performed. And the position and orientation of the robot means are controlled by the corrected teaching points. After the detection value detected by the six-axis force sense detection device reaches a predetermined set value, The component assembling apparatus according to claim 9 , wherein a predetermined process of the attaching step is performed. The control means of the robot means previously stores a change in one axis of the detection value detected by the six-axis force sense detection device when the assembly of the assembly component to the assembly component is successful. Determining whether or not the actual assembly of the assembled component to the component to be assembled has succeeded by determining whether the six-axis force sense detection device is to be used when the assembly component is actually assembled to the component to be assembled. The change in one axis corresponding to the detected value, and the six-axis force stored in advance in the control means of the robot means when the assembling of the assembling part to the assembling part is successful. The component assembling device according to any one of claims 1 to 11 , wherein the component assembling device is configured to evaluate the degree of correlation with a change in one axis of the detection value detected by the sense detection device. In the control means of the robot means, in advance, to store, when the assembly of the assembled part to the part to be assembled is successful, the change of one axis of the detection value detected by the six-axis force sense detection device, The detected value detected by the six-axis force sense detection device a plurality of times when the assembling component is successfully assembled to the to-be-attached component is an average value of the detected values of the plurality of times. 13. The component assembling apparatus according to item 12 . When the assembling part is actually assembled to the to-be-assembled part, the change in one axis corresponding to the detection value detected by the six-axis force sense detection device and the control means of the robot means are stored in advance. In the case where the assembling part is successfully assembled to the to-be-assembled part, the evaluation of the degree of correlation with the uniaxial change of the detection value detected by the six-axis force sensor is performed by limiting the comparison section. was performed, parts assembling device according to claim 12 or claim 13. The component assembling apparatus according to claim 14 , wherein the comparison section is moved with time. The width of the comparison section is changed according to a waveform of a uniaxial change of a detection value detected by the six-axis force sensor when the assembly of the assembly component to the assembly component is successful. A component assembling apparatus according to claim 14 or claim 15 . The 6-axis force sense detection device detects whether or not the actual assembly of the assembled component to the assembled component has succeeded, when actually assembling the assembled component to the assembled component. The detected value of the one axis, the evaluation value of the degree of correlation with the change of the one axis of the detection value detected by the six-axis force sense detection device, when the assembly of the assembled component to the component to be assembled is successful, When the assembling of the assembling part to the to-be-assembled part succeeds, when it becomes equal to or less than the threshold value of the degree of correlation determined by the waveform group of uniaxial change, it is determined to be failure. Item 14. The component assembling apparatus according to any one of Items 12 to 16 . The determination as to whether or not the actual assembling of the assembling component to the to-be-attached component is successful is performed when the assembling component is actually assembled to the to-be-attached component. The evaluation value of the degree of correlation between the detected value of the detected one axis and the change of the detected value of the six-axis force sense detection device in the direction of one axis when the assembling part is successfully assembled to the to-be-assembled part. However, at the time when the value of the threshold value of the degree of correlation determined by the group of uniaxial changes when the assembling of the assembled component to the assembled component succeeds is equal to or less than a value obtained by adding, subtracting, multiplying, and dividing. The component assembling apparatus according to any one of claims 12 to 16 , wherein the apparatus is determined to have failed. When the assembling part is actually assembled to the to-be-assembled part, the change in one axis corresponding to the detection value detected by the six-axis force sense detection device and the control means of the robot means are stored in advance. When the assembling part is successfully assembled to the to-be-assembled part, the evaluation of the degree of correlation with the uniaxial change of the detection value detected by the six-axis force sensor is performed by comparing the assembling part with the When actually assembling to the part to be assembled, a change in one axis corresponding to the detection value detected by the six-axis force sense detection device and the control means of the robot means are stored in advance, 19. The method according to claim 12 , wherein when the assembling to the part to be assembled is successful, the evaluation is made by a cross-correlation function value with a change in one axis of a detection value detected by the six-axis force sense detection device. A component assembling apparatus according to any one of the above. When the assembling part is actually assembled to the to-be-assembled part, the change in one axis corresponding to the detection value detected by the six-axis force sense detection device and the control means of the robot means are stored in advance. When the assembling part is successfully assembled to the to-be-assembled part, the evaluation of the degree of correlation with the uniaxial change of the detection value detected by the six-axis force sensor is performed by comparing the assembling part with the When actually assembling to the part to be assembled, a change in one axis corresponding to the detection value detected by the six-axis force sense detection device and the control means of the robot means are stored in advance, 19. The method according to claim 12 , wherein when the assembling to the to-be-attached part is successful, the evaluation is performed based on a value of a correlation coefficient with a uniaxial change in a detection value detected by the six-axis force sensor. The component assembling apparatus according to any one of the above.

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