JP5283081B2 - Assembly equipment - Google Patents

Abstract

<P>PROBLEM TO BE SOLVED: To provide an assembling device in which an accuracy of a moving operation of a member does not need to be especially improved, an insertion of a member having a protruding part into a recessed part is completed in a short period of time and a carried weight or a movable range of a robot arm is not limited. <P>SOLUTION: The assembling device is provided with: a robot arm 1 which grips and moves a part 101 having a recessed part or a part 102 having a protruding part, and inserts the protruding part of the parts 102 having the protruding part into a recessed part 103; a holding base 4 for holding the part 102 having the protruding part or the part 101 having the recessed part; and a passive mechanism 5 for supporting the holding base 4 so as to be movable in a direction orthogonal to an inserting direction and/or a rotating direction on an axis orthogonal to the inserting direction. When the robot arm 1 allows the protruding part into the recessed part 103, the passive mechanism 5 is displaced by a translational force in the inserting direction and/or a moment on the axis orthogonal thereto, which the member fixed to the holding base 4 receives, to insert the protruding part of the parts 102 having the protruding part into the recessed part 103. <P>COPYRIGHT: (C)2010,JPO&amp;INPIT

Description

  The present invention is a member provided with a recess or a hole by gripping and moving either a member provided with a recess or a hole (hole part) and a member having a protrusion or a rod-like member (shaft part). The present invention relates to an assembling apparatus for inserting a convex portion or a rod-like member into the concave portion or the hole.

  Conventionally, a member having a convex portion, for example, a rod-shaped member (shaft component) is gripped and moved, and the rod-shaped member is a member provided with a concave portion, for example, a member provided with a hole (hole component). An assembling apparatus for inserting and fitting into (recessed part) has been proposed.

  In such an assembly apparatus, a member provided with a hole is fixed and supported, and the misalignment is more than the difference between the inner diameter of the hole of this member and the outer diameter of the rod-shaped member (clearance between the hole and the rod-shaped member). It has been proposed that the rod-shaped member can be moved and operated with high accuracy so that the rod-shaped member can be inserted into the hole.

  As such an assembling apparatus, Patent Document 1 discloses that a robot arm is provided with a force sensor, a rod-shaped member is gripped by the robot arm, and the rod-shaped member is inserted into a hole of a member provided with a hole. The force (reaction force) received when the tip of the rod-shaped member comes into contact with the force sensor is detected by the force sensor, and the rod-shaped member is moved according to the direction of the received force to perform the insertion operation again. A pin insertion device has been proposed.

  Further, as such an assembling apparatus, in Patent Document 1, a force sensor and a micro-motion actuator are provided in a robot arm, a rod-like member is gripped by the robot arm, and the rod-like member is a member provided with a hole. The force sensor detects the force (reaction force) that the tip of the rod-shaped member comes into contact with when trying to insert it into the hole, and moves the rod-shaped member by operating the actuator according to the direction of the received force. An assembly apparatus is described in which a re-insertion operation is performed.

  Conventionally, a robot arm is provided with a passive mechanism that has elasticity or freely moves in the translational and torsional directions. The robot arm grips the rod-like member, and the rod-like member is provided with a hole. The assembly is such that when the tip of the rod-shaped member comes into contact with it, the position and posture of the passive mechanism changes according to the force (reaction force) that the rod-shaped member abuts against and the rod-shaped member moves to perform the insertion operation. A device has been proposed.

JP 2003-71760 A

  By the way, in the above-described conventional assembly apparatus, in the case where the misalignment is configured to be smaller than the clearance between the hole and the rod-shaped member, it is necessary to perform the movement operation of the rod-shaped member with extremely high accuracy. When handling precision parts, since the clearance is extremely small, backlash and minute deflection of the apparatus also have a significant influence, making it difficult to configure and use the apparatus. That is, it is necessary to prepare a jig and a gripping means that can grip and fix a member with extremely high accuracy, and it is necessary to provide precise teaching about the operation of the apparatus. Such teaching must be carried out every time the type of member is changed, and is extremely complicated.

  In addition, in the assembly apparatus described in Patent Document 1 and the assembly apparatus provided with an actuator for further minute operation, it is necessary to provide many mechanisms such as a force sensor and an actuator at the tip of the robot arm. There is a problem that the load capacity of the robot arm is limited.

  In addition, in an assembly apparatus in which a passive mechanism is provided in the robot arm, there is a problem that a member gripped by the operation of the robot arm vibrates, and the insertion operation cannot be performed until the vibration is settled, so that a quick operation cannot be performed. Further, when the robot arm is turned sideways, the tip side of the passive mechanism descends downward due to gravity, so that only the vertical insertion operation can be performed. Therefore, it is necessary to provide a lock mechanism for passive operation, or to provide a sensor for detecting the position and orientation of the gripped member, which complicates the apparatus configuration.

  Further, in these assembling apparatuses, there is a problem that the tip end portion of the robot arm becomes long, and it is necessary to move the robot arm largely in order to change the posture of the gripped member by a predetermined amount, and the movable range is restricted. is there.

  Therefore, the present invention has been made in view of the above circumstances, and its purpose is to provide a convex portion or a rod-like member to a concave portion or a hole without the necessity of particularly improving the accuracy of the member moving operation. Another object of the present invention is to provide an assembling apparatus that can complete the insertion in a short time and further does not limit the loadable weight and movable range of the gripping means (robot arm).

  In order to solve the above-described problems and achieve the above object, an assembling apparatus according to the present invention has any one of the following configurations.

[Configuration 1 ]
Gripping means for gripping and moving one of the member provided with the recess or the hole, the member provided with the protrusion or the rod-like member, and moving and operating the recess or hole, and the recess or The holding base that holds the other of the member provided with the hole and the member provided with the convex portion or the rod-like member, and the holding base can be moved in the direction orthogonal to the insertion direction and the rotation direction around the axis orthogonal to the insertion direction. A passive mechanism supported on the holding base, a displacement sensor provided on the holding base for measuring the displacement of the passive mechanism, and a control means for controlling the gripping means according to the detection result of the displacement sensor. The control means is fixed to the holding base. The displacement amount of the passive mechanism before fixing the member to be held to the holding table is recorded, and the passive mechanism generated by the bias of the center of gravity of the member after fixing the member fixed to the holding table to the holding table is recorded. Record displacement In advance, when the gripping means is tried to insert a protrusion or bar member in the recess or hole, in the case where the peripheral portion of the tip and the recess or hole of the protrusion or rod member is in contact with, the holder Record the amount of displacement of the passive mechanism when the protrusion or rod-like member is inserted into the recess or hole due to the displacement of the passive mechanism due to the translational force and / or moments about these axes that the fixed member receives, and When the gripping means inserts the convex portion or rod-shaped member into the concave portion or hole, the displacement amount of the passive mechanism recorded when the convex portion or rod-shaped member is inserted into the concave portion or hole, and the recorded holding table The gripping means is controlled in accordance with the difference in the displacement amount of the passive mechanism before and after mounting the fixed member, and the convex portion or the rod-shaped member is inserted into the concave portion or the hole .

That is, if the member fixed to the holding base has a bias in the center of gravity, the passive mechanism is displaced just by placing the member on the holding base, so measure the displacement of the passive mechanism before and after mounting, The movement starting point of the gripping means is changed by the amount of displacement of the passive mechanism by placing it, and the gripping means is controlled based on the displacement of the passive mechanism when the rod-shaped member is inserted into the hole. is there.
The displacement of the passive mechanism may be any degree of freedom of three translational degrees of freedom and three degrees of freedom of rotation. For example, the displacement of the passive mechanism may be two degrees of freedom of the translation axis orthogonal to the insertion direction and two degrees of freedom around these axes.

[Configuration 2 ]
Grasping means for gripping and moving either a member provided with a recess or a hole, a member provided with a projection or a rod-like member, and moving the operation, and a recess or hole A holding base for holding the other of the member provided with the convex member and the rod-like member, and the holding base can be moved in a direction orthogonal to the insertion direction and a rotation direction around an axis orthogonal to the insertion direction. A passive mechanism to be supported; a displacement sensor provided on the holding base for measuring the displacement of the passive mechanism; and a control means for controlling the gripping means according to the detection result of the displacement sensor. The control means is fixed to the holding base. The displacement of the passive mechanism before the member to be fixed to the holding base is recorded, and the displacement of the passive mechanism caused by the deviation of the center of gravity of the member after the member fixed to the holding base is fixed to the holding base. Record the quantity Placed, when the gripping means is to insert the projections or rod-like member in the recess or hole, the gripping means is controlled in accordance with the difference in the amount of displacement of the passive mechanism before and after mounting of the fixed holding table recorded member, When the gripping means tried to insert the convex portion or the rod-shaped member into the concave portion or the hole, when the tip of the convex portion or the rod-shaped member abuts the peripheral portion of the concave portion or the hole, the holding means was fixed to the holding base. The passive mechanism is displaced by a translational force received by the member and / or a moment around these axes, and the convex portion or the rod-shaped member is inserted into the concave portion or the hole.

  That is, if the member fixed to the holding base has a bias in the center of gravity, the passive mechanism is displaced just by placing the member on the holding base, so measure the displacement of the passive mechanism before and after mounting, The operation start point of the gripping means is changed by an amount corresponding to the displacement of the passive mechanism.

In the assembling apparatus according to the present invention, having the configuration 1 , when the gripping means tries to insert the convex portion or the rod-shaped member into the concave portion or the hole, the tip portion of the convex portion or the rod-shaped member and the concave portion or the hole are formed. Since the passive mechanism is displaced by the translational force and / or moment received by the member fixed to the holding table when the peripheral part comes into contact, the convex part or the rod-shaped member is inserted into the concave part or the hole. Or the relative position of a rod-shaped member and a recessed part or a hole is corrected rapidly, and the insertion to the recessed part or hole of a convex part or a rod-shaped member can be completed.
In this assembling apparatus, any gripping means that does not have a special mechanism such as a passive mechanism can be used as the gripping means (robot arm), so that the portable weight and the movable range of the gripping means are limited. Absent. Further, in this assembling apparatus, since the gripping means is not provided with a passive mechanism, assembly (insertion) in an arbitrary direction can be performed.
The control means records the amount of displacement of the passive mechanism before fixing the member fixed to the holding table to the holding table, and the member after fixing the member fixed to the holding table to the holding table. The displacement amount of the passive mechanism caused by the deviation of the center of gravity of the passive mechanism is recorded, and when the gripping means inserts the convex portion or the rod-shaped member into the concave portion or the hole, the recorded displacement amount of the passive mechanism before and after the mounting of the member Since the gripping means is controlled in accordance with the difference between the two, the member fixed to the holding base has a bias in the center of gravity, and even when the passive mechanism is displaced just by placing the member on the holding base, Since the operation start point of the gripping means is changed by the amount of displacement of the passive mechanism, and the gripping means is controlled based on the displacement amount of the passive mechanism when the convex portion or the rod-like member is inserted into the concave portion or the hole. , Convex or bar-like member and concave Others can be relative position between the hole is quickly corrected, to complete the insertion into the recess or hole of the protrusion or rod member.

Further , in the assembling apparatus according to the present invention, by having the configuration 2 , when the gripping means tries to insert the convex portion or the rod-shaped member into the concave portion or the hole, the tip portion of the convex portion or the rod-shaped member and the concave portion or When the peripheral part of the hole comes into contact, the passive mechanism is displaced by the translational force and / or moment received by the member fixed to the holding base, and the convex part or the rod-shaped member is inserted into the concave part or the hole. The relative position between the convex portion or the rod-shaped member and the concave portion or the hole is quickly corrected, and the insertion of the convex portion or the rod-shaped member into the concave portion or the hole can be completed.
The control means records the amount of displacement of the passive mechanism before fixing the member fixed to the holding table to the holding table, and the member after fixing the member fixed to the holding table to the holding table. The displacement amount of the passive mechanism caused by the deviation of the center of gravity of the passive mechanism is recorded, and when the gripping means inserts the convex portion or the rod-shaped member into the concave portion or the hole, the recorded displacement amount of the passive mechanism before and after the mounting of the member Since the convex portion or the rod-shaped member is inserted into the concave portion or the hole by controlling the gripping means according to the difference between the two, the member fixed to the holding base has a bias in the center of gravity, and the member is simply placed on the holding base. Even when the passive mechanism is displaced, the operation start point of the gripping means is changed by an amount corresponding to the displacement of the passive mechanism due to the placement, and the relative position between the convex portion or rod-shaped member and the concave portion or hole is quickly corrected, and the convex portion Or a recess in a bar or member It is possible to complete the insertion into.

  That is, the present invention can complete the insertion of the convex portion or the rod-shaped member into the concave portion or the hole in a short time without the necessity of particularly improving the accuracy of the movement operation of the member. It is possible to provide an assembling apparatus in which the loadable weight and the movable range are not limited.

It is a side view which shows the structure of the assembly apparatus which concerns on this invention. In the assembly apparatus which concerns on this invention, it is a side view which shows the assembly operation which reflected the detected value in last insertion operation. In the assembling apparatus which concerns on this invention, it is a perspective view which shows the shape of the member provided with the recessed part used as operation | movement object, and the member provided with the convex part.

  Hereinafter, embodiments for carrying out the present invention will be described with reference to the drawings.

[Configuration of assembly apparatus in first embodiment]
FIG. 1 is a side view showing a configuration of an assembling apparatus according to the present invention.

  As shown in FIG. 1, the assembling apparatus according to the present invention includes a robot arm 1 serving as a gripping means, a control means 3, and a holding base 4. The robot arm 1 is a member provided with a hole (hereinafter referred to as “hole component”) 101 or a rod-like member (hereinafter referred to as “shaft component”) provided with a convex portion. .) 102 is gripped via the holding jig 1a and moved. In this embodiment, the robot arm 1 is configured to grip the hole component 101. In this assembling apparatus, the shaft component 102 or the hole component 101 is fixed to the holding table 4. In this embodiment, the shaft component 102 is fixed to the holding table 4 via the holding jig 4a.

  In this assembling apparatus, the robot arm 1 moves and operates the gripped hole component 101 and inserts the shaft component 102 into the hole 103 of the hole component 101 in the insertion direction indicated by the arrow in FIG.

  The holding table 4 is provided with a passive mechanism 5 that supports the holding table 4 so as to be elastically movable in a direction orthogonal to the insertion direction and a rotation direction around an axis orthogonal to the insertion direction.

[Operation of Assembly Device in First Embodiment]
In this assembling apparatus, the passive mechanism 5 is displaced when the tip of the shaft component 102 and the peripheral portion of the hole 103 come into contact with each other when the robot arm 1 tries to insert the shaft component 102 into the hole 103. This is due to the translational force in the insertion direction received by the shaft component 102 (the member fixed to the holding table 4) and / or the moment about the axis perpendicular thereto.

  That is, in this assembling apparatus, when the robot arm 1 tries to insert the shaft part 102 into the hole 103, the passive mechanism 5 does not move even if the tip part of the shaft part 102 abuts on the peripheral part of the hole 103. Since the hole 103 and the shaft part 102 are displaced quickly, the shaft part 102 can be inserted into the hole 103 quickly and reliably.

[Configuration of Assembling Apparatus in Second Embodiment]
In this assembling apparatus, the holding table 4 may be provided with a displacement sensor that measures the amount of displacement of the holding table 4 (that is, the amount of displacement of the passive mechanism 5). The displacement sensor 2 is received by the holding base 4 when the tip of the shaft component 102 and the peripheral portion of the hole 103 come into contact with each other when the robot arm 1 tries to insert the shaft component 102 into the hole 103. The displacement of the passive mechanism 5 is detected according to the translational force in the insertion direction and / or the moment about the axis perpendicular to the translational force.

  In this assembling apparatus, the detection output from the displacement sensor 2 is collected by the data collecting device 6 and sent to the robot control device 3 serving as control means. The robot control device 3 controls the robot arm 1 based on the displacement amount of the passive mechanism 5 detected by the displacement sensor 2.

[Operation of the assembly apparatus in the second embodiment]
FIG. 2 is a side view showing an assembling operation reflecting the detected value in the previous insertion operation in the assembling apparatus according to the present invention.

  In this assembling apparatus, as shown in FIG. 2A, the same positional deviation is assumed between the hole part 101 and the shaft part 102 every time, and the passive mechanism 5 is displaced each time. The information of the displacement amount of the passive mechanism 5 corresponding to this positional deviation is stored, and the robot arm 1 is controlled based on this displacement amount information as shown in FIG. Thus, the hole part 101 and the shaft part 102 can be assembled without displacing the passive mechanism 5.

  That is, information on the amount of displacement of the passive mechanism 5 corresponding to the positional deviation between the hole component 101 and the shaft component 102 is transmitted to the robot control device 3, and the robot control device 3 passively moves the robot arm 1. By adding and controlling the displacement amount corresponding to the displacement amount information of the mechanism 5, the hole component 101 and the shaft component 102 can be assembled without displacing the passive mechanism 5.

  For example, in the first assembly operation, it is assumed that the passive mechanism 5 is displaced 2 mm in the x direction and 1 mm in the y direction, and the assembly operation is completed. Then, when the next assembly operation is performed, the robot arm 1 is controlled by setting a position shifted by −2 mm in the x direction and −1 mm in the y direction as a target position, thereby reducing the force applied to the components 101 and 102 at the time of insertion. The assembly operation can be completed at a higher speed and without applying excessive force to the parts.

  In the assembling apparatus according to the present invention, when the passive mechanism 5 has only the damper element, the passive mechanism 5 remains displaced after the assembly operation is completed. In order to return this to the initial state, it is conceivable that the holding table 4 is returned to the initial position by a taper pin or the like, or the holding arm 4 is pushed back by the robot arm 1 by the amount of displacement measured by the displacement sensor 2. .

  Further, in this assembling apparatus, the robot control device 3 records the displacement amount of the passive mechanism 5 before fixing the member (hole component 101 or shaft component 102) fixed to the holding table 4 and also holds the holding table 4. The amount of displacement of the passive mechanism 5 caused by the deviation of the center of gravity of the member after the member (hole component 101 or shaft component 102) fixed to the holding base 4 is fixed may be recorded.

  Then, when the robot arm 1 inserts the shaft part 102 into the hole 103, the difference in the displacement amount of the passive mechanism 5 before and after mounting the member (hole part 101 or shaft part 102) fixed to the recorded holding base 4 is recorded. Accordingly, the robot arm 1 may be controlled to insert the shaft component 102 into the hole 103.

  That is, if the member fixed to the holding table 4 has a bias in the center of gravity, the passive mechanism 5 is displaced just by placing the member on the holding table 4, so the displacement of the passive mechanism 5 before and after mounting is measured. In addition, the relative position between the shaft component 102 and the hole 103 is quickly corrected by changing the operation start point of the robot arm 1 by the amount of displacement of the passive mechanism 5 due to the placement. Insertion into the hole 103 can be completed.

  Further, in this assembling apparatus, the robot control device 3 is passively generated by the deviation of the center of gravity of the member before and after fixing the member (hole component 101 or shaft component 102) fixed to the holding table 4 to the holding table 4. The amount of displacement of the mechanism 5 is recorded, and the amount of displacement of the passive mechanism 5 when the passive mechanism 5 is displaced and the shaft component 102 is inserted into the hole 103 is also recorded. When the shaft component 102 is inserted, the robot arm 1 may be controlled according to the recorded displacement amount of the passive mechanism 5.

  That is, if the member (hole component 101 or shaft component 102) fixed to the holding table 4 has a bias in the center of gravity, the passive mechanism 5 is displaced just by placing the member on the holding table 4. When the movement start point of the robot arm 1 is changed by an amount corresponding to the displacement of the passive mechanism 5 due to the displacement, and the shaft component 102 is inserted into the hole 103. By controlling the robot arm 1 based on the displacement amount of the passive mechanism 5, the relative position between the shaft component 102 and the hole 103 can be quickly corrected, and the insertion of the shaft component 102 into the hole 103 can be completed. it can.

  FIG. 3 is a perspective view showing the shape of a member provided with a concave portion and a member provided with a convex portion to be operated in the assembling apparatus according to the present invention.

  Further, in the assembling apparatus according to the present invention, as shown in FIG. 3, the member provided with the concave portion to be operated is not limited to the hole component 101 as described above, and the convex portion is provided. The formed member is not limited to the shaft component 102 as described above.

  That is, the member provided with the concave portion and the member provided with the convex portion may be a member having a plurality of concave portions 103a and a plurality of convex portions 102a as shown in FIG.

  Further, the member provided with the concave portion and the member provided with the convex portion may be a member having a rectangular concave portion 103b and a rectangular convex portion 102b as shown in FIG.

  Furthermore, the member provided with the concave portion and the member provided with the convex portion may be a member having a groove-like concave portion 103c and a protrusion 102c, as shown in FIG.

  The present invention is a member provided with a recess or a hole by gripping and moving either a member provided with a recess or a hole (hole part) and a member having a protrusion or a rod-like member (shaft part). This is applied to an assembling apparatus for inserting a convex portion or a rod-like member into the concave portion or the hole.

1 Robot arm (gripping means)
2 Displacement sensor 3 Robot control device 4 Holding stand 5 Passive mechanism 101 Hole component 102 Shaft component 103 Hole

Claims (2)

Gripping and moving one of a member provided with a recess or a hole, a member provided with a projection or a rod-shaped member, and inserting the projection or the rod-shaped member into the recess or the hole Means,
A holding base for holding the other of the member provided with the concave portion or the hole, the member provided with the convex portion or the rod-shaped member;
A passive mechanism that movably supports the holding table in a direction orthogonal to the insertion direction and a rotational direction around an axis orthogonal to the insertion direction;
A displacement sensor provided on the holding table for measuring the displacement of the passive mechanism;
Control means for controlling the gripping means according to a detection result by the displacement sensor;
With
The control means includes
The displacement of the passive mechanism before fixing the member fixed to the holding table to the holding table is recorded, and the center of gravity of the member after fixing the member fixed to the holding table to the holding table is recorded. Record the amount of displacement of the passive mechanism caused by the bias,
When the gripping means tries to insert the convex portion or the rod-shaped member into the concave portion or the hole, the tip portion of the convex portion or the rod-shaped member contacts the peripheral portion of the concave portion or the hole. In this case, when the passive mechanism is displaced by the translational force received by the member fixed to the holding table and / or the moment around these axes, and the convex portion or the rod-shaped member is inserted into the concave portion or the hole Record the displacement amount of the passive mechanism of
Next, when the gripping means inserts the convex portion or the rod-shaped member into the concave portion or the hole, the passive mechanism recorded when the convex portion or the rod-shaped member is inserted into the concave portion or the hole. The gripping means is controlled according to a displacement amount and a difference between the recorded displacement amount of the passive mechanism before and after mounting of the member fixed to the holding table, and the convex portion or the rod-shaped member is moved to the concave portion. or set elevational device you characterized thereby inserted into the hole. Gripping and moving one of a member provided with a recess or a hole, a member provided with a projection or a rod-shaped member, and inserting the projection or the rod-shaped member into the recess or the hole Means,
A holding base for holding the other of the member provided with the concave portion or the hole, the member provided with the convex portion or the rod-shaped member;
A passive mechanism that movably supports the holding table in a direction orthogonal to the insertion direction and a rotational direction around an axis orthogonal to the insertion direction;
A displacement sensor provided on the holding table for measuring the displacement of the passive mechanism;
Control means for controlling the gripping means according to the detection result by the displacement sensor,
The control means records the displacement amount of the passive mechanism before fixing the member fixed to the holding table to the holding table, and after fixing the member fixed to the holding table to the holding table. The displacement of the passive mechanism caused by the deviation of the center of gravity of the member is recorded, and the holding table recorded when the gripping means inserts the convex portion or the rod-shaped member into the concave portion or the hole. controlling the gripping means according to a difference between the displacement amount of the driven mechanism before and after mounting of the fixed member,
When the gripping means tries to insert the convex portion or the rod-shaped member into the concave portion or the hole, the tip portion of the convex portion or the rod-shaped member contacts the peripheral portion of the concave portion or the hole. In this case, the passive mechanism is displaced by the translational force received by the member fixed to the holding table and / or the moment around the axis, and the convex portion or the rod-shaped member is inserted into the concave portion or the hole. set standing equipment shall be the features a.

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