JP7153584B2 - Tilt correction system, component insertion system, tilt correction method, and component insertion method - Google Patents

Description

The present invention relates to a tilt correction system, a component insertion system, a tilt correction method, and a component insertion method.

As a method of inserting a component into the inserted portion of the housing, there is known a method of placing the component facing the inserted portion and then changing the orientation of the component (see Patent Document 1).

JP 2011-194499 A

In the method described in Patent Literature 1, there are cases where the tilted state of the component is changed after the component is placed in an inclined state toward the insertion target, so that the component must be inserted into the insertion target in the correct posture. Otherwise, there is a high possibility that it will be difficult to insert the part into the insertion part depending on how the part is placed.

The present invention has been made in view of the above, and is a tilt correction system, a component insertion system, a tilt correction method, and a component insertion method that can improve the possibility of inserting a component into an inserted portion in a correct posture. intended to provide

In order to solve the above-described problems and achieve the object, a tilt correction system includes: a holding member that holds a part and has at least three holding portions that detect stress generated by holding the part; A holding portion driving device for driving a holding portion to hold the component, a holding member tilting device for changing an inclination angle of the holding member, the holding member, the holding portion driving device, and the holding member tilting device are controlled. a control device, wherein the control device acquires the stress detected by the holding unit, calculates the tilt state of the part held by the holding unit based on the acquired stress, and calculates The holding member tilting device cancels the tilted state based on the tilted state.

According to this configuration, the tilted state of the component held by the holding portion can be eliminated while the component is held, so that the possibility of inserting the component into the inserted portion in the correct posture is improved. can be done.

In this configuration, the control device preferably acquires the stress, calculates the tilted state, and cancels the tilted state at regular intervals. According to this configuration, even if the component held by the holding portion is again tilted during transportation, the tilted state can be canceled again, so that the component can be inserted into the inserted portion in the correct posture. Possibilities can be improved.

In these configurations, the holding portion is provided so as to be relatively movable in the radial direction in the holding member, and moves relatively inward in the radial direction so that the outer peripheral portion of the component sandwiches the holding portion from the outside. It is preferably holdable from the inside on the inside of said component by moving relatively radially outwardly. According to this configuration, the holding method can be appropriately changed according to the shape of the part, etc., so that the possibility of inserting the part into the inserted portion in the correct posture is increased regardless of the shape of the part. can be improved. Furthermore, it is more preferable that the holding portion holds the component inside an opening provided in the component. According to this configuration, the stress generated by holding the part can be detected more accurately, so the tilted state can be eliminated with higher accuracy, and the part can be inserted into the insertion part in the correct posture. can be further improved.

In these configurations, it is preferable that the control device estimates the state between the adjacent holding portions based on the stress detected by the adjacent holding portions. According to this configuration, the tilted state of the component held by the holding portion can be calculated with higher accuracy, so that the tilted state can be canceled with higher accuracy, and the component can be placed in the inserted portion in the correct posture. can be more likely to be inserted into

In order to solve the above-described problems and achieve the object, a component insertion system is a component insertion system for inserting a component into an inserted portion of a housing, comprising any one of the tilt correction systems described above and the An inserted portion detecting device that detects the inserted portion and a holding member moving device that moves the holding member are provided, and the control device further controls the inserted portion detecting device and the holding member moving device. causing the inserted portion detecting device to detect the inserted portion, determining the component to be held by the holding portion based on the detected inserted portion, and causing the holding member moving device to move the holding member; and holding the previously determined component in the holding portion, conveying the component held by the holding portion to the insertion target portion, and inserting the component into the insertion target portion. According to this configuration, as in the tilt correction system according to the present invention, the tilted state of the part held by the holding portion can be eliminated while the part is held, so that the part can be inserted in the correct posture. The possibility of being inserted into the part can be improved.

In order to solve the above-described problems and achieve the object, the tilt correction method includes a stress acquisition step of detecting and acquiring the stress generated in the holding portion of the holding member by holding the component, and based on the acquired stress, a tilt calculation step of calculating a tilt state of the part held by the holding portion; and a tilt state cancellation step of changing the tilt angle of the holding member based on the calculated tilt state to eliminate the tilt state. and a step. According to this configuration, as in the tilt correction system according to the present invention, the tilted state of the part held by the holding portion can be eliminated while the part is held, so that the part can be inserted in the correct posture. The possibility of being inserted into the part can be improved.

In order to solve the above-described problems and achieve the object, a component insertion method is a component insertion method for inserting a component into an insertion target portion of a housing, wherein insertion target detection detects the insertion target portion of the housing. a holding step of holding the component determined based on the detected inserted portion with the holding portion; a tilt correction step based on the tilt correction method; and a state in which the tilt state is eliminated by the tilt correction step. and an inserting step of conveying the component held by the holding portion to the insertion target portion and inserting the component into the insertion target portion. According to this configuration, as in the tilt correction system according to the present invention, the tilted state of the part held by the holding portion can be eliminated while the part is held, so that the part can be inserted in the correct posture. The possibility of being inserted into the part can be improved.

According to the present invention, it is possible to provide a tilt correction system, a component insertion system, a tilt correction method, and a component insertion method that can improve the possibility of inserting a component into an inserted portion in a correct posture.

FIG. 1 is a configuration diagram of a component insertion system including a tilt correction system according to an embodiment of the present invention. 2 is a schematic diagram showing an example of the holding member of FIG. 1. FIG. FIG. 3 is a graph showing an example of stress detected by the holding unit of FIG. 1; FIG. 4 is a flow chart illustrating a component insertion method including a tilt correction method according to an embodiment of the present invention. FIG. 5 is an explanatory diagram for explaining the stress acquisition step in FIG. FIG. 6 is an explanatory diagram for explaining the tilt calculation step in FIG. FIG. 7 is an explanatory diagram for explaining the tilt calculation step in FIG. FIG. 8 is an explanatory diagram for explaining the tilted state elimination step in FIG.

EMBODIMENT OF THE INVENTION Below, embodiment which concerns on this invention is described in detail based on drawing. In addition, this invention is not limited by this embodiment. In addition, components in the embodiments include those that can be easily replaced by those skilled in the art, or those that are substantially the same. Furthermore, the components described below can be combined as appropriate.

[Embodiment]
FIG. 1 is a configuration diagram of a component insertion system 1000 including a tilt correction system 100 according to an embodiment of the invention. The tilt correction system 100 includes a holding member 10, a holding portion driving device 20, a holding member tilting device 30, and a control device 60, as shown in FIG. The tilt correction system 100 is a system that eliminates the tilted state of the part 1 held by the holding portion 11 of the holding member 10 while holding the part 1 . Here, the tilted state refers to a state in which the part 1 is tilted at an angle larger than a predetermined threshold with respect to the required attitude state, and canceling the tilted state means that the part in the tilted state 1 is said to be corrected to the requested attitude state. A specific example regarding the tilted state and the like will be described later.

Further, the component insertion system 1000 includes a tilt correction system 100, a holding member moving device 40, and an inserted portion detection device 50, as shown in FIG. A component insertion system 1000 is a system for inserting a component 1 into an inserted portion 2 a of a housing 2 .

In this embodiment, the housing 2 is placed along the XY plane, which is the horizontal direction, with the inserted portion 2a directed upward in the +Z direction, and the component 1 is placed in the −Z direction, which is downward in the vertical direction. A mode of inserting into the inserted portion 2a toward the will be described. In view of this, in the present embodiment, the center of gravity of the component 1 held by the holding portion 11 of the holding member 10 coincides with the vertical Z-axis direction, or is inclined only at an angle equal to or less than a predetermined threshold. , the part 1 is not tilted, and the center of gravity of the part 1 held by the holding portion 11 of the holding member 10 is tilted at an angle larger than a predetermined threshold with respect to the vertical direction. 1, it is assumed that the component 1 is in a tilted state. The angle formed by the center of gravity of the component 1 held by the holding portion 11 of the holding member 10 and the vertical direction is defined as the tilt angle, which is a parameter that objectively indicates the tilted state of the component 1 .

The component 1 and the housing 2 may be of any size and shape as long as the outer shape of the component 1 is fitted to the inner shape of the inserted portion 2a formed in the housing 2 in the shape of a hole. There may be. In this embodiment, the smaller the allowance for fitting the component 1 and the inserted portion 2a of the housing 2, the more remarkable the effect of the present invention. A configuration in which a bush installed in the insertion portion 2a is employed is preferable in that the effects of the present invention are more remarkably achieved. Moreover, it is preferable that the component 1 is provided with an opening. In this case, the component 1 can be held on the inside 1a of the opening to be transported and inserted.

FIG. 2 is a schematic diagram showing an example of the holding member 10 of FIG. FIG. 2 is a top view of the holding member in FIG. 1 as seen from the +Z direction, and the position of the holding portion 11 provided downward in the vertical direction of the holding member 10 is indicated by a dotted line. The holding member 10 has three holding portions 11 for holding the component 1 at equal intervals in the circumferential direction. Hereinafter, when it is necessary to distinguish between the three holding portions 11, they are referred to as holding portion 11-1, holding portion 11-2, and holding portion 11-3, respectively.

Although the holding member 10 has three holding portions 11 in this embodiment, the present invention is not limited to this, and the holding member 10 may have at least three holding portions 11 that are not arranged in the same straight line. For example, four or more holding portions 11 may be provided. Moreover, although the holding member 10 has the three holding portions 11 at equal intervals in the circumferential direction, the present invention is not limited to this. In addition, it is preferable that the holding member 10 has a plurality of holding portions 11 at equal intervals in the circumferential direction. can be maintained, and the stress balance, which will be described later, can be obtained more favorably.

The holding portion 11 is provided so as to be relatively movable in the radial direction in the holding member 10 by the holding portion driving device 20 . When the component 1 is held from the outside by the outer peripheral portion, the holding portion 11 holds the component 1 so as to move relatively inward in the radial direction and sandwich the component 1 . On the other hand, when the holding portion 11 holds the component 1 from the inner side 1a of the opening of the component 1, the holding portion 11 moves relatively outward in the radial direction to hold the component. In this manner, the holding portion 11 can appropriately change the holding method according to the shape of the component 1 or the like. In this embodiment, the holding portion 11 will be described as a case of holding the component 1 from the inner side 1a of the opening of the component 1 .

The holding portion 11 also functions as a stress sensor that detects stress generated in the holding portion 11 itself by holding the component 1 . Since the holding member 10 has at least three non-collinear holding portions 11, it has at least three non-collinear stress sensors. Therefore, the holding member 10 can detect the bias in the XY plane of the stress generated by holding the component 1 by the holding portion 11 .

When the holding member 10 holds the component 1 from the inner side 1a of the opening of the component 1, specifically, as shown in FIG. The stress P1 applied to the part 1 is detected, the holding part 11-2 detects the stress P2 applied to the part 1 toward the outside in the radial direction, and the holding part 11-3 A stress P3 applied to the component 1 toward the outside in the radial direction is detected.

FIG. 3 is a graph showing an example of stress detected by the holding portion 11 of FIG. The upper graph in FIG. 3 is an example of the stress P1 detected by the holding portion 11-1, the middle graph in FIG. 3 is an example of the stress P2 detected by the holding portion 11-2, and the lower graph in FIG. is an example of detection of the stress P3 by the holding portion 11-3. In each of the upper, middle, and lower graphs of FIG. 3 , the horizontal axis represents the distance from the base end of the holding portion 11 on the upper side in the vertical direction, and the vertical axis represents the distance from the lower side of the holding portion 11 in the vertical direction. It is the integrated amount of stress from the tip.

The holding portion driving device 20 is electrically connected to the holding member 10 and provided near the holding member 10, and drives the holding portion 11 in the holding member 10 to cause the holding portion 11 to hold the component 1. is. The holding portion driving device 20 moves the holding portion 11 relative to the holding member 10 in the radial direction, thereby canceling the holding state in which the holding portion 11 holds the component 1 and the holding state in which the holding portion 11 holds the component 1. It is possible to switch between the holding cancellation state and the holding cancellation state. Further, when in the holding state, the holding section drive device 20 can cause the holding section 11 to detect the stress generated in the holding section 11 itself by holding the component 1, and acquire information on the detected stress.

The holding member tilting device 30 is attached to the upper side of the holding member 10 in the vertical direction, and is a device for changing the tilt angle of the holding member 10 . The holding member tilting device 30 can simultaneously change the tilt angles of the holding portion 11 and the component 1 held by the holding portion 11 as the tilt angle of the holding member 10 is changed. The holding member tilting device 30 is exemplified as a suitable automatic goniometer stage.

The holding member moving device 40 is attached to the holding member tilting device 30 and is a device that three-dimensionally moves the holding member 10 together with the holding member tilting device 30 . The holding member moving device 40 moves the holding member 10 along the horizontal direction of the X-axis or the Y-axis while maintaining the solid angle of the holding member 10 controlled by the holding member tilting device 30. , along the Z-axis direction, which is the vertical direction. Further, the holding member moving device 40 can always acquire information on the three-dimensional position of the holding member 10 . The holding member moving device 40 is preferably exemplified by a robot arm, a crane arm, and the like.

The inserted portion detection device 50 is mounted vertically downward at a position adjacent to the holding member 10 in the horizontal direction, and detects the inserted portion 2 a of the housing 2 . The inserted portion detecting device 50 is moved together with the holding member 10 , the holding portion driving device 20 and the holding member tilting device 30 by the holding member moving device 40 . The inserted portion detection device 50 is preferably exemplified by an imaging device such as an optical camera or a laser camera. In the case of such an imaging device, the housing 2 is imaged from above in the vertical direction, and the imaged image is analyzed. Thus, the position, size, shape, etc. of the inserted portion 2a can be detected.

The tilt correction system 100 and component insertion system 1000 may further include an input device 70 that receives input of information regarding tilt correction and component insertion. Further, the tilt correction system 100 and component insertion system 1000 may further include an output device 80 that outputs information regarding tilt correction and component insertion.

The input device 70 includes a mobile phone including a high-performance mobile phone (so-called smart phone), a tablet terminal, a notebook or desktop PC (Personal Computer), a PDA (Personal Digital Assistant) which is a mobile information terminal, and a glasses type. and a watch-type wearable device.

The input device 70 has a function of inputting various information necessary when the control device 60 executes various kinds of computational processing related to the tilt correction method and the component insertion method according to the embodiment. It has a function of displaying an input screen or the like for receiving input of various information on the display section of the input device 70 and a function of transmitting the received various information to the control device 60 . The input device 70 implements these various functions by executing software or applications for using the control device 60 or by executing an Internet browser function for using the control device 60.

The output device 80 displays characters, images, moving images, etc. based on the received information. The output device 80 has a function for outputting output information obtained as a result of various computational processing relating to the tilt correction method and the component insertion method according to the embodiment executed by the control device 60, for example, the output output from the control device 60. It has a function of receiving information and a function of displaying an output screen or the like based on the output information on the display section of the output device 80 . The output device 80 implements these various functions by executing software or applications for using the control device 60 or by executing an Internet browser function for using the control device 60.

In addition, although the tilt correction system 100 and the component insertion system 1000 are separately provided with the input device 70 and the output device 80 in the present embodiment, the present invention is not limited to this. may be integrated. In this case, for example, the display section of the input device 70 functions as the output device 80 .

The control device 60 is electrically connected to each device, that is, the holding portion driving device 20, the holding member tilting device 30, the holding member moving device 40, the inserted portion detection device 50, the input device 70, and the output device 80. , which controls the operation of each of these devices. The control device 60 also controls the holding member 10 via the holding portion drive device 20 .

The control device 60 is an information processing device including a computer system that controls the tilt correction system 100 and the component insertion system 1000 . The control device 60 has a processing unit 61, a storage unit 62, and an information communication interface 63, as shown in FIG.

The processing unit 61 is a controller, and for example, various programs ( (corresponding to an example of a tilt correction program or a component insertion program) is executed using a RAM (Random Access Memory) as a work area. Also, the processing unit 61 is, for example, a controller, and is implemented by an integrated circuit such as an ASIC (Application Specific Integrated Circuit) or an FPGA (Field Programmable Gate Array). The processing unit 61 receives input of information from each device, and outputs various parameters, measurement results, and calculation results related to the tilt correction system 100 and the component insertion system 1000 to the output device 80 electrically connected to the control device 60. An information communication interface 63 for outputting information such as is connected.

As shown in FIG. 1, the processing unit 61 is electrically connected to the storage unit 62 and the information communication interface 63 so as to be able to communicate information with each other, and functions as a control unit that controls these components. That is, the processing unit 61 functions as a control unit together with the storage unit 62 to cause the tilt correction system 100 to execute the tilt correction method according to the embodiment of the present invention and to cause the component insertion system 1000 to execute the component insertion method. is.

The processing unit 61 includes a holding operation control unit 65, a stress acquisition unit 66, an inclination calculation unit 67, an inclination state elimination unit 68, and an insertion operation control unit 69, as shown in FIG. Each unit included in the processing unit 61, that is, the holding operation control unit 65, the stress acquisition unit 66, the tilt calculation unit 67, the tilt state elimination unit 68, and the insertion operation control unit 69, is configured by the processing unit 61 as the tilt correction program or the It is a functional unit realized by executing a component insertion program. The specific functions of each unit included in the processing unit 61 will be described together with detailed descriptions of the tilt correction method and the component insertion method according to the embodiment.

The storage unit 62 is realized by, for example, a semiconductor memory device such as a ROM (Read Only Memory), a RAM (Random Access Memory), a flash memory, or a storage device such as a hard disk or an optical disk. The storage unit 62 stores various output processing information necessary for generating control signals for controlling each device of the tilt correction system 100 and the component insertion system 1000, and information from each device of the tilt correction system 100 and the component insertion system 1000. It stores various input processing information required for analysis processing of the received signal obtained. Further, the storage unit 62 stores various input information obtained by analyzing received signals obtained from each device of the tilt correction system 100 and the component insertion system 1000 at any time.

The information communication interface 63 connects the processing unit 61 and each device electrically connected to the control device 60 so that they can communicate information with each other. The information communication interface 63 receives, from the holding portion driving device 20 , information on the stress generated in the holding portion 11 itself by holding the component 1 , which is acquired by the holding portion driving device 20 , and transmits the information to the processing portion 61 . The information communication interface 63 also receives information about the tilt angle of the holding member 10 acquired by the holding member tilting device 30 from the holding member tilting device 30 and transmits the information to the processing unit 61 . The information communication interface 63 also receives information on the three-dimensional position of the holding member 10 acquired by the holding member moving device 40 from the holding member moving device 40 and transmits the information to the processing unit 61 . Further, the information communication interface 63 receives information such as the position, size and shape of the inserted portion 2a of the housing 2 acquired by the inserted portion detecting device 50 from the inserted portion detecting device 50 and transmits the information to the processing unit 61. do. Further, the information communication interface 63 receives various types of information input from the input device 70 and transmits the received information to the processing unit 61 .

The information communication interface 63 receives each information generated by the processing unit 61, for example, a control signal for controlling each device from the processing unit 61, and transmits the information to each device. Further, the information communication interface 63 receives from the processing unit 61 output information obtained as a result of various computational processing related to the tilt correction method and the component insertion method according to the embodiment generated by the processing unit 61, and sends the output information to the output device 80. to send.

The operation of the tilt correction system 100 and the component insertion system 1000 according to the embodiment will be described below. FIG. 4 is a flow chart illustrating a component insertion method including a tilt correction method according to an embodiment of the present invention. Regarding the tilt correction method executed by the tilt correction system 100 and the component insertion method executed by the component insertion system 1000, detailed functions of each unit in the processing unit 61 of the controller 60 of the tilt correction system 100 and the component insertion system 1000. together with the following description.

A component inserting method according to an embodiment of the present invention is a method for inserting a component 1 into an inserted portion 2a of a housing 2. As shown in FIG. It has a tilt correction step S13 based on the tilt correction method according to the embodiment of the invention, and an insertion step S14.

The insertion portion detection step S<b>11 is a step in which the holding operation control portion 65 detects the insertion portion 2 a of the housing 2 . Specifically, in the inserted portion detecting step S11, the holding operation control unit 65 controls the inserted portion detecting device 50 to detect the inserted portion 2a of the housing 2, Information such as the position, size and shape of the inserted portion 2a into which the component 1 is inserted is acquired.

The holding step S12 is a step in which the holding operation control section 65 holds the part 1 determined based on the inserted portion 2a detected in the inserted portion detection step S11 by the holding portion 11. FIG. Specifically, in the holding step S12, the holding operation control unit 65 fits the inserted portion 2a based on information such as the position, size and shape of the inserted portion 2a detected by the inserted portion detecting device 50. Specifications such as the size and shape of the parts 1 to be combined are determined. In the holding step S12, the holding operation control section 65 next controls the holding member moving device 40 to move the holding member 10 to the supply section for the component 1 having the previously determined specifications such as size and shape. In the holding step S<b>12 , the holding operation control section 65 then controls the holding section driving device 20 to cause the holding section 11 to hold the component 1 having the specification.

The tilt correction method according to the embodiment of the present invention is a method for eliminating the tilted state of the part 1 held by the holding portion 11 of the holding member 10 while the part 1 is held. The tilt correcting step S13 is a step of resolving the tilted state of the part 1 held by the holding portion 11 of the holding member 10 while holding the part 1. As shown in FIG. , a tilt calculation step S22, a tilt presence/absence determination step S23, and a tilt state elimination step S24.

The stress acquisition step S<b>21 is a step in which the stress acquisition unit 66 detects and acquires the stress generated in the holding part 11 of the holding member 10 due to the holding of the component 1 . Specifically, in the stress acquisition step S21, the stress acquisition unit 66 controls the holding unit driving device 20 to hold the stress generated in the holding unit 11 itself by holding the component 1 via the holding unit driving unit 20. The part 11 is made to detect and information on the detected stress is obtained. In the stress acquisition step S21, for example, the stress acquisition unit 66 can acquire the graphs of stresses P1, P2, and P3 shown in FIG.

FIG. 5 is an explanatory diagram for explaining the stress acquisition step S21 of FIG. In FIG. 5, a point 1-1 is a point on the part 1 supported by the holding part 11-1, a point 1-2 is a part on the part 1 supported by the holding part 11-2, A point 1-3 is a point on the component 1 supported by the holding portion 11-3. In FIG. 5, graphs 1p and 1q are graphs showing the balance of the stresses P1, P2, and P3 by showing the stresses P1, P2, and P3 together, and the relative magnitude of the stress P1 is , is indicated by the length in the direction from the origin to the point 1-1 in each graph, and the relative magnitude of the stress P2 is indicated by the length in the direction from the origin to the point 1-2 in each graph, and the stress The relative size of P3 is indicated by the length in the direction from the origin to points 1-3 in each graph.

A graph 1p indicated by a solid line in FIG. 5 indicates that the stresses P1, P2, and P3 are balanced and the part 1 held by the holding portion 11 is not tilted. On the other hand, a graph 1q indicated by a dashed line in FIG. 5 indicates that the stresses P1, P2, and P3 are not balanced and the part 1 held by the holding portion 11 is tilted. More specifically, graph 1q shows that stress P3 is greater than stress P1 and stress P2, and part 1 held by holding part 11 is placed at point 1-3 at point 1- 1 and the point 1-2, it is in an inclined state shifted upward in the vertical direction.

In the stress acquisition step S21, for example, the stress acquisition unit 66 acquires the graph 1q shown in FIG. 5 based on the graphs of the stresses P1, P2, and P3 shown in FIG. Specifically, in the stress acquisition step S21, the stress acquisition unit 66 first compares the stress distribution in the graph of the stresses P1, P2, and P3 shown in FIG. It is determined whether it is biased to the base end side of the upper side in the vertical direction of the portion 11 or to the side of the distal end side of the lower side in the vertical direction of the holding portion 11 . In the stress acquisition step S21, in the present embodiment, the stress acquisition unit 66 acquires the stress P1 and the stress P2 shown in FIG. 11, and in the graph of stress P3 shown in FIG. It is determined that it is biased toward the proximal end.

In the stress acquisition step S21, when the stress acquisition unit 66 next determines that the stress graph is biased toward the lower tip end portion side of the holding unit 11 in the vertical direction, the stress acquisition unit 66 compares the graph with the state where the part 1 is not tilted. When it is determined that the stress is relatively small, and the stress graph is biased toward the base end side of the upper side of the holding portion 11 in the vertical direction, the stress is compared with the state where the part 1 is not tilted. is relatively large. In the stress acquisition step S21, in this embodiment, the stress acquisition unit 66 compares the stress P1 and the stress P2 in the state where the part 1 is not tilted based on the respective graphs of the stress P1 and the stress P2 shown in FIG. Recognize that P2 is relatively slightly smaller, and based on the graph of stress P3 shown in FIG. In the stress acquisition step S21, the stress acquisition unit 66 acquires the graph 1q shown in FIG. 5 based on the determination results and recognition results in the graphs of the stresses P1, P2, and P3 shown in FIG.

Moreover, in the stress obtaining step S21, the stress obtaining unit 66 preferably estimates the state between the holding portions 11 provided adjacently based on the stress detected by the holding portions 11 provided adjacently. Specifically, in the stress acquisition step S21, the stress acquisition unit 66 detects stress P1 and stress P2 respectively detected by the holding unit 11-1 and the holding unit 11-2 provided adjacent to each other, based on each graph, If the holding portion 11 is provided between the holding portion 11-1 and the holding portion 11-2, it is possible to estimate how much stress may have been detected. In the stress acquisition step S21, the stress acquisition unit 66 acquires a triangular stress balance graph based on the three holding units 11-1, 11-2, and 11-3 in this embodiment. However, by estimating the stress between the holding portions 11, it is also possible to obtain a graph of the hexagonal stress balance. Further, when estimating the state between the holding portions 11 provided adjacent to each other by the stress obtaining portion 66 in the stress obtaining step S21, the tilt state can be calculated more accurately in the tilt calculating step S22, which will be described later. do.

In the tilt calculation step S22, the tilt calculation unit 67 calculates the tilt state of the component 1 held by the holding unit 11 based on the stresses P1, P2, and P3 acquired by the stress acquisition unit 66 in the stress acquisition step S21. is a step.

6 and 7 are explanatory diagrams for explaining the tilt calculation step S22 in FIG. FIG. 6 is a cross-sectional view of the component 1 held by the holding portion 11 on the X'Z plane including the most inclined portion in the +Z-axis direction. FIG. 7 is a view of the correlation between the X'-axis direction and Y'-axis direction in FIG. 6 and the X-axis direction and Y-axis direction in FIGS.

The tilt state calculated by the tilt calculation unit 67 in the tilt calculation step S22 is expressed by two parameters, the tilt angle θ shown in FIG. 6 and the tilt direction φ shown in FIG. 7 indicating the tilt direction. In the example shown in FIG. 6, the direction of inclination φ is X′ in FIG. The Z plane is indicated by relative angular coordinates set counterclockwise when viewed from the +Z direction with the XZ plane as a reference.

In the tilt calculation step S22, the tilt calculator 67 specifically determines that the tilt direction φ , ie, the direction pointing to the point 1-3 on the part 1, ie, about 330 degrees (-30 degrees). In the tilt calculation step S22, the tilt calculator 67 substitutes the values of the stresses P1, P2, and P3 into a predetermined formula based on the difference between the stress P3 and the stresses P1 and P2 to obtain the tilt angle Calculate θ.

The tilt presence/absence determination step S23 corresponds to a state in which the component 1 held by the holding unit 11 is not tilted based on the tilt state calculated by the tilt calculation unit 67 in the tilt calculation step S22. This is the step of determining whether the vehicle is in a tilted state. Specifically, in the tilt presence/absence determination step S23, when the tilt angle ? It is determined that the state is not tilted, the series of tilt correction steps S13 is terminated, and the process proceeds to insertion step S14. On the other hand, in the tilt presence/absence determination step S23, if the tilt angle ? It is determined that it is, and the process proceeds to tilted state cancellation step S24.

In the tilted state canceling step S24, the tilted state canceling unit 68 changes the tilt angle of the holding member 10 based on the tilted state calculated by the tilt calculating unit 67 in the tilt calculating step S22. In this step, the tilted state of the component 1 is eliminated.

FIG. 8 is an explanatory diagram for explaining the tilted state elimination step S24 in FIG. The left side of FIG. 8 shows a state in which the component 1 held by the holding portion 11 is tilted by the tilt angle θ on the X'Z plane indicated by the tilt direction φ. The right side of FIG. 8 shows a state in which the holding member 10, the holding portion 11 and the component 1 on the left side of FIG. .

Specifically, in the tilted state elimination step S24, as shown in FIG. 8, the tilted state elimination unit 68 controls the holding member tilting device 30 to determine the tilt direction calculated by the tilt calculation unit 67 in the tilt calculation step S22. At φ, the holding member tilting device 30 is caused to change the tilt angle of the holding member 10 so as to cancel the tilt angle θ calculated by the tilt calculating unit 67 in the tilt calculating step S22, that is, by the tilt angle −θ. The member 10 and the holding portion 11 are inclined at the inclination angle −θ and the inclination direction φ, thereby canceling the inclination state of the component 1 .

It is preferable that the tilt correction system 100 and the component insertion system 1000 according to the embodiment repeatedly execute the tilt correction method according to the embodiment of the present invention at regular time intervals. Specifically, the control device 60 of the tilt correction system 100 and the component insertion system 1000 according to the embodiment acquires the stress in the stress acquisition step S21, calculates the tilt state in the tilt calculation step S22, It is preferable to repeat the determination of the tilted state in the tilt presence/absence determination step S23 and the elimination of the tilted state in the tilted state elimination step S24. As a result, the tilt correction system 100 and the component insertion system 1000 according to the embodiment can perform the component 1 at regular time intervals even when the component 1 needs to be transported to the insertion portion 2a of the housing 2 over a relatively long period of time. By detecting and correcting the tilted state of , the component 1 held by the holding portion 11 can be brought into a non-tilted state and can be in the correct posture.

In the insertion step S14, the insertion operation control section 69 conveys the component 1 held by the holding section 11 to the inserted section 2a of the housing 2 in a state where the tilted state of the component 1 is eliminated by the series of tilt correction steps S13. This is a step of inserting into the inserted portion 2a.

Specifically, in the inserting step S14, the inserting operation control unit 69 first controls the holding member moving device 40 to move the holding member 10 holding the component 1 in a state in which the inclined state is canceled to the housing 2. is conveyed to a position above the inserted portion 2a in the vertical direction. In the insertion step S14, the insertion operation control section 69 next controls the holding member moving device 40 to move the holding member 10 holding the component 1 in a state in which the inclined state is canceled to the inserted portion of the housing 2. The component 1 held in a state in which the tilted state is canceled is inserted toward the inserted portion 2a of the housing 2 by approaching the component 2a downward in the vertical direction. In the insertion step S14, the insertion operation control section 69 finally controls the holding section driving device 20 to cause the holding member 10 to cancel the holding state of the component 1 held in the state of canceling the inclined state. Then, the component 1 is inserted into the inserted portion 2a of the housing 2 in the correct posture.

Since the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention are configured as described above, the tilted state of the component 1 held by the holding section 11 can be Since the part 1 can be released while being held, the possibility of inserting the part 1 into the inserted portion 2a in a correct posture can be improved.

Further, in the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention, the control device 60 acquires the stress, calculates the tilt state, and calculates the tilt state at regular time intervals. Execute resolving. For this reason, the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention can be used when the component 1 held by the holding unit 11 is again inclined during transportation. However, since the inclined state can be canceled again, the possibility of inserting the component 1 into the inserted portion 2a in the correct posture can be further improved.

Further, in the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention, the holding part 11 is provided so as to be relatively movable in the radial direction in the holding member 10. By moving relatively radially inward, it can be held by the outer peripheral portion of the component 1 so as to be sandwiched from the outside, and by moving relatively radially outward, it can be held by the inner side 1a of the component 1 from the inside. It is possible. Therefore, in the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention, the method of holding the component 1 can be appropriately changed according to the shape of the component 1. It is possible to further improve the possibility that the component 1 is inserted into the inserted portion 2a in the correct posture, regardless of the shape of the component 1 or the like. Furthermore, in the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention, the holding section 11 holds the component 1 inside 1a of the opening provided in the component 1. . Therefore, the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention can more accurately detect the stress caused by holding the component 1, and thus can achieve higher accuracy. can be eliminated, and the possibility of inserting the component 1 into the inserted portion 2a in a correct posture can be further improved.

Further, in the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention, the control device 60, based on the stress detected by the holding section 11 provided adjacently, It is preferable to estimate the state between the holding portions 11 provided adjacently. In this case, the tilt correction system 100, the component insertion system 1000, the tilt correction method, and the component insertion method according to the embodiments of the present invention can calculate the tilt state of the component 1 held by the holding section 11 with higher accuracy. Therefore, the inclined state can be eliminated with higher accuracy, and the possibility of inserting the component 1 into the inserted portion 2a in the correct posture can be further improved.

1 Part 1-1, 1-2, 1-3 Location 1a Inside 1p, 1q Graph 2 Housing 2a Inserted Portion 10 Holding Member 11, 11-1, 11-2, 11-3 Holding Part 20 Holding Part Driving Device 30 Holding member tilting device 40 Holding member moving device 50 Inserted portion detection device 60 Control device 61 Processing unit 62 Storage unit 63 Information communication interface 65 Holding operation control unit 66 Stress acquisition unit 67 Inclination calculation unit 68 Inclination state elimination unit 69 Insertion operation control Section 70 Input Device 80 Output Device 100 Tilt Correction System 1000 Part Insertion System P1, P2, P3 Stress

Claims (8)

a retaining member that retains a component, detects stresses caused by retaining the component, and has at least three non-collinear retaining portions;
a holding portion driving device that drives the holding portion in the holding member to hold the component;
a holding member tilting device that changes the tilt angle of the holding member;
a control device that controls the holding member, the holding portion driving device, and the holding member tilting device;
The control device acquires the stress detected by the holding unit, and based on specification information including at least the deviation of the stress in the vertical direction of the acquired holding unit and the size and shape of the part, A tilt correction system, wherein a tilted state of the part held by the holding portion is calculated, and the tilted state is canceled by the holding member tilting device based on the calculated tilted state. 2. The tilt correction system according to claim 1, wherein the control device acquires the stress, calculates the tilt state, and cancels the tilt state at regular time intervals. The holding portion is provided so as to be relatively radially movable in the holding member,
It can be held so as to be sandwiched from the outside by the outer peripheral portion of the component by moving relatively inward in the radial direction,
3. A tilt correction system according to claim 1 or claim 2, characterized in that it can be held from the inside inside the part by moving relatively radially outwardly. 4. The tilt correction system according to claim 3, wherein the holding part holds the component inside an opening provided in the component. Based on the stress detected by the holding portions provided adjacent to each other, the control device adjusts the stress generated in the holding portions when the holding portions are provided between the holding portions provided adjacent to each other. A tilt correction system according to any one of claims 1 to 4, characterized in that it estimates. A component insertion system for inserting a component into an inserted portion of a housing,
A tilt correction system according to any one of claims 1 to 5;
an inserted portion detecting device for detecting the inserted portion of the housing;
a holding member moving device that moves the holding member,
The control device further
controlling the inserted portion detecting device and the holding member moving device;
causing the inserted portion detecting device to detect the inserted portion, and determining the part to be held by the holding portion based on the detected inserted portion;
The holding member moving device is caused to move the holding member to hold the previously determined part in the holding part, and the part held in the holding part is conveyed to the insertion part to the insertion part. insert into
A component insertion system characterized by: a stress obtaining step of detecting and obtaining the stress generated in at least three holding portions of the holding member that are not arranged on the same straight line due to the holding of the component;
A tilted state of the part held by the holding part is calculated based on the obtained specification information including at least the deviation of the stress in the vertical direction and the size and shape of the part with respect to the holding part. a slope calculation step;
a tilted state canceling step of changing the tilt angle of the holding member based on the calculated tilted state to cancel the tilted state;
A tilt correction method, comprising: A component insertion method for inserting a component into an inserted portion of a housing,
an inserted portion detection step of detecting the inserted portion of the housing;
a holding step of holding the component determined based on the detected inserted portion with the holding portion;
a tilt correction step based on the tilt correction method of claim 7;
an insertion step of conveying the component held by the holding portion to the insertion target portion and inserting the component into the insertion target portion in a state where the tilted state is eliminated by the tilt correction step;
A component insertion method, comprising:

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